Automatic pool cleaning device, control method and computer storage medium

Abstract

The invention provides an automatic pool cleaning device, a control method and a computer storage medium. The automatic pool cleaning device comprises a laser radar. The control method comprises the steps that the automatic pool cleaning device is controlled to move along the pool wall of a pool; in the moving process of the automatic pool cleaning device, contour information of the pool wall on the side of the automatic pool cleaning device is obtained based on the laser radar, and the yaw angle of the automatic pool cleaning device in the follow-up moving process is planned based on the contour information of the pool wall; and controlling the automatic pool cleaning device to continue to move based on the yaw angle. According to the method, the automatic pool cleaning device can be controlled to achieve accurate edge-edging, and the edge-edging effect is good.

Description

Technical Field

[0001] The embodiments of the present application relate to the technical field of cleaning devices, and in particular to an automatic pool cleaning device, a control method, 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] Pool cleaning robots, such as automatic pool cleaning devices, often move along the edge of the wall in order to sense the boundary of the pool when planning their paths. Moving along the edge can also clean up dirt at the waterline position of the wall. The more accurate the path along the edge, the more accurate the restoration of the pool boundary will be, which is conducive to improving the coverage rate of the automatic pool cleaning device. The existing automatic pool cleaning device realizes the edge function through a single-point or two-point ranging sensor set on the side of the device. However, based on a single-point ranging sensor, the automatic pool cleaning device is prone to serpentine movement and has poor edge effect; based on a two-point ranging sensor, the automatic pool cleaning device has a better edge effect in a regular pool, but has a poor edge effect in an irregular pool and the automatic pool cleaning device is prone to scratching the pool wall. Summary of the invention

[0004] According to the first aspect of the present application, a control method for an automatic pool cleaning device is provided, wherein the automatic pool cleaning device includes a laser radar, and the control method includes: controlling the automatic pool cleaning device to move along the wall of a pool; during the movement of the automatic pool cleaning device, acquiring contour information of the pool wall on the side of the automatic pool cleaning device based on the laser radar, and planning the yaw angle of the automatic pool cleaning device during subsequent movement based on the contour information of the pool wall; and controlling the automatic pool cleaning device to continue moving based on the yaw angle.

[0005] According to a control method for an automatic pool cleaning device provided by the present disclosure, the contour information includes two-dimensional contour information or three-dimensional contour information.

[0006] According to a control method for an automatic pool cleaning device provided in the present disclosure, wherein controlling the automatic pool cleaning device to continue moving based on the yaw angle includes: determining whether the distance between the automatic pool cleaning device and the pool wall meets a preset condition, and if so, updating the yaw angle of the automatic pool cleaning device during subsequent movement.

[0007] According to a control method for an automatic pool cleaning device provided by the present disclosure, the preset condition includes that the distance is less than a minimum preset threshold or greater than a maximum preset threshold.

[0008] According to a control method for an automatic pool cleaning device provided by the present disclosure, the contour information of the pool wall includes the contour of the pool wall itself or the contour of an object independent of the pool wall and located near the pool wall.

[0009] According to a control method for an automatic pool cleaning device provided in the present disclosure, the contour information of the pool wall includes the contour of the pool wall facing the side of the automatic pool cleaning device and the contour of the pool wall located in front of the side of the automatic pool cleaning device.

[0010] According to a control method for an automatic pool cleaning device provided by the present disclosure, the yaw angle enables the automatic pool cleaning device to move parallel to the contour of the pool wall or parallel to the contour of the object.

[0011] According to a control method for an automatic pool cleaning device provided by the present disclosure, the yaw angle in the subsequent movement process includes the yaw angles moved to multiple positions.

[0012] According to a control method for an automatic pool cleaning device provided by the present disclosure, the laser radar is installed on the side or head of the automatic pool cleaning device.

[0013] According to a control method for an automatic pool cleaning device provided by the present disclosure, the light beam emitted by the laser radar is parallel to a horizontal plane or intersects with the horizontal plane.

[0014] According to a control method for an automatic pool cleaning device provided in the present disclosure, the contour information of the side pool wall includes the contour information of the pool wall in front of the side of the automatic pool cleaning device, and the yaw angle in the subsequent movement process includes the yaw angles at multiple different positions.

[0015] According to a second aspect of the present disclosure, an automatic pool cleaning device is provided, wherein the automatic pool cleaning device is capable of executing any one of the control methods described above.

[0016] According to a third aspect of the present disclosure, a computer storage medium is provided, wherein a computer program is stored in the storage medium, and when the computer program is executed by a processor, the control method described in any one of the above is implemented.

