Automatic pool cleaning device and control method thereof and computer storage medium

Abstract

The present application provides an automatic pool cleaning device, a control method thereof, and a computer storage medium. The automatic pool cleaning device comprises a first water inlet, a second water inlet, a water flow parameter detection sensor, and a water pump, wherein the first water inlet is arranged at the bottom of the automatic pool cleaning device, the second water inlet is arranged at the front of the automatic pool cleaning device, the water pump is used to guide water to flow into the first water inlet and the second water inlet and flow out from the drain port of the automatic pool cleaning device, and the control method comprises: controlling the automatic pool cleaning device to move on the water surface; in the process of the automatic pool cleaning device moving on the water surface, obtaining water flow parameter detection information of the first water inlet and / or the second water inlet based on the water flow parameter detection sensor; adjusting the pitch posture of the automatic pool cleaning device based on the water flow parameter detection information to maintain the degree to which the second water inlet is exposed above the water surface.

Description

Technical Field

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

[0002] With the popularity of swimming pools and the significant progress of robotics technology, more and more consumers tend to use pool cleaning robots to perform pool cleaning tasks. When performing cleaning operations on the water surface, the pool cleaning robot monitors and adjusts the posture of the pool cleaning robot to achieve better cleaning results. Existing pool cleaning robots mainly rely on detecting inertial measurement units (IMUs) to measure changes in various angles of the robot to adjust its posture. However, this method requires high accuracy of the IMU, and there is a lag in posture control through the IMU, and the feedback time is long, which leads to a significant increase in the cost of the robot, seriously affecting the user experience. Therefore, how to improve the efficiency of the posture adjustment of the pool cleaning robot while reducing costs is an urgent problem to be solved. 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, the automatic pool cleaning device comprising a first water suction port, a second water suction port, a water flow parameter detection sensor and a water pump, the first water suction port being arranged at the bottom of the automatic pool cleaning device, the second water suction port being arranged at the front of the automatic pool cleaning device, the water pump being used for guiding water to flow into the first water suction port and the second water suction port and out of the drain port of the automatic pool cleaning device, the control method comprising: controlling the automatic pool cleaning device to move on the water surface; obtaining water flow parameter detection information of the first water suction port and / or the second water suction port based on the water flow parameter detection sensor during the movement of the automatic pool cleaning device on the water surface; and adjusting the pitch posture of the automatic pool cleaning device based on the water flow parameter detection information to maintain the degree to which the second water suction port is exposed above the water surface.

[0004] Furthermore, the water flow parameters include water pressure, water flow rate or water flow rate.

[0005] Furthermore, adjusting the pitch attitude of the automatic pool cleaning device based on the water flow parameter detection information includes: adjusting the power of the water pump based on the water flow parameter detection information, so as to adjust the pitch attitude of the automatic pool cleaning device by adjusting the power of the water pump.

[0006] Furthermore, the adjusting the power of the water pump based on the water flow parameter detection information includes: when it is monitored that the water flow parameter of the first water suction port is greater than a first predetermined water flow parameter threshold and / or the water flow parameter of the second water suction port is less than a second predetermined water flow parameter threshold, reducing the power of the water pump to cause the front part of the automatic pool cleaning device to drop.

[0007] Furthermore, the power of the water pump is adjusted based on the water flow parameter detection information, including: when it is monitored that the water flow parameter of the first water suction port is less than a third predetermined water flow parameter threshold and / or the water flow parameter of the second water suction port is greater than a fourth predetermined water flow parameter threshold, the power of the water pump is increased to make the front of the automatic pool cleaning device rise.

[0008] Furthermore, after adjusting the power of the water pump, the control method also includes: when monitoring that the water flow parameter of the first water suction port is restored to between the first predetermined water flow parameter threshold and the third predetermined water flow parameter threshold, and / or when monitoring that the water flow parameter of the second water suction port is restored to between the second predetermined water flow parameter threshold and the fourth predetermined water flow parameter threshold, restoring the power of the water pump to the previous power value.

[0009] Furthermore, the power of the water pump is adjusted based on the water flow parameter detection information, including: if the water flow parameter of the first water suction port continues to increase within a continuous preset time or a continuous predetermined number of collections, and / or the water flow parameter of the second water suction port continues to decrease within the continuous preset time or the continuous predetermined number of collections, then the power of the water pump is reduced to lower the front part of the automatic pool cleaning device.

[0010] Furthermore, the power of the water pump is adjusted based on the water flow parameter detection information, including: if the water flow parameter of the first water suction port continues to decrease within a continuous preset time or a continuous predetermined number of collections, and / or the water flow parameter of the second water suction port continues to increase within a continuous preset time or a continuous predetermined number of collections, then the power of the water pump is increased to raise the front part of the automatic pool cleaning device.

[0011] Furthermore, after adjusting the power of the water pump, the control method further includes: restoring the power of the water pump to a previous power value when it is monitored that the change amplitude of the water flow parameter of the first water suction port and / or the water flow parameter of the second water suction port decreases.

