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

Abstract

The invention provides an automatic pool cleaning device, a control method thereof and a computer storage medium. The control method comprises the steps that the automatic pool cleaning device is controlled to advance in a pool according to a preset path; in the advancing process of the automatic pool cleaning device, whether the automatic pool cleaning device moves to a shallow water area or not is monitored; and under the condition that the automatic pool cleaning device moves to the shallow water area, the automatic pool cleaning device is controlled to move from the shallow water area to the deep water area. According to the method, under the condition that the automatic pool cleaning device moves to the shallow water area, the automatic pool cleaning device is controlled to smoothly move from the shallow water area to the deep water area, then the robot can normally conduct subsequent cleaning work in the deep water area, and the cleaning efficiency of the automatic pool cleaning device is improved.

Description

Technical Field

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

[0002] With the development of computer technology, robotics technology has also developed rapidly. Currently, underwater robots are used more and more widely in various fields, and can assist people in working in the water, including underwater cleaning, underwater exploration, underwater sightseeing, etc.

[0003] When a pool cleaning robot, such as an automatic pool cleaning device, is cleaning the bottom or surface of a pool, if the automatic pool cleaning device moves from a deep water area to a shallow water area, it is easy for the automatic pool cleaning device to float due to air intake, inaccurate motion trajectory, and chaotic ultrasonic data, making it difficult for the automatic pool cleaning device to perform normal cleaning work, thereby affecting the cleaning efficiency of the automatic pool cleaning device. Summary of the invention

[0004] To solve the above-mentioned problem, according to the first aspect of the present disclosure, a control method for an automatic pool cleaning device is provided, comprising: controlling the automatic pool cleaning device to move along a preset path in a pool; during the movement of the automatic pool cleaning device, monitoring whether the automatic pool cleaning device moves to a shallow water area; and in the case where the automatic pool cleaning device moves to the shallow water area, controlling the automatic pool cleaning device to move from the shallow water area to a deep water area.

[0005] According to a control method for an automatic pool cleaning device provided by the present disclosure, monitoring whether the automatic pool cleaning device moves to a shallow water area includes: monitoring whether the automatic pool cleaning device moves to a shallow water area via a depth sensor or a downward detection sensor.

[0006] According to a control method for an automatic pool cleaning device provided in the present disclosure, controlling the automatic pool cleaning device to move from the shallow water area to the deep water area includes: controlling the automatic pool cleaning device to retreat a preset distance or a preset duration so that the automatic pool cleaning device moves from the shallow water area to the deep water area.

[0007] According to a control method for an automatic pool cleaning device provided by the present disclosure, the method also includes: after controlling the automatic pool cleaning device to retreat a preset distance or a preset time, monitoring whether the position of the automatic pool cleaning device is in a deep water area, and if not, continuing to control the automatic cleaning device to retreat.

[0008] According to a control method of an automatic pool cleaning device provided by the present disclosure, controlling the automatic pool cleaning device to move from the shallow water area to the deep water area includes: controlling the automatic pool cleaning device to retreat, and determining whether the automatic pool cleaning device enters the deep water area during the retreat process, and if so, stopping the retreat.

[0009] According to a control method for an automatic pool cleaning device provided in the present disclosure, the method further includes: after the automatic pool cleaning device moves from the shallow water area to the deep water area, controlling the automatic pool cleaning device to rotate by a predetermined angle, and controlling the rotated automatic pool cleaning device to move along a re-planned preset path or switch working modes, so that the automatic pool cleaning device no longer enters the shallow water area.

[0010] According to a control method for an automatic pool cleaning device provided by the present disclosure, when the current working mode of the automatic pool cleaning device is a water surface edge cleaning mode, switching the working mode includes: switching the water surface edge cleaning mode to a water surface random cleaning mode.

[0011] According to a control method for an automatic pool cleaning device provided by the present disclosure, before the step of controlling the automatic pool cleaning device to move along a re-planned preset path or switch working modes after rotating, it also includes judging whether the number of times the automatic pool cleaning device has monitored entering a shallow water area meets a preset condition, and if so, controlling the automatic pool cleaning device to move along a re-planned preset path or switch working modes after rotating.

[0012] According to a control method for an automatic pool cleaning device provided by the present disclosure, the re-planned preset path includes a preset path planned based on an uncleaned area.

