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

Abstract

The present application provides a pool automatic cleaning device, its control method, and a computer storage medium. The control method includes: controlling the pool automatic cleaning device to travel in the pool along a preset path; during the travel of the pool automatic cleaning device, monitoring whether the pool automatic cleaning device moves to the shallow water area; in the case where the pool automatic cleaning device moves to the shallow water area, controlling the pool automatic cleaning device to move from the shallow water area to the deep water area. This method, in the case where the pool automatic cleaning device moves to the shallow water area, controls the pool automatic cleaning device to smoothly move from the shallow water area to the deep water area, so that the robot can normally perform subsequent cleaning work in the deep water area, improving the cleaning efficiency of the pool automatic cleaning device.

Description

Technical Field

[0001] This application relates to the field of pool cleaning, and particularly to an automatic pool cleaning device, its control method, and a computer storage medium. Background Art

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

[0003] When a robot for pool cleaning, such as an automatic pool cleaning device, performs cleaning operations on the pool bottom or the pool surface, if the automatic pool cleaning device moves from the deep water area to the shallow water area, it is likely to cause problems such as the automatic pool cleaning device sucking air and floating, inaccurate movement trajectories, 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 problems, according to the first aspect of the present disclosure, a control method for an automatic pool cleaning device is provided, including: controlling the automatic pool cleaning device to travel in a pool along a preset path; during the travel of the automatic pool cleaning device, monitoring whether the automatic pool cleaning device moves to the shallow water area; when 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 the deep water area.

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

[0006] According to a control method for an automatic pool cleaning device provided by the present disclosure, the 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 for 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 further includes: after controlling the automatic pool cleaning device to retreat a preset distance or for a preset duration, monitoring whether the position where the automatic pool cleaning device is located is in the deep water area. If not, continue to control the automatic cleaning device to retreat.

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

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

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

[0011] According to a control method of a pool automatic cleaning device provided by the present disclosure, wherein, before the step of controlling the rotated pool automatic cleaning device to travel along a re-planned preset path or switch the working mode, it further includes determining whether the number of times the pool automatic cleaning device has monitored entering the shallow water area meets a preset condition. If it meets, control the rotated pool automatic cleaning device to travel along a re-planned preset path or switch the working mode.

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

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

[0014] According to a third aspect of the present disclosure, there is provided a computer storage medium, and a computer program is stored in the storage medium. When the computer program is executed by a processor, it implements any one of the above control methods.

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

[0016] During the process of controlling the automatic pool cleaning device to move and clean in the pool along a preset path, 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 the shallow water area. In the case where 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, so that the robot can normally perform subsequent cleaning work in the deep water area, improving the cleaning efficiency of the automatic pool cleaning device. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, the drawings required for use in the description of the embodiments will be briefly introduced below. The drawings in the following description are only exemplary embodiments of the present disclosure.

[0018] Figure 1 It shows a schematic flow chart of the control method of the automatic pool cleaning device provided by the present application;

[0019] Figure 2 It shows a schematic diagram of the movement path of the automatic pool cleaning device provided by the present application;

[0020] Figure 3 It shows another schematic diagram of the movement path of the automatic pool cleaning device provided by the present application;

[0021] Figure 4 It shows another schematic diagram of the movement path of the automatic pool cleaning device provided by the present application;

[0022] Figure 5 It shows another schematic diagram of the movement path of the automatic pool cleaning device provided by the present application; and,

[0023] Figure 6 It shows another schematic diagram of the movement path of the automatic pool cleaning device provided by the present application. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0024] To make the objectives, technical solutions, and advantages of the present application clearer, the technical solutions in the present application will be clearly and completely described below in conjunction with the drawings in the present application. Obviously, the described embodiments are some, but not all, of the embodiments of the present application. All other embodiments obtained by those of ordinary skill in the art without creative efforts based on the embodiments in the present application belong to the scope of protection of the present application.

[0025] This application provides a pool automatic cleaning device and its control method. The pool automatic cleaning device and its control method 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 water storage tank, a spa pool, a water storage tank, a water storage trough, etc. The pool automatic cleaning device can be a device such as an automatic cleaning device, a pool cleaning robot, etc., which can clean the pool-shaped building. This application does not limit the specific presentation forms of the pool automatic cleaning device and the pool-shaped building, as long as the principle of this application can be realized. In the following text, if not otherwise specified, the robot will be used as an example of the pool automatic cleaning device for elaboration, and the swimming pool will be used as an example of the pool or pool-shaped building for elaboration. In the following text, if not otherwise specified, the terms "pool bottom", "pool bottom surface", and "bottom" all refer to the bottom surface of the pool.