[0012] Further, adjusting the pitch posture of the automatic pool cleaning device based on the water flow parameter detection information includes: adjusting the driving force direction of the water surface driving device of the automatic pool cleaning device based on the water flow parameter detection information to adjust the pitch posture of the automatic pool cleaning device.

[0013] The present application also discloses an automatic pool cleaning device, which can implement the control method described in any embodiment of the present application when executed.

[0014] The present application also 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 in any embodiment of the present application is implemented.

[0015] The embodiments described in this application have the following beneficial effects:

[0016] The control method of the automatic pool cleaning device provided in the present application can detect the water flow parameter detection information of the first water inlet and / or the second water inlet through the water flow parameter detection sensor, and adjust the pitch posture of the automatic pool cleaning device based on the water flow parameter detection information. The low-cost water flow parameter detection sensor can enable the automatic pool cleaning device to adjust its posture quickly and accurately.

[0017] In addition, the control method of the automatic pool cleaning device provided in the present application can also be used for water flow parameter detection during pool bottom cleaning operations, so that the automatic pool cleaning device can achieve variable frequency cleaning at the pool bottom, thereby improving the applicability of the automatic pool cleaning device. BRIEF DESCRIPTION OF THE DRAWINGS

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

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

[0020] Figure 2 A schematic diagram showing the internal structure of an automatic pool cleaning device according to an embodiment of the present application;

[0021] In the attached drawings, 10 is a first water suction port, 20 is a second water suction port, 30 is a water flow parameter detection sensor, and 40 is a water pump. DETAILED DESCRIPTION

[0022] 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.

[0023] 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.

[0024] The automatic pool cleaning device and control method of the present application are described below with reference to the accompanying drawings.

[0025] Figure 1 A flow chart showing a control method 100 of an automatic pool cleaning device according to an embodiment of the present application. Figure 2 The internal structure diagram of the automatic pool cleaning device according to one embodiment of the present application is shown. Figure 2 As shown, the automatic pool cleaning device includes a first water suction port 10, a second water suction port 20, a water flow parameter detection sensor 30 and a water pump 40. The first water suction port 10 is arranged at the bottom of the automatic pool cleaning device, the second water suction port 20 is arranged at the front of the automatic pool cleaning device, and the water pump 40 is used to guide the water flow to flow into the first water suction port 10 and the second water suction port 20 and flow out from the drain port of the automatic pool cleaning device. The first water suction port 10 is also called the bottom water suction port. When the robot is cleaning the bottom and the wall of the pool, the impurities and objects on the surface of the bottom and the wall of the pool can be sucked in through the bottom water suction port. The second water suction port 20 is also called the water surface water suction port. When the robot is cleaning the water surface, the impurities and objects on the water surface and near the water surface can be sucked in through the water surface water suction port.

[0026] Furthermore, if Figure 2 As shown, the first water suction port 10 is arranged at the front of the bottom of the automatic pool cleaning device ( Figure 2The second water suction port 20 is arranged at the front of the automatic pool cleaning device. The sizes of the first water suction port 10 and the second water suction port 20 can be set according to the structure, shape and other factors of the automatic pool cleaning device, and the present application does not impose any specific restrictions on this. The water pump 40 can be regarded as a power component in the automatic pool cleaning device. The water pump 40 is connected to the first water suction port 10 and the second water suction port 20. Negative pressure and water flow circulation are generated by the water pump 40, and the water flow in the pool is guided to enter the interior of the automatic pool cleaning device from the first water suction port 10 and the second water suction port 20 respectively, and finally flow out from the drain port (not shown) of the automatic pool cleaning device.

[0027] The drain outlet can be arranged at the rear of the automatic pool cleaning device ( Figure 2 In the left direction in the figure), by discharging water backward or obliquely upward and rearward from the drain port, a forward driving force can be provided for the automatic pool cleaning device, so that the automatic pool cleaning device can move (for example, the automatic pool cleaning device can move on the water surface). If the forward driving force is large, so that the automatic pool cleaning device moves faster, the front of the automatic pool cleaning device will have an upward effect, and accordingly, the second water suction port 20 will be lifted upward along with the front of the automatic pool cleaning device. It can also be understood that since the drain port is arranged at the rear of the automatic pool cleaning device, when the water pump 40 discharges water to the obliquely upward rear of the automatic pool cleaning device through the drain port, the entire automatic pool cleaning device has a lever principle in the length direction, that is, the rear of the automatic pool cleaning device sinks due to the reaction force of the drainage, and the front of the automatic pool cleaning device rises, which also causes the second water suction port 20 to lift upward.

[0028] In one embodiment, the water spraying direction of the water outlet is adjustable. For example, the water outlet is a vector nozzle, and the vector nozzle can be controlled to adjust the water spraying direction. Different water spraying directions can facilitate the robot to use the reaction force of the water spraying to adjust the robot's body posture, such as adjusting the robot's pitch posture, thereby controlling the degree of the second water suction port 20 exposed above the water surface.