[0013] According to a second aspect of the present disclosure, an automatic pool cleaning device is provided, and the automatic pool cleaning device can execute any one of the control methods described above.

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

[0015] The embodiments described in this application have the following beneficial effects: In the process of controlling the automatic pool cleaning device to move and clean along a preset path in the pool, the water depth at the current position of the automatic pool cleaning device is monitored to determine whether the automatic pool cleaning device has moved to a shallow water area. When the automatic pool cleaning device moves to the shallow water area, the automatic pool cleaning device is controlled to move smoothly from the shallow water area to the deep water area, so that the robot can perform subsequent cleaning work normally in the deep water area, thereby improving the cleaning efficiency of the automatic pool cleaning device. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solution of the embodiment of the present disclosure, the following briefly introduces the drawings required for describing the embodiment. The drawings described below are only exemplary embodiments of the present disclosure.

[0017] Figure 1 A schematic flow chart of a control method of an automatic pool cleaning device provided by the present application is shown; Figure 2 A schematic diagram showing the movement path of the automatic pool cleaning device provided by the present application is shown; Figure 3 Another moving path schematic diagram of the automatic pool cleaning device provided by the present application is shown; Figure 4 Another moving path schematic diagram of the automatic pool cleaning device provided by the present application is shown; Figure 5 Another moving path schematic diagram of the automatic pool cleaning device provided by the present application is shown; and, Figure 6 Another moving path schematic diagram of the automatic pool cleaning device provided in the present application is shown. DETAILED DESCRIPTION

[0018] 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.

[0019] The present application provides an automatic pool cleaning device and a control method thereof. The automatic pool cleaning device and the control method thereof can be used to 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 surface", and "bottom" all refer to the bottom surface of the pool.

[0020] Exemplarily, when cleaning a pool, the robot may include a variety of cleaning operation modes, such as a pool bottom cleaning mode, a pool wall cleaning mode, and a water surface cleaning mode, wherein the pool bottom cleaning mode may include a pool bottom edge cleaning mode and a pool bottom surface cleaning mode; the water surface cleaning mode may include a water surface edge cleaning mode and a water surface random cleaning mode. In the water surface edge mode, the robot moves along the edge of the pool or swimming pool on the water surface. In the water surface random cleaning mode, the robot floats forward on the water surface, and the robot's drive device usually does not actively adjust the yaw angle. The yaw angle is only affected by the water flow and / or wind direction, and the drive device is only used to drive the robot to move straight; when the robot collides with the pool wall or an obstacle, the robot is subjected to the force of collision or scratching by the pool wall or the obstacle, which also causes the yaw angle to change. In order to avoid damage to the robot and the pool wall due to collision or scratches, when the robot is close to the pool wall or obstacles, the drive device can actively adjust the yaw angle, that is, control the robot to turn so that the robot's driving direction is away from the obstacle or the pool wall. After turning, the drive device turns off the control of the yaw angle, thereby realizing the robot's random cleaning mode on the water surface. When the robot is on the water surface, it is very difficult for the drive device to control the yaw angle, especially in areas far away from obstacles or the pool wall. Therefore, it becomes unnecessary for the drive device to control the yaw angle, and the random cleaning mode can save the power consumption of the drive device.

[0021] The automatic pool cleaning device and control method 100 of the present application are described below with reference to the accompanying drawings. Figure 1 The flowchart of the control method of the automatic pool cleaning device provided by the present application is shown as follows: Figure 1 As shown, the control method 100 of the automatic pool cleaning device provided by the present application includes steps 101 to 103. Steps 101 to 103 will be described in detail below in conjunction with specific embodiments.

[0022] First, enter step 101. In step 101, control the automatic pool cleaning device to move along a preset path in the pool.