[0017] The embodiments described in this application have the following beneficial effects: When the automatic pool cleaning device moves along the wall of the pool, it can obtain the contour information of the pool wall on the side of the automatic pool cleaning device through the laser radar. Further, the yaw angle can be planned based on the contour information and the automatic pool cleaning device can be controlled to move along the pool wall based on the yaw angle. The contour information can accurately reflect the side wall of the swimming pool and the shape of objects on the side wall. Based on the contour information, the automatic pool cleaning device can be controlled to achieve precise edge movement with good edge movement effect. BRIEF DESCRIPTION OF THE DRAWINGS

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

[0019] Figure 1 It is a flow chart of a control method of an automatic pool cleaning device provided by the present application; Figure 2 is a schematic diagram of a laser radar scan of an automatic pool cleaning device provided by the present application; and, Figure 3 It is a schematic diagram of the installation position of the laser radar provided in this application. DETAILED DESCRIPTION

[0020] 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.

[0021] The present application provides a control method for an automatic pool cleaning device. It is understandable that the automatic pool cleaning device includes a laser radar, and the automatic pool cleaning device is capable of cleaning a pool. The pool is, for example, a pool-shaped building. The pool-shaped building may be a swimming pool, a reservoir, a spa pool, a water tank, a water tank, or the like. The automatic pool cleaning device may be a device such as an automatic cleaning device, a pool cleaning robot, or the like, which is capable of cleaning a pool-shaped building. The present application does not limit the specific presentation of the automatic pool cleaning device and the pool-shaped building, as long as the principle of the present application can be realized.

[0022] In the following, unless otherwise specified, a robot will be used as an example of the automatic pool cleaning device, and a swimming pool will be used as an example of a pool or a pool-shaped building. In the following, unless otherwise specified, the terms "pool bottom", "pool bottom surface", and "pool bottom" all refer to the bottom surface of a swimming pool.

[0023] The control method 100 of the automatic pool cleaning device is described in detail below with reference to the accompanying drawings.

[0024] Figure 1 is a flow chart of a control method of an automatic pool cleaning device provided in the present application, such as Figure 1 As shown, the control method 100 includes steps 101 to 103, and steps 101 to 103 are described in detail below.

[0025] First, enter step 101. In step 101, control the automatic pool cleaning device to move along the pool wall of the pool.

[0026] Exemplarily, when the robot is cleaning a 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, wherein the pool bottom cleaning mode includes a pool bottom edge cleaning mode, and the water surface cleaning mode includes a water surface edge cleaning mode. Edge cleaning requires controlling the robot to walk along the wall of the swimming pool for cleaning and / or obtaining boundary information of the swimming pool, pool bottom edge cleaning is to control the robot to walk along the pool wall at the bottom of the pool, and water surface edge cleaning is to control the robot to walk along the pool wall on the water surface.

[0027] Next, proceed to step 102. In step 102, during the movement of the automatic pool cleaning device, the contour information of the pool wall on the side of the automatic pool cleaning device is obtained based on the laser radar, and the yaw angle of the automatic pool cleaning device in the subsequent movement process is planned based on the contour information of the pool wall.

[0028] Specifically, in the process of controlling the robot to move along the wall of the swimming pool, it is usually necessary to control the distance between the robot and the wall of the swimming pool. Cleaning along the edge at a reasonable distance can obtain more accurate information about the boundary of the swimming pool, and can also better clean the boundary of the swimming pool, and further reduce the collision between the robot and the wall of the swimming pool. Therefore, in the process of controlling the movement of the robot, the contour information of the swimming pool wall can be obtained through the laser radar, and the yaw angle of the robot in the subsequent movement along the edge can be planned according to the contour information of the pool wall. Among them, the yaw angle reflects the angle of the robot's left and right deflection on the horizontal plane.

[0029] The laser radar has a wide scanning range. The horizontal field of view of the laser radar can be greater than 100 degrees, and the vertical field of view can be greater than 25 degrees. That is, the laser radar can detect an angle range greater than 100 degrees in the horizontal direction and an angle range greater than 25 degrees in the vertical direction. Therefore, compared with the simple ranging of traditional ultrasonic sensors, the laser radar can obtain the contour information of the pool wall area. Even if the automatic pool cleaning device is close to the pool wall, it can obtain sufficient information about the pool wall, thereby greatly shortening the distance between the automatic pool cleaning device and the pool wall, allowing the robot to walk along the pool wall as close to the pool wall as possible, which is conducive to the robot obtaining more accurate pool boundary information and is also conducive to the robot cleaning along the edge.

[0030] In step 102, the contour information includes two-dimensional contour information or three-dimensional contour information.