[0029] The various components described above will be described in detail below in conjunction with specific embodiments.

[0030] The above description of the various components of the automatic pool cleaning device is only exemplary. The components and specific structures of the automatic pool cleaning device protected by this application are not limited to the contents listed above. Those skilled in the art can select the components and specific structures of the automatic pool cleaning device according to actual conditions, as long as the technical principles of this application can be implemented.

[0031] It is understandable that the automatic pool cleaning device also includes other components (such as a main board, a battery, a filter, etc.), which are not described in detail. Figure 2 As shown in the figure, those skilled in the art can understand other components not shown according to the technical principles described in this application.

[0032] Figure 1 The flowchart of the control method 100 of the automatic pool cleaning device according to an embodiment of the present application is shown. The control method 100 includes steps S101 to S103. Steps S101 to S103 will be described below.

[0033] In step S101, the automatic pool cleaning device is controlled to move on the water surface.

[0034] When the automatic pool cleaning device cleans the pool, it can include a pool bottom cleaning mode, a pool wall cleaning mode, and a water surface cleaning mode, etc., depending on the cleaning position. In the water surface mode, the automatic pool cleaning device cleans the water surface and the water line, etc. on the water surface in the pool.

[0035] In one embodiment, water can be pumped up from the pool by a water pump 40, and then sprayed out from the drain port at a certain pressure and speed, which will generate a reaction force opposite to the spraying direction, and this reaction force can drive the automatic pool cleaning device to move on the water surface; by adjusting the size, shape and spraying angle of the nozzle, the speed and direction of the spraying can be controlled, thereby adjusting the direction and speed of the robot. The robot can also be provided with a driving device (such as a driving wheel, a paddle, etc.), which provides power for the robot to move on the water surface.

[0036] In one embodiment, when the robot is moving on the water surface and performing water surface cleaning operations, the pitch posture of the robot can be controlled by adjusting the water flow parameters of the first water suction port 10 and the second water suction port 20 of the robot, so that the second water suction port 20 is partially exposed above the water surface, and surface garbage enters the garbage basket through the second water suction port 20, thereby ensuring the cleaning effect.

[0037] It should be noted that the above description of controlling the automatic pool cleaning device to move on the water surface is only exemplary, and the method of controlling the automatic pool cleaning device to move on the water surface protected by the present application is not limited to the contents listed above. Those skilled in the art can select the method of controlling the automatic pool cleaning device to move on the water surface according to actual conditions, as long as the technical principles of the present application can be implemented.

[0038] Next, the process proceeds to step S102 . In step S102 , the automatic pool cleaning device acquires water flow parameter detection information of the first water suction port 10 and / or the second water suction port 20 based on the water flow parameter detection sensor 30 during the process of traveling on the water surface.

[0039] The water flow parameter detection sensor 30 may be one or more of an ultrasonic water flow sensor, an electromagnetic water flow sensor, or a photoelectric water flow sensor. The water flow parameter detection sensor 30 may also be other sensors that can realize the technical principles of the present application. The present application does not limit the specific implementation type of the water flow parameter detection sensor 30, as long as it can realize the technical principles recorded in the present application.

[0040] The water flow parameter detection sensor 30 can measure the water flow to obtain water flow parameter detection information. For example, the water flow parameter detection sensor 30 can measure the water flow through the first water suction port 10. In other words, the water pump 40 sucks the water flow into the robot through the first water suction port 10, and the water flow parameter detection sensor 30 can measure the water flow and obtain water flow parameter detection information. The water flow parameter detection sensor 30 can also measure the water flow through the second water suction port 20. In other words, the water pump 40 sucks the water flow into the robot through the second water suction port 20, and the water flow parameter detection sensor 30 can measure the water flow and obtain water flow parameter detection information. The water flow parameter detection sensor 30 can also measure the water flow passing through the two water suction ports (i.e., the first water suction port 10 and the second water suction port 20) respectively, so as to obtain water flow parameter detection information (including water flow parameter detection information of the water flow passing through the first water suction port 10 and water flow parameter detection information of the water flow passing through the second water suction port 20).

[0041] In one embodiment, the water flow parameter detection information includes, for example, water flow, water flow rate or water pressure. Such information can reflect the size of the water flow. Water pressure is a key factor affecting the cleaning effect of the robot. By detecting the water pressure, it can be determined whether the water pump 40 is working properly and whether the water flow can smoothly pass through the first water suction port 10, the second water suction port 20 and the drain port of the robot. Water flow rate is an important indicator for measuring the strength of the water flow. By detecting the water flow rate, it can be determined whether the water flow is smooth and strong enough to ensure that the garbage on the water surface can be sucked into the water suction port. Water flow refers to the amount of water passing through the water suction port per unit time. By detecting the water flow, the amount of water in the first water suction port 10 and the second water suction port 20 and the cleaning efficiency of the robot can be predicted. It can be understood that, generally, there is a complementary relationship between parameters such as water flow, water flow rate, and water pressure. For example, if the water flow is large, the water flow rate may also be fast. It should be noted that the water flow parameter detection sensor 30 can obtain one or more of water flow, water flow rate, and water pressure.