[0023] When controlling the robot to clean the pool, the robot can be controlled to move along a preset path to perform mobile cleaning of the pool. The preset path can be, for example, a path along the edge, a bow-shaped path, or a similar bow-shaped path. The preset path can also be a "U-shaped path", "spiral path", etc. It should be noted that in practice, the terms "bow-shaped path", "U-shaped path", and "spiral path" do not necessarily require the robot to plan a movement trajectory in advance and store the information corresponding to the movement trajectory in the robot's memory. The term "preset path" in this application means that a preset motion rule is planned, and the robot is controlled so that the robot performs movement cleaning according to the preset motion rule. Figure 2 The moving path diagram of the automatic pool cleaning device provided by the present application is shown in FIG. Figure 2 As shown, for example, when the robot is controlled to clean the bottom of a swimming pool, when the preset path is a "bow-shaped path", the preset movement rule may be to control the robot to walk along the long side of the bow in the current direction, and when the long side of the bow approaches the side wall of the swimming pool, the robot is controlled to turn 90° and then walk along the short side of the bow, and after walking along the short side of the bow for a preset distance, it turns 90° again and then walks along the long side of the bow, and repeats this process to clean the bottom of the pool. The path generated by the movement of the robot during cleaning is the "bow-shaped path".

[0024] It should be noted that the above description of the preset path or the preset walking rules is only exemplary. The preset path or the preset walking rules protected by this application are not limited to the contents listed above. Those skilled in the art can set and plan the preset path or the preset walking rules according to actual conditions, as long as the technical principles of this application can be implemented.

[0025] Next, the process proceeds to step 102. In step 102, during the movement of the automatic pool cleaning device, it is monitored whether the automatic pool cleaning device moves to a shallow water area.

[0026] Specifically, since the robot may float due to air inhalation, have inaccurate motion trajectory, and have confused ultrasonic data in shallow water areas, it is necessary to monitor the depth of the water area where the robot is currently located in real time or at regular intervals during the movement of the robot to monitor whether the robot has moved to a shallow water area, so as to facilitate the timely execution of subsequent operations when it is known that the robot has moved to a shallow water area.

[0027] In step 102, monitoring whether the automatic pool cleaning device moves to a shallow water area specifically includes: monitoring whether the automatic pool cleaning device moves to a shallow water area by using a depth sensor or a downward detection sensor.

[0028] Exemplarily, when the working mode of the robot is the pool bottom cleaning mode, the water depth information at the current location of the robot can be obtained through the depth sensor, and the water depth information can characterize the depth of the water at the location of the robot, and then according to the water depth information, it can be monitored whether the robot moves to the shallow water area. Among them, the water depth sensor can be a pressure sensor or a capacitive sensor, etc. For example, the pressure sensor calculates the depth of the water by measuring the pressure exerted by the water column; the capacitive sensor determines the depth of the water level by measuring the change in capacitance. The above exemplary description of the water depth sensor is not intended to limit the type of the sensor, and those skilled in the art can select the type of water depth sensor according to actual needs, as long as the technical principles of the present application can be implemented. The water depth sensor can be set on the outer shell of the head, tail, bottom or top of the robot, or it can be set in the outer shell of the robot, as long as it can sense the depth of the water at the location of the robot.

[0029] Exemplarily, when the working mode of the robot is the water surface cleaning mode, the robot can be monitored by a downward sensor or a distance sensor arranged at the bottom of the robot to monitor whether it has moved to a shallow water area. The method of determining whether the robot has moved to a shallow water area by a downward sensor is as follows: the downward sensor can be used to monitor whether the bottom of the robot is empty (that is, there is no surface to be cleaned or a support surface such as a pool bottom surface or a platform surface within a certain distance range below the bottom of the robot). If the bottom of the robot is empty, it means that the robot is located in a deep water area; if the bottom of the robot is not empty, it means that the robot is located in a shallow water area. The method of determining whether the robot has moved to a shallow water area by a distance sensor is as follows: the distance between the robot and the bottom of the pool in the direction of the bottom can be measured by a distance sensor. If the measured distance is small, it can be determined that the robot has moved to a shallow water area. If the measured distance is large, it means that the current position of the robot is a deep water area. The above-mentioned distance sensor can be, for example, an ultrasonic sensor, a laser sensor, an infrared sensor, etc., and the embodiments of the present application are not specifically limited here.