[0031] Specifically, the laser radar can be a single-line laser radar or a multi-line laser radar. A single-line laser radar refers to a laser radar system that only contains one laser transmitter and receiver. A laser transmitter can emit dozens to hundreds of points, which are connected into a line. Therefore, the laser beam emitted by a laser transmitter is single-line. The single-line laser radar can calculate the distance between the robot and the pool wall by emitting pulses and measuring their return time. According to the distance information of each point emitted by the laser radar, the two-dimensional contour information of the pool wall on the side of the robot can be obtained. Multi-line laser radar refers to a sensor with multiple laser transmitters and receivers built in. Each transmitting-receiving unit can operate independently. Common multi-line laser radars on the market have different specifications such as 4-line, 8-line, 16-line, 32-line, 64-line and 128-line. Each transmitting-receiving unit of the multi-line laser radar can independently emit laser pulses and receive their return signals. Since multi-line scanning can be performed simultaneously, the three-dimensional contour information of the pool wall on the side of the robot can be obtained through the multi-line laser radar. Of course, whether the above-mentioned laser radar adopts a single-line laser radar or a multi-line laser radar can be determined according to actual needs and costs, and the embodiments of the present application do not make specific restrictions here.

[0032] In step 102, the contour information of the pool wall includes the contour of the pool wall itself or the contour of an object independent of the pool wall and located near the pool wall.

[0033] Specifically, in the process of controlling the robot to move along the pool wall, when there are no other objects on or near the pool wall, the pool wall contour information obtained by the laser radar only includes the pool wall contour information itself, and when there are other objects independent of the pool wall near the pool wall (such as up and down escalators), the pool wall contour information obtained by the laser radar includes the contour of the object. It is understandable that when there are other objects on the pool wall (such as wall lamps), the pool wall contour information obtained by the laser radar includes the contour information of the pool wall and the object combined.

[0034] In step 102, the pool wall contour information includes the contour of the pool wall facing the side of the automatic pool cleaning device and the contour of the pool wall located in front of the side of the automatic pool cleaning device.

[0035] Specifically, Figure 2 Schematic diagram of laser radar scanning of the automatic pool cleaning device provided by the present application. Figure 2 As shown, the contour information of the pool wall may include the contour of the pool wall facing the side of the robot and the contour of the pool wall in front of the side of the robot, that is, the scanning range of the laser radar includes the side and front of the robot. It can be understood that the front of the robot is the positive side of the position to which the robot will move in the future. Through the contour of the pool wall in front of the side of the robot, the future yaw angle of the robot can be predicted or pre-planned, so as to control the robot to make reasonable turns in the future so that the robot can move accurately along the edge. The current yaw angle of the robot is the yaw angle pre-planned for the future movement of the robot when the robot is at the historical position at the historical moment. By obtaining the contour of the pool wall on the current positive side of the robot, the current yaw angle of the robot pre-planned in history can be further corrected, which further ensures the accuracy of the robot moving along the edge. When correcting the current yaw angle of the robot, it can be adjusted based on the current yaw angle of the robot, or a new yaw angle can be directly generated. The specific correction method can be set according to the contour information of the pool wall in front of the robot. For example, when it is determined based on the contour information of the pool wall in front of the robot that the robot is about to collide with the pool wall or an obstacle, it means that there is a great risk of collision if the robot moves at the current yaw angle, and it may be difficult to avoid the collision by only adjusting the current yaw angle of the robot. Therefore, in order to control the robot to avoid obstacles in time, it is necessary to generate a new yaw angle for the robot based on the situation of the pool wall or obstacle in front, so as to control the robot to move at the new yaw angle and quickly avoid the pool wall or obstacle.

[0036] For example, the front contour of the side of the robot can be acquired only by using a laser radar, and the ultrasonic ranging sensor can be used to monitor the distance information on the side of the robot.

[0037] In step 102, the yaw angle enables the cleaning device to move parallel to the contour of the pool wall or parallel to the contour of the object.

[0038] Specifically, when controlling the robot to clean along the edge, the goal is to control the robot to move as close to the pool wall as possible without collision. Therefore, the yaw angle planned based on the contour information of the pool wall needs to enable the robot to move parallel to the contour of the pool wall, or parallel to the contour of an object near the pool wall.

[0039] In step 102 , the yaw angle in the subsequent movement process includes the yaw angles of moving to a plurality of positions.