[0026] Exemplarily, when the robot cleans the pool, it can include multiple cleaning operation modes, such as a pool bottom cleaning mode, a pool wall cleaning mode, and a water surface cleaning mode. Among them, the pool bottom cleaning mode can include a pool bottom edge cleaning mode and a pool bottom surface cleaning mode; the water surface cleaning mode can 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. The driving device of the robot usually does not actively adjust the yaw angle, and the yaw angle is only affected by the water flow and / or wind direction. The driving device is only used to drive the robot straight ahead; when the robot collides with the pool wall or an obstacle, the robot is subjected to the collision or rubbing force of the pool wall or the obstacle, which will also cause the yaw angle to change. To avoid damage to the robot and the pool wall due to collision or rubbing, when the robot approaches the pool wall or an obstacle, the driving device can actively adjust the yaw angle, that is, control the robot to turn so that the driving direction of the robot is away from the obstacle or the pool wall. After turning, the driving device closes the control of the yaw angle, thereby realizing the water surface random cleaning mode of the robot. When the robot is on the water surface, it is very difficult for the driving device to control the yaw angle, especially in the area far from the obstacle or the pool wall. Therefore, it becomes unnecessary for the driving device to control the yaw angle, and the random cleaning mode can save the power consumption of the driving device.

[0027] The pool automatic cleaning device and its control method 100 of this application will be described below with reference to the accompanying drawings. Figure 1 The flowchart of the control method of the pool automatic cleaning device provided by this application is shown, as Figure 1 shown, the control method 100 of the pool automatic cleaning device provided by this application includes steps 101 to 103. Steps 101 to 103 will be described in detail below in combination with specific embodiments.

[0028] First, enter step 101. In step 101, control the pool automatic cleaning device to travel in the pool according to a preset path.

[0029] When controlling the robot to clean the pool, the robot can be controlled to travel along a preset path to perform mobile cleaning on the pool. The preset path can be, for example, an edge path, a zigzag path, or a path similar to a zigzag path. The preset path can also be a "square path", a "spiral path", etc. It should be noted that in practice, the terms "zigzag path", "square path", and "spiral path" do not necessarily require the robot to pre-plan a movement trajectory 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 movement rule is planned, and the robot is controlled to perform movement cleaning according to the preset movement rule. Figure 2 The schematic diagram of the movement path of the pool automatic cleaning device provided by this application is shown, as Figure 2 shown. For example, when controlling the robot to clean the bottom of the pool, in the case where the preset path is a "zigzag path", the preset movement rule can be to control the robot to walk along the long side of the zigzag in the current orientation. When approaching the pool side wall while walking along the long side of the zigzag, control the robot to turn 90° and then walk along the short side of the zigzag. After walking a preset distance along the short side of the zigzag, turn 90° again and then walk along the long side of the zigzag, and repeat this to perform mobile cleaning on the bottom of the pool. The path generated by the movement of the robot during cleaning is in the shape of a "zigzag path".

[0030] It should be noted that the above description of the preset path or the preset walking rule is only exemplary. The preset path or the preset walking rule protected by this application is not limited to the content listed above. Those skilled in the art can set and plan the preset path or the preset walking rule according to the actual situation, as long as the technical principle of this application can be achieved.

[0031] Next, enter step 102. In step 102, during the process of the pool automatic cleaning device traveling, monitor whether the pool automatic cleaning device moves to the shallow water area.

[0032] Specifically, since in the shallow water area, problems such as the robot sucking air and floating, inaccurate movement trajectories, and chaotic ultrasonic data will occur. Therefore, during the process of the robot traveling, it is necessary to monitor the depth of the water area where the robot's current position is located in real time or at regular intervals to monitor whether the robot has moved to the shallow water area, so as to perform subsequent operations in a timely manner when it is known that the robot has moved to the shallow water area.

[0033] In step 102, monitoring whether the automatic pool cleaning device moves to the shallow water area specifically includes: monitoring whether the automatic pool cleaning device moves to the shallow water area through a depth sensor or a downward detection sensor.