[0030] It is understandable that, for a robot, the water depth value that enables the robot to work normally is related to the body size of the robot. The larger the size of the robot, the greater the water depth value required for normal cleaning work, and vice versa. The smaller the water depth value required for the robot. Therefore, a corresponding shallow water threshold or distance threshold can be set based on the body size of the robot. When the water depth value at the current position of the robot is less than the shallow water threshold value based on the depth sensor, or when the distance between the robot and the pool bottom at the current position is less than the distance threshold value based on the distance sensor, it can be determined that the robot has moved to the shallow water area, that is, the robot is currently in the shallow water area. Correspondingly, if the size of the robot is small, the above-mentioned shallow water threshold or distance threshold is small, and if the size of the robot is large, the shallow water threshold or distance threshold is large.

[0031] Next, the process proceeds to step 103. In step 103, when the automatic pool cleaning device moves to the shallow water area, the automatic pool cleaning device is controlled to move from the shallow water area to the deep water area.

[0032] It is understandable that in shallow waters, the robot will experience problems such as floating due to air intake, inaccurate motion trajectory, and confusion in ultrasonic data. Therefore, when it is determined that the robot has moved to a shallow water area, it is necessary to control the robot to move from the shallow water area to the deep water area as quickly as possible so that the robot can perform subsequent cleaning work normally in the deep water area.

[0033] The control method of the automatic pool cleaning device provided by the present application monitors the water depth at the current position of the automatic pool cleaning device during the process of controlling the automatic pool cleaning device to move and clean along a preset path in the pool to determine whether the automatic pool cleaning device has moved to a shallow water area, and when the automatic pool cleaning device moves to the shallow water area, controls the automatic pool cleaning device to move smoothly from the shallow water area to the deep water area, thereby allowing the robot to perform subsequent cleaning work normally in the deep water area, thereby improving the cleaning efficiency of the automatic pool cleaning device.

[0034] In step 103, controlling the automatic pool cleaning device to move from the shallow water area to the deep water area includes: controlling the automatic pool cleaning device to retreat a preset distance or a preset time to move the automatic pool cleaning device from the shallow water area to the deep water area.

[0035] Specifically, if the robot moves to the shallow water area while traveling along a preset path, the robot can retreat to exit the shallow water area and move to the deep water area. Therefore, the robot can be controlled to retreat to exit the shallow water area and move to the deep water area. For example, the robot can be controlled to retreat a preset distance or a preset time to move to the deep water area. It is understandable that the size of the preset distance and the preset time can be set as needed. For example, the preset distance and the preset time can be preset to a larger value so that the robot can leave the shallow water area and move to the deep water area by retreating once. The preset distance and the preset time can also be preset to a smaller value, and then the robot can be controlled to retreat multiple times to leave the shallow water area and move to the deep water area. The size of the preset distance and the preset time is not specifically limited in the embodiments of the present application.

[0036] When the robot is controlled to move backward to a deep water area, the control method further includes: after controlling the automatic pool cleaning device to retreat a preset distance or a preset time, monitoring whether the position of the automatic pool cleaning device is in the deep water area, and if not, continuing to control the automatic cleaning device to retreat.

[0037] It is understandable that when the robot is controlled to move backward at a preset distance or a preset time, the robot may move to the deep water area after moving backward once, or it may still be difficult to leave the shallow water area after moving backward once. Therefore, after controlling the robot to move backward at a preset distance or a preset time, the position of the robot after moving backward can also be monitored to determine whether the position is in the deep water area. If the robot is not in the deep water area, it is necessary to continue to control the robot to move backward. For example, the robot can be controlled to move backward at a preset distance or a preset time again, and after the robot moves backward again, the position of the robot is monitored again to determine whether it is in the deep water area. If it is still not in the deep water area, the robot is controlled to move backward at a preset distance or a preset time again, and this is repeated until the robot is controlled to move from the shallow water area to the deep water area.

[0038] In step 103, controlling the automatic pool cleaning device to move from the shallow water area to the deep water area includes: controlling the automatic pool cleaning device to retreat, and determining whether the automatic pool cleaning device enters the deep water area during the retreat process, and if so, stopping the retreat.

[0039] Specifically, the robot moves to the shallow water area while following the preset path, and can move from the shallow water area to the deep water area by retreating. Therefore, the robot can be controlled to retreat and move from the shallow water area to the deep water area. During the robot's retreat, the water depth information at the robot's location can be monitored in real time or at regular intervals, and based on the water depth information, it can be determined whether the robot has retreated from the shallow water area to the deep water area. If the robot has moved into the deep water area, the robot can be controlled to stop retreating, so as to control the robot to perform the next cleaning work in the deep water area.