[0042] For example, if the water flow parameter detection information obtained by the water flow parameter detection sensor 30 for the first water suction port 10 shows that the water flow rate is large, it means that the water flow through the first water suction port 10 is large, otherwise, it means that the water flow through the first water suction port 10 is small.

[0043] It should be noted that the connotation of the water flow parameter detection information is not limited to the contents listed above. Those skilled in the art can set the connotation of the water flow parameter detection information according to actual conditions as long as the technical principles of this application can be implemented.

[0044] Afterwards, the process proceeds to step S103 , in which the pitch posture of the automatic pool cleaning device is adjusted based on the water flow parameter detection information to maintain the degree to which the second water suction port 20 is exposed above the water surface.

[0045] like Figure 2 As shown, during the period when the robot performs the water surface cleaning operation, in order to allow the impurities and objects on the water surface and near the water surface to be smoothly sucked into the second water suction port 20, a part of the second water suction port 20 is above the water surface, and the other part is below the water surface. If the entire second water suction port 20 is submerged in the water, it is difficult for the impurities and objects on the water surface to be sucked in from the second water suction port 20; if the entire second water suction port 20 is exposed above the water surface, it is difficult for the impurities and objects on the water surface and near the water surface to be sucked in from the second water suction port 20. Therefore, during the period when the robot performs the water surface cleaning operation, it is necessary to keep a part of the second water suction port 20 above the water surface and the other part below the water surface. In other words, it is necessary to keep the second water suction port 20 exposed to a certain extent. The degree to which the second water suction port 20 is exposed to the water surface can be set according to parameters such as the body size, weight, size and water depth of the robot, as long as the technical principles of the present application can be realized.

[0046] Since the robot uses e.g. Figure 2 The robot is shown floating on the water surface, so the pitch posture of the robot on the water surface is crucial to maintaining the degree of the second water suction port 20 above the water surface. If the front part of the robot sinks downward into the water (i.e., the robot "lowers its head"), the entire second water suction port 20 may sink below the water surface; if the front part of the robot is lifted upward (i.e., the robot "raises its head"), the entire second water suction port 20 may be above the water surface. Whether the entire second water suction port 20 is submerged below the water surface or exposed above the water surface, it will affect the cleaning of the water surface by the second water suction port 20.

[0047] In one embodiment, in step S103, adjusting the pitch attitude of the automatic pool cleaning device based on the water flow parameter detection information includes: adjusting the power of the water pump 40 based on the water flow parameter detection information, so as to adjust the pitch attitude of the automatic pool cleaning device by adjusting the power of the water pump 40.

[0048] As mentioned above, during the cleaning operation of the robot on the water surface, it is necessary to keep a part of the second water suction port 20 above the water surface, and the pitch posture of the robot is crucial to keep the second water suction port 20 above the water surface. As mentioned above, by increasing the power of the water pump 40, a greater driving force can be provided for the robot on the water surface, thereby increasing the travel speed of the robot, so that the front of the robot has an upward effect (that is, the robot "raises its head"), so that the second water suction port 20 is lifted upward, and conversely, reducing the power of the water pump 40 will cause the front of the robot to have a sinking effect (that is, the robot "lowers its head"), so that the second water suction port 20 sinks; in addition, through the lever principle in the length direction of the robot body, when the water pump 40 sprays water to the upper and rear oblique side of the robot through the drainage port at the rear of the robot, it will also cause the front of the robot to have an upward effect, so that the second water suction port 20 is lifted upward, therefore, increasing the power of the water pump 40 can cause the second water suction port 20 to be lifted upward, and conversely, reducing the power of the water pump 40 can cause the second water suction port 20 to sink. It can be seen that by adjusting the power of the water pump 40, the robot can be made to "raise its head" or "lower its head", in other words, the pitch posture of the robot can be adjusted.

[0049] It should be noted that the water flow direction of the first water suction port 10 is close to the suction direction of the water pump 40, both are vertical directions, and the water flow channel size corresponding to the first water suction port 10 is larger. Therefore, the reduction in power of the water pump 40 will reduce the water flow parameters (such as water flow, water flow rate, water pressure, etc.) of the first water suction port 10, and the water flow parameters (such as water flow, water flow rate, water pressure, etc.) of the second water suction port 20 will increase accordingly.

[0050] It is understandable that the power of the water pump 40 can be adjusted by adjusting the current of the water pump 40, or by other means. The present application does not impose any limitation on this, as long as the technical principles of the present application can be implemented.