[0034] Exemplarily, when the working mode of the robot is the pool bottom cleaning mode, the depth information of the current position of the robot can be obtained through a depth sensor. This depth information can represent the depth of the water at the position where the robot is located. Then, based on the depth information, it can be monitored whether the robot moves to the shallow water area. Among them, the depth sensor can be a pressure sensor, 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 depth sensor is not intended to limit the type of this sensor. Those skilled in the art can select the type of the depth sensor according to actual needs as long as the technical principle of this application can be achieved. This depth sensor can be set on the outer shell of the head, tail, bottom or top of the robot, or can be set inside the outer shell of the robot as long as it can sense the depth of the water at the position where the robot is located.

[0035] Exemplarily, when the working mode of the robot is the water surface cleaning mode, it can be monitored whether the robot moves to the shallow water area through a downward-looking sensor or a distance sensor set at the bottom of the robot. The method for determining whether the robot moves to the shallow water area through the downward-looking sensor is as follows: It can be monitored through the downward-looking sensor whether the bottom of the robot is empty (that is, there is no cleaning surface or support surface such as the pool bottom surface or the platform surface within a certain distance downward from the bottom of the robot). When the bottom of the robot is empty, it means that the robot is located in the deep water area; when the bottom of the robot is not empty, it means that the robot is located in the shallow water area. The method for determining whether the robot moves to the shallow water area through the distance sensor is as follows: The distance between the robot and the pool bottom in the direction of its bottom can be measured through the distance sensor. When the measured distance is small, it can be determined that the robot has moved to the shallow water area. When the measured distance is large, it means that the current position of the robot is in the deep water area. The above distance sensor can be, for example, an ultrasonic sensor, a laser sensor, an infrared sensor, etc. The embodiments of this application do not make specific limitations here.

[0036] It can be understood that for a robot, the water depth value that enables the robot to work properly 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. Conversely, the smaller the size of the robot, the smaller the water depth value required. Therefore, a corresponding shallow water threshold or distance threshold can be set based on the body size of the robot. When it is determined based on the depth sensor that the water depth value at the current position of the robot is less than the shallow water threshold, or when it is determined based on the distance sensor that the distance between the robot and the pool bottom at the current position is less than the distance threshold, 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; if the size of the robot is large, the shallow water threshold or distance threshold is large.

[0037] Next, step 103 is entered. In step 103, when the automatic pool cleaning device moves to the shallow water area, control the automatic pool cleaning device to move from the shallow water area to the deep water area.

[0038] It can be understood that since in the shallow water area, problems such as air inhalation and floating, inaccurate movement trajectories, and chaotic ultrasonic data will occur for the robot. Therefore, when it is determined that the robot has moved to the shallow water area, it is necessary to control the robot to move from the shallow water area to the deep water area as soon as possible, so that the robot can normally perform subsequent cleaning work in the deep water area.

[0039] The control method of the automatic pool cleaning device provided in this application monitors the water depth condition 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, so as to determine whether the automatic pool cleaning device has moved to the shallow water area. When the automatic pool cleaning device moves to the shallow water area, control the automatic pool cleaning device to move smoothly from the shallow water area to the deep water area, so that the robot can normally perform subsequent cleaning work in the deep water area, improving the cleaning efficiency of the automatic pool cleaning device.

[0040] In step 103, the control of 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 for a preset duration, so that the automatic pool cleaning device moves from the shallow water area to the deep water area.

[0041] Specifically, if the robot moves into the shallow water area during the process of traveling along a preset path, the robot can retreat to exit the shallow water area and move into the deep water area. Therefore, the robot can be controlled to retreat to exit the shallow water area and move into the deep water area. For example, the robot can be controlled to retreat a preset distance or for a preset duration to move it into the deep water area. It can be understood that the magnitudes of the preset distance and the preset duration can be set as needed. For example, a relatively large value can be preset for the preset distance and the preset duration so that the robot can leave the shallow water area and move into the deep water area by retreating once. A relatively small value can also be preset for the preset distance and the preset duration, and then the robot can be controlled to retreat multiple times to leave the shallow water area and move into the deep water area. The magnitudes of the preset distance and the preset duration are not specifically limited in the embodiments of this application.

[0042] When the robot is controlled to retreat to move into the deep water area, the control method further includes: after controlling the pool automatic cleaning device to retreat a preset distance or for a preset duration, monitoring whether the position where the pool automatic cleaning device is located is in the deep water area. If not, continue to control the automatic cleaning device to retreat.