[0040] The control method of the automatic pool cleaning device may also include: after the automatic pool cleaning device moves from the shallow water area to the deep water area, controlling the automatic pool cleaning device to rotate by a predetermined angle, and controlling the rotated automatic pool cleaning device to move along a re-planned preset path or switch working modes so that the automatic pool cleaning device no longer enters the shallow water area.

[0041] It is understandable that, for example, by controlling the robot to move from a shallow water area to a deep water area in a backward manner, in this case, if the robot continues to be controlled to move in the original forward direction before retreating (i.e., moving in the direction indicated by the head of the robot) after the robot walks out of the shallow water area in a backward manner, then the robot will return to the shallow water area, which will again cause the robot to be difficult to work normally. Therefore, after controlling the robot to move from the shallow water area to the deep water area, the robot can be controlled to rotate first to adjust the direction of the robot's head to prevent the robot from entering the shallow water area again. The predetermined angle of rotation of the robot can be set according to the preset path of the robot, and the embodiments of the present application are not specifically limited here. After controlling the robot to rotate the preset angle, the path for the robot can be re-planned to control the robot to move according to the re-planned preset path, or the robot can be controlled to switch the working mode to perform subsequent cleaning based on the switched working mode.

[0042] Figure 3 Another moving path schematic diagram of the automatic pool cleaning device provided by the present application is shown, in which the rectangular area is the bottom of the swimming pool, the left side of the dotted line is the shallow water area, and the right side of the dotted line is the deep water area. Figure 3As shown in , for example, the robot was originally executing the pool bottom edge cleaning mode to clean the pool bottom edge. When the robot executes the preset path ① and enters the shallow water area while cleaning the pool bottom edge, the robot can be controlled to move backward along the path ② to the deep water area, and the robot can be controlled to rotate a predetermined angle (such as 90 degrees) in the deep water area. After the rotation, the preset path can be replanned for the robot. The replanned preset path can, for example, move forward after turning, and continue to clean along the wall after moving forward to the side wall of the swimming pool. Based on the replanned preset path, the robot is controlled to move, and the robot will execute the preset path ③ to move near the pool wall, and then execute the preset path ④ to continue to execute the pool bottom edge cleaning mode.

[0043] It should be noted that although Figure 3 Path ① and path ② shown in the figure are two different paths, but in fact, path ② and path ① overlap or partially overlap with each other. Path ① indicates that the robot cleans along the edge and moves to the shallow water area, and path ② indicates that the robot moves backward along the original path on path ① to the deep water area. The movement directions of the robot on path ① and path ② are opposite. Path ① and path ② are named only to distinguish the movement directions of the robot during the reciprocating movement.

[0044] Exemplarily, after controlling the robot to move backward and rotate, the robot can also be controlled to continue moving and cleaning along the original preset path. Figure 4 Another moving path schematic diagram of the automatic pool cleaning device provided by the present application is shown, in which the rectangular area is the bottom of the swimming pool, the left side of the dotted line is the shallow water area, and the right side of the dotted line is the deep water area. Figure 4 As shown in , for example, when the robot is cleaning the pool bottom with a "bow-shaped" path as a preset path, when the robot executes the long side path ① of the "bow-shaped" path at the pool bottom and enters the shallow water area, the robot can be controlled to move backward along path ② to the deep water area, and the robot is controlled to rotate a predetermined angle (such as 90 degrees) in the deep water area. After the rotation, the robot is controlled to continue to execute the original preset path, that is, the robot is controlled to move forward and walk the short side path ③ of the "bow-shaped" path, and continue to walk the long side path ④ of the "bow-shaped" path after the short side path, and continue to walk the short side path ⑤ and the long side path ⑥ after completing the long side path ④, and repeat this process until the pool bottom is cleaned.

[0045] It should be noted that although Figure 4 Path ① and path ② shown in the figure are two different paths, but in fact, path ② and path ① overlap or partially overlap with each other. Path ① indicates that the robot moves to the shallow water area, and path ② indicates that the robot moves backward along the original path on path ① to the deep water area. The movement directions of the robot on path ① and path ② are opposite. Path ① and path ② are named only to distinguish the movement directions of the robot during the reciprocating movement.