[0051] If it is determined based on the water flow parameter detection information that the suction force of the second water suction port 20 needs to be increased (for example, the water flow rate of the second water suction port 20 needs to be increased), the power of the water pump 40 can be reduced to make the robot "lower its head", thereby causing the second water suction port 20 to sink and have more contact with the water body, so as to increase the water flow rate of the second water suction port 20; conversely, if it is determined based on the water flow parameter detection information that the suction force of the first water suction port 10 needs to be increased, the power of the water pump 40 can be increased to make the robot "raise its head", thereby causing the second water suction port 20 to rise and reduce its contact with the water body, thereby reducing the water flow rate of the second water suction port 20, and correspondingly, the water flow rate of the first water suction port 10 increases.

[0052] In one embodiment, the power of the water pump 40 is adjusted based on the water flow parameter detection information, including: when it is monitored that the water flow parameter of the first water suction port 10 is greater than a first predetermined water flow parameter threshold and / or the water flow parameter of the second water suction port 20 is less than a second predetermined water flow parameter threshold, the power of the water pump 40 is reduced to lower the front of the automatic pool cleaning device.

[0053] For example, if the water flow parameter of the first water inlet 10 is greater than the first predetermined water flow parameter threshold, it indicates that the water flow of the first water inlet 10 of the robot is too strong. Under the premise that the power of the water pump 40 is constant, it means that the water flow of the second water inlet 20 is insufficient, resulting in the water flow mainly entering from the first water inlet 10. Therefore, the robot needs to "lower its head" to increase the contact between the second water inlet 20 and the water body, so as to increase the water flow of the second water inlet 20. As described above, in order to make the robot produce the "lowering head" effect, the power of the water pump 40 can be reduced. Similar to this principle, if the water flow parameter of the second water inlet 20 is less than the second predetermined water flow parameter threshold, it indicates that the water flow of the second water inlet 20 of the robot is too small. Under the premise that the power of the water pump 40 is constant, it means that the water flow of the second water inlet 20 is insufficient, resulting in the water flow mainly entering from the first water inlet 10. Therefore, the robot needs to "lower its head" to increase the contact between the second water inlet 20 and the water body, so as to increase the water flow of the second water inlet 20. To give the robot a "head-down" effect, the power of the water pump 40 may be reduced so that the front of the robot drops.

[0054] In one embodiment, the power of the water pump 40 can be adjusted based on the judgment result of the water flow parameter of the first water suction port 10 and the first predetermined water flow parameter threshold value, and the judgment result of the water flow parameter of the second water suction port 20 and the second predetermined water flow parameter threshold value. For example, when the water flow parameter of the first water suction port 10 is greater than the first predetermined water flow parameter threshold value, and the water flow parameter of the second water suction port 20 is less than the second predetermined water flow parameter threshold value, the power of the water pump 40 is reduced to make the front of the automatic pool cleaning device drop.

[0055] The first water flow parameter threshold value may be, for example, the design flow rate of the first water suction port 10 or 0.8 times the design flow rate of the first water suction port 10. The second water flow parameter threshold value may be, for example, 0.5 times the design flow rate of the second water suction port 20. The first predetermined water flow parameter threshold value and the second predetermined water flow parameter threshold value may be pre-set according to the design flow rates of the first water suction port 10 and the second water suction port 20 of the robot, or may be obtained by a technician in this field through a limited number of experiments. The design flow rate refers to the water flow rate that the robot can effectively handle under normal working conditions. The first predetermined water flow parameter threshold value and the second predetermined water flow parameter threshold value are used to determine whether the water flow parameter is within the normal range, thereby determining whether the power of the water pump needs to be adjusted. The above exemplary description of the first water flow parameter threshold value and the second water flow parameter threshold value is only to illustrate the technical principles of the present application. Those skilled in the art may set the first water flow parameter threshold value and the second water flow parameter threshold value based on their understanding of the technical principles.

[0056] In one embodiment, the power of the water pump 40 is adjusted based on the water flow parameter detection information, including: when it is monitored that the water flow parameter of the first water suction port 10 is less than a third predetermined water flow parameter threshold and / or the water flow parameter of the second water suction port 20 is greater than a fourth predetermined water flow parameter threshold, the power of the water pump is increased to raise the front of the automatic pool cleaning device.

[0057] For example, if the water flow parameter of the first water intake port 10 is less than the third predetermined water flow parameter threshold (for example, 0.5 times the design flow rate of the first water intake port 10), it indicates that the water flow at the first water intake port 10 of the robot is too small. Under the premise that the power of the water pump 40 is constant, it means that the water flow at the second water intake port 20 is too strong, causing the water flow to mainly enter from the second water intake port 20. Therefore, the robot needs to "raise its head" to reduce the contact between the second water intake port 20 and the water body, so as to reduce the water flow at the second water intake port 20.

[0058] Similarly, if the water flow parameter of the second water intake port 20 is greater than the fourth predetermined water flow parameter threshold (for example, 0.8 times the design flow rate of the second water intake port 20), it indicates that the water flow at the second water intake port 20 of the robot is too large. Under the premise that the power of the water pump 40 is constant, it means that the water flow mainly enters from the second water intake port 20. Therefore, the robot needs to "raise its head" to reduce the contact between the second water intake port 20 and the water body, so as to reduce the water flow at the second water intake port 20.