[0043] It can be understood that when the robot retreats at a preset distance or for a preset duration, the robot may move into the deep water area by retreating once, or it may still be difficult to get out of the shallow water area after retreating once. Therefore, after controlling the robot to retreat a preset distance or for a preset duration, the position of the robot after retreating can also be monitored to determine whether this position is in the deep water area. If the robot is not in the deep water area, the robot needs to be continuously controlled to retreat. For example, the robot can be controlled to retreat a preset distance or for a preset duration again, and after the robot retreats again, monitor whether the position where the robot is located is in the deep water area again. If it is still not in the deep water area, continue to control the robot to retreat a preset distance or for a preset duration again, and so on, until the robot is controlled to move from the shallow water area to the deep water area.

[0044] In step 103, controlling the pool automatic cleaning device to move from the shallow water area to the deep water area includes: controlling the pool automatic cleaning device to retreat, and during the retreat process, judging whether the pool automatic cleaning device enters the deep water area. If so, stop retreating.

[0045] Specifically, the robot moves to the shallow water area during the process of 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. During the retreat process of the robot, the water depth information at the position where the robot is located 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. When 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.

[0046] The control method of the pool automatic cleaning device may further include: after the pool automatic cleaning device moves from the shallow water area to the deep water area, controlling the pool automatic cleaning device to rotate a predetermined angle, and controlling the rotated pool automatic cleaning device to travel along a re-planned preset path or switch the working mode, so that the pool automatic cleaning device no longer enters the shallow water area.

[0047] It can be understood that, for example, by controlling the robot to move from the shallow water area to the deep water area in a retreating manner. In this case, if the robot is continuously controlled to move in the original forward direction before its retreat (i.e., move in the direction indicated by the head of the robot) after the robot exits the shallow water area by retreating, then the robot will return to the shallow water area again, thus making it difficult for the robot to work properly again. 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 orientation of the head of the robot to prevent the robot from driving into the shallow water area again. The predetermined angle of rotation of the robot can be set according to the preset path of the robot's travel, and the embodiments of the present application do not make specific limitations here. After controlling the robot to rotate by a predetermined angle, a path can be re-planned for the robot to control the robot to move along 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.

[0048] Figure 3 Fig. shows another schematic diagram of the moving path of the pool automatic cleaning device provided by the present application. In the figure, 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. As Figure 3As shown, for example, the robot was originally executing the edge cleaning mode along the bottom of the pool to clean the edge of the pool bottom. When the robot was executing the preset path ① along the bottom of the pool and drove into the shallow water area during the edge cleaning of the pool bottom, the robot could be controlled to move backward along path ② to the deep water area, and in the deep water area, the robot could be controlled to rotate a predetermined angle (such as 90 degrees). After rotation, a new preset path could be planned for the robot. The newly planned preset path could be, for example, to move forward after turning, and continue to clean along the wall after moving forward near the pool side wall. Controlling the robot to move based on the newly planned preset path, the robot would then execute preset path ③ to move near the pool wall, and then execute preset path ④ to continue the edge cleaning mode along the pool bottom.

[0049] It should be noted that although Figure 3 Path ① and path ② shown in are two different paths. In fact, path ② coincides or partially coincides with path ①. Path ① represents that the robot cleaned along the edge and moved into the shallow water area, and path ② represents that the robot moved backward along the original path ① to the deep water area. The moving directions of the robot on path ① and path ② are opposite. Only to distinguish the moving directions of the robot during this reciprocating movement, path ① and path ② are named.

[0050] Exemplarily, after controlling the robot to move backward and rotate, the robot can also be controlled to continue to move and clean along the original preset path. Figure 4 shows another schematic diagram of the moving path of the automatic pool cleaning device provided by the present application. The rectangular area in the figure is the bottom of the 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. As Figure 4 shown, for example, when the robot was cleaning the bottom of the pool with the "bow-shaped" path as the preset path at the bottom of the pool, when the robot drove into the shallow water area along the long side path ① of the "bow-shaped" path at the bottom of the pool, at this time, the robot could be controlled to move backward along path ② to the deep water area, and in the deep water area, the robot could be controlled to rotate a predetermined angle (such as 90 degrees). After rotation, the robot was controlled to continue to execute the original preset path, that is, the robot was controlled to move forward along the short side path ③ of the "bow-shaped" path, and after the short side path, continue to move along the long side path ④ of the "bow-shaped" path. After finishing the long side path ④, continue to move along the short side path ⑤ and the long side path ⑥, and so on until the cleaning of the pool bottom surface is completed.