[0046] In a case where the current working mode of the automatic pool cleaning device is the water surface edge cleaning mode, the switching working mode includes: switching the water surface edge cleaning mode to the water surface random cleaning mode.

[0047] Exemplarily, the water surface cleaning mode of the robot includes a water surface edge cleaning mode and a water surface random cleaning mode. The conventional water surface cleaning mode is to first control the robot to clean the water surface edge for one cycle, then control the robot to clean the water surface randomly for a certain period of time, then clean the water surface edge for one cycle again, then clean the water surface randomly again, and repeat the cycle for a preset number of times. That is, the water surface edge cleaning mode is first executed, and then the water surface random cleaning mode is executed, and the water surface cleaning is repeated alternately.

[0048] When the robot moves to a shallow water area and retreats from the shallow water area to a deep water area while performing the water surface edge cleaning mode, if the robot continues to move along the edge, it will enter the shallow water area again, making it difficult for the robot to perform cleaning work normally. Figure 5 Another moving path schematic diagram of the automatic pool cleaning device provided by the present application is shown, in which the rectangular area is the swimming pool surface, the left side of the dotted line is the shallow water area, and the right side of the dotted line is the deep water area. Figure 5 As shown in , when the robot is executing the water surface edge cleaning mode and enters the shallow water area along path ①, the robot is controlled to move backward along path ② to position A and rotate at position A by a preset angle. The preset angle can be 90 degrees, for example. At this time, the robot is located at position A and facing the water surface. Since it is difficult to control the movement direction and movement path of the robot when it is driving on the water surface, after the robot moves to the deep water area and rotates by a preset angle, the robot can be controlled to stop the water surface edge mode and instead execute the water surface random cleaning mode to directly clean the water surface.

[0049] It should be noted that although Figure 5 Path ① and path ② shown in the figure are two different paths, but in fact, part of path ② overlaps with path ①. Path ① indicates that the robot moves to the shallow water area, and path ② indicates that the robot moves backward along the original path on path ① to the deep water area. The movement directions of the robot on path ① and path ② are opposite. Path ① and path ② are named only to distinguish the movement directions of the robot during the reciprocating movement.

[0050] The control method of the above-mentioned automatic pool cleaning device, wherein, before the step of controlling the automatic pool cleaning device after rotation to move along the re-planned preset path or switch the working mode, it also includes judging whether the number of times the automatic pool cleaning device has monitored entering the shallow water area meets the preset conditions, and if so, controlling the automatic pool cleaning device after rotation to move along the re-planned preset path or switch the working mode.

[0051] Specifically, before controlling the rotated robot to move along the re-planned preset path or switching the working mode, the number of times the robot enters the shallow water area can be monitored. When the number of times the robot enters the shallow water area meets the preset conditions, it means that under the current working mode, the robot can easily move to the shallow water area. At this time, the preset path can be re-planned for the robot or the working mode can be switched, and then the rotated robot can be controlled to move along the re-planned preset path or switch the working mode, so as to minimize the movement of the robot to the shallow water area.

[0052] Figure 6 Another moving path schematic diagram of the automatic pool cleaning device provided by the present application is shown, in which the rectangular area is the bottom of the swimming pool, the left side of the dotted line is the shallow water area, and the right side of the dotted line is the deep water area. Figure 6 As shown in , for example, the robot uses the "bow-shaped path" as the preset path to clean the bottom of the pool. When the robot executes the short side path ② of the "bow-shaped path" at the bottom of the pool and enters the shallow water area, the robot can be controlled to move backward along path ② to the deep water area, and the robot can be controlled to rotate a preset angle (such as 90 degrees) in the deep water area. After the rotation, if the robot continues to execute the preset path, it will execute the long side path ①. After executing the long side path, when executing the short side path ③, it will enter the shallow water area again. At this time, the robot needs to be controlled to move backward along path ③ to the deep water area. In this case, if the preset path is continued, based on the "bow-shaped path", the robot will take the long side path ① again. In this case, if the robot continues to take the "bow-shaped path", it will enter the shallow water area many times and will repeatedly clean the long side path ①. Therefore, when it is detected that the number of times the robot enters the shallow water area meets the preset conditions, it is necessary to control the robot to move along the re-planned preset path or switch the working mode to prevent the robot from repeatedly moving to the shallow water area and repeatedly cleaning some areas.