[0059] It is understandable that the third predetermined water flow parameter threshold and the fourth predetermined water flow parameter threshold can be pre-set according to the design flow rate of the first water suction port 10 and the second water suction port 20 of the robot, or can be obtained by technical personnel in this field through a limited number of experiments.

[0060] In one embodiment, the power of the water pump 40 is adjusted based on the water flow parameter detection information, including: if the water flow parameter of the first water suction port 10 continues to increase within a continuous preset time or a continuous predetermined number of collections, and / or the water flow parameter of the second water suction port 20 continues to decrease within the continuous preset time or the continuous predetermined number of collections, then the power of the water pump 40 is reduced to lower the front part of the automatic pool cleaning device.

[0061] For example: if the water flow parameters of the first water inlet 10 continue to increase within a continuous preset time or a continuous predetermined number of collections, under the premise that the power of the water pump 40 is constant, it means that the water flow parameters (such as water flow rate, water flow velocity, and water pressure) of the first water inlet 10 of the robot are increasing, and the water flow parameters of the second water inlet 20 are decreasing. In other words, the contact part between the second water inlet 20 and the water body is decreasing, that is, the robot is gradually "raising its head", so the robot needs to "lower its head" to increase the contact between the second water inlet 20 and the water body, so as to maintain the degree to which the second water inlet 20 is exposed above the water surface. Therefore, the power of the water pump 40 needs to be reduced to lower the front part of the automatic pool cleaning device.

[0062] Similarly, if the water flow parameters of the second water suction port 20 continue to decrease within a continuous preset time or a continuous predetermined number of collections, under the premise that the power of the water pump 40 is constant, it means that the water flow parameters (such as water flow rate, water flow velocity, and water pressure) of the second water suction port 20 of the robot are decreasing. In other words, the contact part between the second water suction port 20 and the water body is decreasing, that is, the robot is gradually "raising its head", so the robot needs to "lower its head" in order to increase the contact between the second water suction port 20 and the water body, thereby maintaining the degree to which the second water suction port 20 is exposed above the water surface. Therefore, the power of the water pump 40 needs to be reduced to allow the front part of the automatic pool cleaning device to drop.

[0063] The continuous preset time may be, for example, a time threshold (such as 5 minutes). During the 5 minutes, if the water flow parameter of the first water inlet 10 continues to increase, the power of the water pump 40 is reduced as described above. The continuous preset number of acquisitions may be set to 10 times, for example. During the 10 continuous acquisitions, if the water flow parameter of the first water inlet 10 continues to increase, that is, the data collected each time is larger than the previous one, the power of the water pump 40 is reduced as described above. The above description of the continuous preset time and the continuous preset number of acquisitions is only exemplary. The setting of the continuous preset time and the continuous preset number of acquisitions protected by this application is not limited to the contents listed above. Those skilled in the art may set and plan the continuous preset time and the continuous preset number of acquisitions according to actual conditions, as long as the technical principles of this application can be realized.

[0064] In one embodiment, the power of the water pump 40 is adjusted based on the water flow parameter detection information, including: if the water flow parameter of the first water suction port 10 continues to decrease within a continuous preset time or a continuous predetermined number of collections, and / or the water flow parameter of the second water suction port 20 continues to increase within the continuous preset time or the continuous predetermined number of collections, then the power of the water pump 40 is increased to raise the front part of the automatic pool cleaning device.

[0065] For example: if the water flow parameters of the first water inlet 10 continue to decrease within a continuous preset time or a continuous predetermined number of collections, under the premise that the power of the water pump 40 is constant, it means that the water flow parameters (such as water flow rate, water flow velocity, and water pressure) of the first water inlet 10 of the robot are decreasing, and the water flow parameters of the second water inlet 20 are increasing. In other words, the contact part between the second water inlet 20 and the water body is increasing, that is, the robot is gradually "lowering its head", so the robot needs to "raise its head" in order to reduce the contact between the second water inlet 20 and the water body, so as to maintain the degree to which the second water inlet 20 is exposed above the water surface. Therefore, the power of the water pump 40 needs to be increased to make the front part of the automatic pool cleaning device rise.

[0066] Similarly, if the water flow parameters of the second water suction port 20 continue to increase within a preset time or a predetermined number of consecutive collection times, under the premise that the power of the water pump 40 is constant, it means that the water flow parameters of the second water suction port 20 of the robot are increasing. In other words, the contact part between the second water suction port 20 and the water body is increasing, that is, the robot is gradually "lowering its head", so the robot needs to "raise its head" in order to reduce the contact between the second water suction port 20 and the water body, so as to maintain the degree of the second water suction port 20 exposed above the water surface. Therefore, the power of the water pump 40 needs to be increased to make the front part of the automatic pool cleaning device rise.

[0067] In one embodiment, after adjusting the power of the water pump 40, the control method further includes: upon monitoring that the water flow parameter of the first water suction port 10 is restored to between the first predetermined water flow parameter threshold and the third predetermined water flow parameter threshold, and / or the water flow parameter of the second water suction port 20 is restored to between the second predetermined water flow parameter threshold and the fourth predetermined water flow parameter threshold, restoring the power of the water pump 40 to the previous power value.