[0051] It should be noted that although Figure 4 Path ① and path ② shown in are two different paths. In fact, path ② coincides or partially coincides with path ①. Path ① represents that the robot moved into the shallow water area, and path ② represents that the robot moved backward along the original path ① to the deep water area. The moving directions of the robot on path ① and path ② are opposite. Only to distinguish the moving directions of the robot during this reciprocating movement, path ① and path ② are named.

[0052] When the current working mode of the automatic pool cleaning device is the edge cleaning mode of the water surface, the switching of the working mode includes: switching the edge cleaning mode of the water surface to the random cleaning mode of the water surface.

[0053] Exemplarily, the water surface cleaning modes of the robot include the edge cleaning mode of the water surface and the random cleaning mode of the water surface. The conventional water surface cleaning mode is to first control the robot to clean along the edge of the water surface for one week, then control the robot to randomly clean the water surface for a certain period of time, then clean along the edge of the water surface for one week again, and then randomly clean the water surface again, repeating in this cycle for a preset number of times. That is, first execute the edge cleaning mode of the water surface, and then execute the random cleaning mode of the water surface, alternately repeating the cleaning of the water surface in this way.

[0054] When the robot moves to the shallow water area and retreats from the shallow water area to the deep water area during the execution of the edge cleaning mode of the water surface, and then the robot continues to move along the edge, it will enter the shallow water area again, making it difficult for the robot to carry out the cleaning work normally. Figure 5 Fig. shows another schematic diagram of the moving path of the automatic pool cleaning device provided by the present application. The rectangular area in the figure is the water surface 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. As Figure 5 shown, when the robot is executing the edge cleaning mode of the water surface and drives into the shallow water area along path ①, control the robot to move backward along path ② to position A, and rotate a preset angle at position A. The preset angle can be, for example, 90 degrees. At this time, the robot is located at position A and faces the water surface. Since it is difficult to control the moving direction and moving path of the robot when it is moving on the water surface, after the robot moves to the deep water area and rotates the preset angle, the robot can be controlled to stop the edge cleaning mode of the water surface and instead execute the random cleaning mode of the water surface to directly clean the water surface.

[0055] It should be noted that although Figure 5 path ① and path ② shown are two different paths, in fact, part of path ② coincides 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 moving directions of the robot on path ① and path ② are opposite. Only to distinguish the moving directions of the robot during this reciprocating movement, path ① and path ② are named.

[0056] For the above control method of the automatic pool cleaning device, before the step of controlling the rotated automatic pool cleaning device to travel along the re-planned preset path or switch the working mode, it further includes judging whether the number of times the automatic pool cleaning device has been monitored to enter the shallow water area meets the preset conditions. If it meets, control the rotated automatic pool cleaning device to travel along the re-planned preset path or switch the working mode.

[0057] Specifically, before the step of controlling the rotated robot to travel along the re-planned preset path or switch the working mode, the number of times the robot enters the shallow water area can be monitored. When the number of times of entering the shallow water area meets the preset conditions, it indicates that the robot is likely to move to the shallow water area in the current working mode. At this time, the preset path of the robot can be re-planned or the working mode can be switched, and then the rotated robot can be controlled to travel 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 as much as possible.

[0058] Figure 6 FIG. shows another schematic diagram of the movement path of the pool automatic cleaning device provided by the present application. In the figure, 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. As Figure 6 shown, for example, the robot cleans the bottom of the pool with the "bow-shaped path" as the preset path. When the robot drives into the shallow water area along the short side path ② of the "bow-shaped path" at the bottom of the pool, at this time, 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 rotation, when continuing to execute the predetermined path, the robot will execute the long side path ①. When executing the short side path ③ after executing the long side path, it will drive into 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 predetermined path continues to be executed, based on the "bow-shaped path", the robot will walk the long side path ① again. In this case, if the robot continuously walks the "bow-shaped path", it will enter the shallow water area multiple times and will repeatedly clean the long side path ①. Therefore, when it is monitored that the number of times the robot enters the shallow water area meets the preset conditions, it is necessary to control the robot to travel along the re-planned preset path or switch the working mode, so as to prevent the robot from repeatedly moving to the shallow water area and repeatedly cleaning some areas.

[0059] Exemplarily, among them, the re-planned preset path includes a preset path planned based on the uncleaned area.