[0040] Specifically, the yaw angles at multiple positions in the subsequent movement of the robot can be planned based on the contour information of the pool wall. The specific number of positions at which the yaw angles can be planned is related to the scanning range of the laser radar and the direction of the light beam emitted by the laser radar. For example, when the laser radar can obtain the contour information of the pool wall in a larger range in front of the side of the robot, the yaw angles at multiple positions in the subsequent movement of the robot can be pre-planned. When the laser radar can only obtain the contour information of the pool wall in a smaller range in front of the side of the robot, only the yaw angles at fewer positions in the subsequent movement of the robot can be pre-planned.

[0041] In step 102, the contour information of the side pool wall includes the contour information of the pool wall in front of the side of the automatic pool cleaning device, and the yaw angle in the subsequent movement process includes the yaw angles at multiple different positions.

[0042] It is understandable that when the laser radar senses the pool wall on the side of the robot, it can sense a portion of the pool wall in front of the robot. Therefore, based on the sensed pool wall in front of the robot, the yaw angles of multiple different position points can be planned for the robot in advance.

[0043] Next, the process proceeds to step 103. In step 103, the automatic pool cleaning device is controlled to continue moving based on the yaw angle.

[0044] Specifically, after the contour information of the pool wall on the side of the robot is obtained through the laser radar, and the yaw angle is planned based on the contour information, the robot can be controlled to continue to move based on the planned yaw angle. Since the yaw angle is planned based on the contour information of the pool wall on the side of the robot, when the robot is controlled to continue to move based on the yaw angle, the robot can be controlled to move along the edge better, reducing the collision between the robot and the pool wall or objects near the pool wall.

[0045] In step 103, the controlling of the automatic pool cleaning device to continue to move based on the yaw angle includes: determining whether the distance between the automatic pool cleaning device and the pool wall meets a preset condition, and if so, updating the yaw angle of the automatic pool cleaning device during subsequent movement.

[0046] Specifically, when the robot is controlled to move based on the yaw angle, the distance between the robot and the pool wall can be monitored in real time to determine whether the distance between the robot and the pool wall meets a preset condition, which can be pre-set, and the preset condition is an unreasonable distance condition between the robot and the pool wall during the robot's movement along the edge. If the distance between the robot and the pool wall meets the preset condition, the robot's yaw angle needs to be updated so that the robot maintains a reasonable distance from the pool wall during subsequent movement.

[0047] Exemplarily, the preset condition includes that the distance between the automatic pool cleaning device and the pool wall is less than a minimum preset threshold or greater than a maximum preset threshold.

[0048] It can be understood that when the distance between the robot and the pool wall is less than the minimum preset threshold, there is a risk of the robot scratching the pool wall. When the distance between the robot and the pool wall is greater than the maximum preset threshold, it is difficult for the robot to accurately follow the edge, and the error of the obtained pool boundary information is large, and it is difficult to properly clean the area near the pool wall. Therefore, when the distance between the robot and the pool wall is less than the minimum preset threshold or greater than the maximum preset threshold, the robot's yaw angle needs to be updated.

[0049] Exemplarily, the laser radar is installed on the side or head of the automatic pool cleaning device.

[0050] Specifically, the laser radar can be installed on the side or head of the automatic pool cleaning device. Figure 3 is a schematic diagram of the laser radar installation location provided in this application, such as Figure 3 As shown in , for example, the laser radar can be set on the side of the robot near the head position, such as Figure 3 The laser radar A in the robot can also be set near the side of the robot's head; Figure 3 The laser radar B in the figure; of course, the laser radar can also be set on the top of the robot, such as Figure 3 In the case where the laser radar C is set on the top of the robot, the laser radar needs to emit a beam obliquely downward so as to be able to collect the contour information of the pool wall on the side and / or the front of the side of the robot. Figure 3Although three positions of the laser radar are shown, it does not mean that the robot needs to be equipped with a total of three laser radars. In practice, the robot can be equipped with only one laser radar or two laser radars. Those skilled in the art can selectively set the laser radar according to actual needs, for example, selectively set the number and position of the laser radar.

[0051] It should be noted that the above description of the laser radar setting position is only exemplary. The setting position of the laser radar protected by this application is not limited to the contents listed above. Those skilled in the art can set and plan the position of each radar according to actual conditions, as long as the technical principles of this application can be implemented.

[0052] It can be understood that the light beam emitted by the laser radar is parallel to the horizontal plane or intersects with the horizontal plane.

[0053] Specifically, when the laser radar's beam is parallel to the horizontal plane, the laser radar can obtain the contour information of the pool wall on the side of the robot at the same height as the laser radar. When the laser radar's beam intersects the horizontal plane, the laser radar can obtain the contour information of the pool wall on the side of the robot near the bottom of the pool, and can further scan obstacles at the bottom of the pool next to the pool wall.