[0068] For example, if the water flow parameters of the first water inlet 10 of the robot are monitored to be restored to between the first predetermined water flow parameter threshold and the third predetermined water flow parameter threshold, it indicates that the water flow parameters of the first water inlet 10 have returned to normal, and the robot's posture no longer needs to be adjusted, so the power of the water pump 40 can be restored to the previous power value. If the water flow parameters of the second water inlet 20 of the robot are monitored to be restored to between the second predetermined water flow parameter threshold and the fourth predetermined water flow parameter threshold, it indicates that the water flow parameters of the second water inlet 20 have returned to normal, and garbage on the water surface can enter normally from the second water inlet 20, so the power of the water pump 40 is restored to the previous power value.

[0069] In one embodiment, after adjusting the power of the water pump 40, the control method further includes:

[0070] When it is monitored that the change amplitude of the water flow parameter of the first water suction port 10 and / or the water flow parameter of the second water suction port 20 decreases, the power of the water pump 40 is restored to the previous power value.

[0071] For example, after adjusting the power of the robot's water pump 40, if the amplitude of the change in the water flow parameter of the first water inlet 10 is monitored to decrease (for example, the difference between two adjacent or close water flow parameter values ​​becomes smaller), it means that the change in the water flow parameter (such as water flow, water flow velocity, water pressure) of the first water inlet 10 tends to be stable, so the power of the water pump 40 is restored to the previous power value. Similarly, after adjusting the power of the robot's water pump 40, if the amplitude of the change in the water flow parameter of the second water inlet 20 is monitored to decrease, it means that the change in the water flow parameter (such as water flow, water flow velocity, water pressure) of the second water inlet 20 tends to be stable, so the power of the water pump 40 also needs to be restored to the previous power value.

[0072] The power of the water pump 40 The power of the water pump 40 The power of the water pump 40 In one embodiment, adjusting the pitch attitude of the automatic pool cleaning device based on the water flow parameter detection information includes: adjusting the driving force direction of the water surface driving device of the automatic pool cleaning device based on the water flow parameter detection information to adjust the pitch attitude of the automatic pool cleaning device.

[0073] For example, when the water flow parameters (such as water flow rate, water flow rate, water pressure) of the first water inlet 10 of the robot are monitored to be too large, the driving direction of the water surface driving device of the robot can be adjusted to achieve the goal of adjusting the pitch posture of the robot. The water surface driving device includes a water spray device or a paddle.

[0074] Taking the water spray device as an example, the water spray device may include components such as a water pump 40 and a nozzle. The water spray device draws water from the pool through the water pump 40, and then sprays it from the nozzle at a certain pressure and speed. When the water is sprayed at a high speed, a reaction force opposite to the spray direction will be generated, and this reaction force can change the posture of the robot; by adjusting the size, shape and spray angle of the nozzle, the speed and direction of the spray can be controlled, thereby adjusting the pitch posture of the robot. If the front of the robot is lowered, by reducing the opening of the nozzle and reducing the amount of water sprayed, the water flow parameters (such as water flow, water flow rate, water pressure) of the first water suction port 10 of the robot are reduced, and the water flow parameters (such as water flow, water flow rate, water pressure) of the second water suction port 20 are increased accordingly, so that the front of the robot is lowered.

[0075] In one embodiment, the adjusting the pitch posture of the automatic pool cleaning device based on the water flow parameter detection information in step S103 includes: adjusting the driving force direction of the water surface driving device of the automatic pool cleaning device based on the water flow parameter detection information to adjust the pitch posture of the automatic pool cleaning device.

[0076] The water surface driving device is, for example, the water pump 40 described above, and the driving force direction is, for example, the water spraying direction of the drainage port described above. As described above, the water spraying direction of the drainage port of the robot can be adjusted. By adjusting the water spraying direction, it is convenient for the robot to adjust the pitch posture, for example, by using the lever principle in the length direction of the fuselage, so as to maintain the degree to which the second water suction port 20 is exposed above the water surface. For example, if the robot appears to be "lowering its head", that is, the second water suction port 20 sinks, so that the second water suction port 20 is in contact with the water body too much, or even the second water suction port 20 is completely submerged in the water, then the water spraying direction can be adjusted to spray water toward the back of the robot or close to the back (that is, in the direction perpendicular to the horizontal plane or close to the direction perpendicular to the horizontal plane), thereby increasing the downward pressure at the rear of the robot, so that the front of the robot rises. On the contrary, if the second water suction port 20 is too high above the water surface, the water spraying direction can be adjusted to spray water toward the tail of the robot or close to the tail (i.e., in a direction parallel to the horizontal plane or close to the horizontal plane) to make the front of the robot sink.