[0053] Exemplarily, the re-planned preset path includes a preset path planned based on an uncleaned area.

[0054] Specifically, after the robot moves along the original preset path, moves to the shallow water area and retreats from the shallow water area to the deep water area, the robot can be controlled to pause the execution of the original preset path, and then the cleaning coverage of the robot can be determined. If the cleaning coverage rate reaches the standard, the cleaning task can be stopped. If the cleaning coverage rate does not reach the standard, the preset path can be re-planned according to the uncleaned area to control the robot to focus on cleaning the uncleaned area according to the re-planned preset path.

[0055] The present application also provides an automatic pool cleaning device. The automatic pool cleaning device can execute the control method described above with reference to the various embodiments. The description of the control method of the automatic pool cleaning device executing the various embodiments is omitted here. The principle and scheme of the control method refer to the control method described above in combination with the various embodiments and drawings, and will not be repeated here.

[0056] The present application also provides a computer storage medium, wherein the storage medium stores a computer program, wherein the computer program is executed by a processor to perform the control method described above with reference to each embodiment. The principle and scheme of the control method refer to the control method described above in combination with each embodiment and the accompanying drawings, and will not be repeated here.

[0057] 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. Those of ordinary skill in the art may understand and implement it without creative effort.

[0058] 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, 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.

[0059] 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.

[0060] 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.

[0061] 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.

[0062] The above is only an exemplary embodiment of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of various changes or substitutions within the technical scope recorded in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application shall be based on the protection scope of the claims.

Claims

1. A control method for an automatic pool cleaning device, comprising: Controlling the automatic pool cleaning device to move along a preset path in the pool; During the movement of the automatic pool cleaning device, monitoring whether the automatic pool cleaning device moves to a shallow water area; When the automatic pool cleaning device moves to a shallow water area, the automatic pool cleaning device is controlled to move from the shallow water area to a deep water area.

2. The control method according to claim 1, wherein monitoring whether the automatic pool cleaning device moves to a shallow water area comprises: Whether the automatic pool cleaning device moves to a shallow water area is monitored by a depth sensor or a downward detection sensor.

3. The control method according to claim 1, wherein the step of controlling the automatic pool cleaning device to move from the shallow water area to the deep water area comprises: The automatic pool cleaning device is controlled to retreat a preset distance or a preset time period so that the automatic pool cleaning device moves from the shallow water area to the deep water area.

4. The control method according to claim 3, further comprising: After controlling the automatic pool cleaning device to retreat a preset distance or a preset time, monitoring whether the automatic pool cleaning device is located in a deep water area, if not, continuing to control the automatic cleaning device to retreat.

5. The control method according to claim 1, wherein the step of controlling the automatic pool cleaning device to move from the shallow water area to the deep water area comprises: The automatic pool cleaning device is controlled to move backward, and during the moving backward process, it is determined whether the automatic pool cleaning device enters a deep water area, and if so, the moving backward is stopped.

6. The control method according to any one of claims 1 to 5, wherein: The method further comprises: After the automatic pool cleaning device moves from the shallow water area to the deep water area, the automatic pool cleaning device is controlled to rotate by a predetermined angle, and the rotated automatic pool cleaning device is controlled to move along a re-planned preset path or switch working modes.

7. The control method according to claim 6, when the current working mode of the automatic pool cleaning device is the water surface edge cleaning mode, the switching working mode comprises: Switch the water surface edge cleaning mode to the water surface random cleaning mode.

8. The control method according to claim 6, wherein: Before the step of controlling the automatic pool cleaning device to move along the re-planned preset path or switch the working mode after rotating, it also includes judging whether the number of times the automatic pool cleaning device has monitored entering the shallow water area meets the preset conditions. If so, controlling the automatic pool cleaning device to move along the re-planned preset path or switch the working mode after rotating.

9. The control method according to claim 6, wherein: The re-planned preset path includes a preset path planned based on the uncleaned area.

10. An automatic pool cleaning device, wherein: The automatic pool cleaning device is capable of performing the method according to any one of claims 1-9.

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

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