[0060] Specifically, when the robot moves along the original preset path, moves to the shallow water area and then moves backward 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 determine the cleaning coverage rate of the robot. When the cleaning coverage rate reaches the standard, the cleaning task can be stopped. When the cleaning coverage rate does not reach the standard, the preset path can be re-planned according to the uncleaned area, so as to control the robot to focus on cleaning the uncleaned area according to the re-planned preset path.

[0061] The present application also provides a pool automatic cleaning device. The pool automatic cleaning device can execute the control method described above with reference to each embodiment. The description of the pool automatic cleaning device executing the control method of each embodiment is omitted here. For the principle and solution of the control method, refer to the control method described above in combination with each embodiment and the drawings, which will not be elaborated here.

[0062] The present application also provides a computer storage medium, in which a computer program is stored, and the computer program is executed by a processor to perform the control method described above with reference to each embodiment. For the principle and solution of the control method, refer to the control method described above in combination with each embodiment and the drawings, which will not be elaborated here.

[0063] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed to multiple network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art can understand and implement it without creative efforts.

[0064] Through the description of the above embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus a necessary general hardware platform, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solution, in essence, or the part that contributes to the prior art can be embodied in the form of a software product, which can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., including several instructions to enable a computer device (which can be a personal computer, server, or network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0065] In the description of this specification, the descriptions referring to terms such as "one embodiment", "some embodiments", "example", "specific example", or "some examples" mean that the specific features, structures, materials, or characteristics described in connection 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 can be combined in a suitable manner in any one or more embodiments or examples. In addition, without contradiction, those skilled in the art can combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples.

[0066] In addition, the terms "first" and "second" are for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include at least one such feature. In the description of this application, "a plurality of" means two or more unless otherwise specifically defined.

[0067] In this application, unless otherwise stated, the orientation terms such as "upper" and "lower" generally refer to the directions shown in the drawings, or to the vertical, perpendicular or gravitational directions; similarly, for ease of understanding and description, "left" and "right" generally refer to the left and right shown in the drawings; "inner" and "outer" refer to the inner and outer of the contours of the respective components themselves, but the above orientation terms are not used to limit this application.

[0068] The above is only an exemplary embodiment of this application, but the protection scope of this application is not limited thereto. Any person skilled in the art within the technical scope recorded in this application can easily think of various changes or substitutions, and these should all be covered within the protection scope of this application. Therefore, the protection scope of this application shall be subject to the protection scope of the claims.

Claims

1. A control method for an automatic pool cleaning device, comprising: Controlling the automatic pool cleaning device to travel in the pool along a preset path; During the travel of the automatic pool cleaning device, monitoring whether the automatic pool cleaning device moves to the shallow water area; When 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 the deep water area; Wherein, the monitoring of whether the automatic pool cleaning device moves to the shallow water area includes: Monitoring whether the automatic pool cleaning device moves to the shallow water area through a depth sensor or a downward detection sensor, Wherein, the 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 for a preset duration, so that the automatic pool cleaning device moves from the shallow water area to the deep water area.

2. The control method according to claim 1, the method further comprising: After controlling the automatic pool cleaning device to retreat a preset distance or for a preset duration, monitoring whether the position where the automatic pool cleaning device is located is in the deep water area. If not, continue to control the automatic cleaning device to retreat.

3. The control method according to claim 1, the 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 during the retreat, judging whether the automatic pool cleaning device enters the deep water area. If so, stop retreating.

4. The control method according to any one of claims 1-3, wherein, The method further comprises: 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 a predetermined angle, and controlling the rotated automatic pool cleaning device to travel along a re-planned preset path or switch the working mode.

5. The control method according to claim 4, when the current working mode of the automatic pool cleaning device is the water surface edge cleaning mode, the switching of the working mode includes: Switching the water surface edge cleaning mode to the water surface random cleaning mode.

6. The control method according to claim 4, wherein, Before the step of controlling the rotated automatic pool cleaning device to travel along a re-planned preset path or switch the working mode, it further includes judging whether the number of times the automatic pool cleaning device has been monitored to enter the shallow water area meets a preset condition. If it meets, controlling the rotated automatic pool cleaning device to travel along a re-planned preset path or switch the working mode.

7. The control method according to claim 4, wherein, The re-planned preset path includes a preset path planned based on the un-cleaned area.

8. An automatic pool cleaning device, wherein, The automatic pool cleaning device can execute the method according to any one of claims 1-7.

9. A computer storage medium, wherein a computer program is stored in the storage medium, and when the computer program is executed by a processor, the method according to any one of claims 1-7 is implemented.

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