[0054] The control method of the automatic pool cleaning device provided in the present application is that the automatic pool cleaning device can obtain the contour information of the pool wall on the side of the automatic pool cleaning device through a laser radar during the process of moving along the pool wall of the pool. The yaw angle can be further planned based on the contour information and the automatic pool cleaning device can be controlled to move along the pool wall based on the yaw angle. The contour information can accurately reflect the side wall of the swimming pool and the shape of objects on the side wall. Based on the contour information, the automatic pool cleaning device can be controlled to achieve precise edge movement with good edge movement effect.

[0055] According to the second aspect of the present application, an automatic pool cleaning device is also provided. The automatic pool cleaning device includes a laser radar, and the automatic pool cleaning device can execute the control method described above with reference to each embodiment. The description of the control method of each embodiment executed by the automatic pool cleaning device is omitted here. 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.

[0056] According to the third aspect of the present application, a non-transitory computer-readable storage medium is also provided, on which a computer program is stored. When the computer program is executed by a processor, it is implemented to execute the control method of the automatic pool cleaning device provided in the above-mentioned embodiments. The automatic pool cleaning device includes a laser radar. The method includes: controlling the automatic pool cleaning device to move along the wall of the pool; during the movement of the automatic pool cleaning device, obtaining the contour information of the pool wall on the side of the automatic pool cleaning device based on the laser radar, and planning the yaw angle of the automatic pool cleaning device in the subsequent movement process based on the contour information of the pool wall; and controlling the automatic pool cleaning device to continue to move based on the yaw angle. The principle and scheme of the control method refer to the control method described above in combination with the various embodiments and drawings, which will not be repeated here.

[0057] In a fourth aspect, the present application also provides a computer program product, the computer program product includes a computer program, the computer program can be stored on a non-transitory computer-readable storage medium, when the computer program is executed by the processor, the computer can execute the control method of the automatic pool cleaning device provided by the above methods, the automatic pool cleaning device includes a laser radar, the method includes: controlling the automatic pool cleaning device to move along the wall of the pool; during the movement of the automatic pool cleaning device, based on the laser radar, obtaining the contour information of the pool wall on the side of the automatic pool cleaning device, and planning the yaw angle of the automatic pool cleaning device in the subsequent movement process based on the contour information of the pool wall; based on the yaw angle, controlling the automatic pool cleaning device to continue to move. The principle and scheme of the control method refer to the control method described above in combination with the various embodiments and drawings, which will not be repeated here.

[0058] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative labor.

[0059] 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.

[0060] 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.

[0061] 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.

[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, the automatic pool cleaning device comprising a laser radar, the control method comprising: Controlling the automatic pool cleaning device to move along the pool wall; During the movement of the automatic pool cleaning device, the contour information of the pool wall on the side of the automatic pool cleaning device is obtained based on the laser radar, and the yaw angle of the automatic pool cleaning device in the subsequent movement process is planned based on the contour information of the pool wall; The automatic pool cleaning device is controlled to continue moving based on the yaw angle.

2. The control method according to claim 1, wherein: The contour information includes two-dimensional contour information or three-dimensional contour information.

3. The control method according to claim 2, wherein: The step of controlling the automatic pool cleaning device to continue to move based on the yaw angle includes: Determine whether the distance between the automatic pool cleaning device and the pool wall meets a preset condition. If so, update the yaw angle of the automatic pool cleaning device during subsequent movement.

4. The control method according to claim 3, wherein: The preset condition includes that the distance is less than a minimum preset threshold or greater than a maximum preset threshold.

5. The control method according to any one of claims 1 to 4, wherein: The contour information of the pool wall includes the contour of the pool wall itself or the contour of an object independent of the pool wall and located near the pool wall.

6. The control method according to claim 5, wherein: The pool wall contour information includes the contour of the pool wall facing the side of the automatic pool cleaning device and the contour of the pool wall located in front of the side of the automatic pool cleaning device.

7. The control method according to claim 6, wherein: The yaw angle enables the automatic pool cleaning device to move parallel to the contour of the pool wall or parallel to the contour of the object.

8. The control method according to claim 6, wherein: The yaw angle during the subsequent movement includes the yaw angles of the movement to the plurality of positions.

9. According to the control method of claim 5, the laser radar is installed on the side or head of the automatic pool cleaning device.

10. According to the control method of claim 5, the light beam emitted by the laser radar is parallel to the horizontal plane or intersects with the horizontal plane.

11. The control method according to claim 1, wherein: The contour information of the side pool wall includes the contour information of the pool wall in front of the side of the automatic pool cleaning device, and the yaw angle in the subsequent movement process includes the yaw angles at multiple different positions.

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

13. 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 11.

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