[0077] It can be understood that the above embodiments of adjusting the water spray direction can be combined with the various embodiments of adjusting the power of the water pump 40 described above. In other words, the water spray direction can be adjusted while adjusting the power of the water pump 40, thereby making the pitch posture control of the robot more complete and flexible.

[0078] The control method of the automatic pool cleaning device provided in the present application can detect the water flow parameter detection information of the first water inlet 10 and / or the second water inlet 20 through the water flow parameter detection sensor 30, and adjust the pitch posture of the automatic pool cleaning device based on the water flow parameter detection information. The low-cost water flow parameter detection sensor 30 can enable the automatic pool cleaning device to adjust its posture quickly and accurately.

[0079] In addition, the control method of the automatic pool cleaning device provided in the present application can also be used for water flow parameter detection during pool bottom cleaning operations, so that the automatic pool cleaning device can achieve variable frequency cleaning at the pool bottom, thereby improving the applicability of the automatic pool cleaning device.

[0080] The present application also provides an automatic pool cleaning device, which can execute the control method described in each of the above embodiments.

[0081] 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.

[0082] 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.

[0083] 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.

[0084] 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.

[0085] 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.

[0086] 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.

[0087] 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, the automatic pool cleaning device comprising a first water suction port, a second water suction port, a water flow parameter detection sensor and a water pump, the first water suction port being arranged at the bottom of the automatic pool cleaning device, the second water suction port being arranged at the front of the automatic pool cleaning device, the water pump being used to guide water to flow into the first water suction port and the second water suction port and to flow out from a drain port of the automatic pool cleaning device, the control method comprising: Controlling the automatic pool cleaning device to move on the water surface; When the automatic pool cleaning device moves on the water surface, the water flow parameter detection information of the first water suction port and / or the second water suction port is obtained based on the water flow parameter detection sensor; The pitch posture of the automatic pool cleaning device is adjusted based on the water flow parameter detection information to maintain the degree to which the second water suction port is exposed above the water surface.

2. The control method according to claim 1, wherein: The water flow parameters include water pressure, water flow rate or water flow rate.

3. The control method according to claim 2, wherein: The step of adjusting the pitch posture of the automatic pool cleaning device based on the water flow parameter detection information includes: The power of the water pump is adjusted based on the water flow parameter detection information, so as to adjust the pitch attitude of the automatic pool cleaning device by adjusting the power of the water pump.

4. The control method according to claim 3, wherein: The adjusting the power of the water pump based on the water flow parameter detection information comprises: When it is monitored that the water flow parameter of the first water suction port is greater than the first predetermined water flow parameter threshold and / or the water flow parameter of the second water suction port is less than the second predetermined water flow parameter threshold, the power of the water pump is reduced to lower the front of the automatic pool cleaning device.

5. The control method according to claim 3, wherein: The adjusting the power of the water pump based on the water flow parameter detection information comprises: When it is monitored that the water flow parameter of the first water suction port is less than the third predetermined water flow parameter threshold and / or the water flow parameter of the second water suction port is greater than the fourth predetermined water flow parameter threshold, the power of the water pump is increased to raise the front of the automatic pool cleaning device.

6. The control method according to claim 4 or 5, wherein: After adjusting the power of the water pump, the control method further includes: When it is monitored that the water flow parameter of the first water suction port is restored to between the first predetermined water flow parameter threshold and the third predetermined water flow parameter threshold, and / or when the water flow parameter of the second water suction port is restored to between the second predetermined water flow parameter threshold and the fourth predetermined water flow parameter threshold, the power of the water pump is restored to the previous power value.

7. The control method according to claim 3, wherein: The adjusting the power of the water pump based on the water flow parameter detection information comprises: If the water flow parameters of the first water suction port continue to increase within a continuous preset time or a continuous preset number of collections, and / or the water flow parameters of the second water suction port continue to decrease within a continuous preset time or a continuous preset number of collections, the power of the water pump is reduced to lower the front part of the automatic pool cleaning device.

8. The control method according to claim 3, wherein: The adjusting the power of the water pump based on the water flow parameter detection information comprises: If the water flow parameters of the first water suction port continue to decrease within a continuous preset time or a continuous preset number of collections, and / or the water flow parameters of the second water suction port continue to increase within the continuous preset time or the continuous preset number of collections, the power of the water pump is increased to raise the front part of the automatic pool cleaning device.

9. The control method according to claim 7 or 8, wherein: After adjusting the power of the water pump, the control method further includes: When it is monitored that the change amplitude of the water flow parameter of the first water suction port and / or the water flow parameter of the second water suction port decreases, the power of the water pump is restored to the previous power value.

10. The control method according to claim 1, wherein: The step of adjusting the pitch posture of the automatic pool cleaning device based on the water flow parameter detection information includes: The driving force direction of the water surface driving device of the automatic pool cleaning device is adjusted based on the water flow parameter detection information to adjust the pitch posture of the automatic pool cleaning device.

11. An automatic pool cleaning device, wherein: The automatic pool cleaning device can execute the control method described in any one of claims 1-10.

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

Images