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 control method is used for cleaning a water pool, the bottom of the water pool is provided with a slope surface, and the control method comprises the steps that the automatic water pool cleaning device is controlled to run along a preset path at the bottom of the water pool, and when the automatic water pool cleaning device runs along the preset path, the automatic water pool cleaning device is controlled to run along the preset path; whether the automatic pool cleaning device reaches the slope surface or not is judged, and if the automatic pool cleaning device reaches the slope surface, the automatic pool cleaning device is controlled to leave the slope surface.

Description

Technical Field

[0001] The embodiments of the present disclosure 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] When cleaning the bottom of a pool, the automatic pool cleaning robot usually works according to a pre-set mode or algorithm, that is, it relies on a drive device to clean along a straight line, broken line or spiral line. For a normal swimming pool environment such as a horizontal bottom, the pool cleaner can clean the entire pool bottom in a preset mode; but when encountering a bowl-shaped pool bottom with an arc or slope, the automatic pool cleaning robot is prone to slipping and changing the original cleaning path due to the arc of the pool bottom edge, causing the automatic pool cleaning robot to keep cleaning in one place, forming an endless loop and being trapped in the bowl-shaped pool bottom. Therefore, how to get the automatic pool cleaning robot out of the bowl-shaped pool bottom is an urgent problem to be solved. Summary of the invention

[0003] The technical problem to be solved by the present application is to provide a control method for an automatic pool cleaning device in view of the deficiencies of the above-mentioned prior art. By judging whether the automatic pool cleaning device reaches a slope surface while traveling along a preset path, the automatic pool cleaning device is controlled to leave the slope surface according to the judgment result, thereby achieving escape from the bowl-shaped pool bottom.

[0004] According to another aspect of the present disclosure, an automatic pool cleaning device using the above control method is provided.

[0005] According to another aspect of the present disclosure, a computer storage medium for implementing the above control method is provided.

[0006] In one aspect of the present application, a control method of an automatic pool cleaning device is provided, which is used to clean a pool, wherein the bottom of the pool has a sloped surface, and the control method comprises:

[0007] Controlling the automatic pool cleaning device to travel along a preset path at the bottom of the pool,

[0008] During the travel of the automatic pool cleaning device along the preset path, it is determined whether the automatic pool cleaning device has reached the slope surface, wherein:

[0009] If the automatic pool cleaning device has reached the sloped surface, the automatic pool cleaning device is controlled to leave the sloped surface.

[0010] Further, determining whether the automatic pool cleaning device has reached the slope surface includes determining whether the pitch angle of the cleaning device continues to increase.

[0011] Further, controlling the automatic pool cleaning device to leave the slope surface includes replanning a path.

[0012] Furthermore, the re-planning of the path includes:

[0013] Determining whether there is an uncleaned area at the bottom of the pool;

[0014] If there is an uncleaned area at the bottom of the pool, the automatic pool cleaning device is controlled to travel in a direction away from the slope surface and reach the uncleaned area.

[0015] Furthermore, if there is no uncleaned area at the bottom of the pool, a cross path is generated, and the cleaning device is controlled to continue to perform the cleaning task along the cross path, wherein at least a portion of the cross path intersects or is perpendicular to at least a portion of the preset path.

[0016] Furthermore, the slope includes an area between the bottom of the pool and a wall of the pool.

[0017] Further, controlling the automatic pool cleaning device to move in a direction away from the slope surface includes: controlling the automatic pool cleaning device to rotate 180 degrees and move forward.

[0018] Furthermore, the preset path includes a first sub-path and a second sub-path, the first sub-path is perpendicular to the second sub-path, and the first sub-path is parallel to the long side of the main area of ​​the bottom of the pool, or parallel to the short side of the main area.

[0019] Further, the first sub-path or the second sub-path is perpendicular to the surface of the slope.

[0020] Furthermore, the automatic pool cleaning device includes an inertial measurement unit (IMU), and the pitch angle is measured by the inertial measurement unit.

[0021] The present application also discloses an automatic pool cleaning device, which can execute the control method described in any embodiment of the present application.

[0022] The present application also discloses a computer storage medium, wherein the storage medium stores a computer program, and when the computer program is executed by a processor, the method described in any embodiment of the present application is implemented.

[0023] The embodiments described in this application have the following beneficial effects:

[0024] The automatic pool cleaning device and control method provided in the present application determines whether it has reached a slope surface while traveling along a preset path, and controls the automatic pool cleaning device to leave the slope surface based on the determination result, thereby effectively achieving escape from the bowl-shaped pool bottom. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] 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.

[0026] Figure 1 is a flow chart showing a control method of an automatic pool cleaning device according to an embodiment of the present application;

[0027] Figure 2 It is a schematic diagram showing a bowl-shaped area to which the control method of the automatic pool cleaning device of the present application is applicable. DETAILED DESCRIPTION

[0028] The technical solutions in this application will be described clearly and completely below. Obviously, the described embodiments are only part of the embodiments of this application, rather than all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without creative work belong to the protection scope of this application. It should be noted that the embodiments in this application and the features in the embodiments can be combined with each other without conflict.

[0029] The present application provides a control method for an automatic pool cleaning device, an automatic pool cleaning device using the control method, and a computer storage medium. The automatic pool cleaning device of the present application can clean a pool. The pool is, for example, a pool-shaped building. The pool-shaped building can be a swimming pool, a reservoir, a spa pool, a water tank, a water tank, etc. The automatic pool cleaning device can be a device such as an automatic cleaning device, an automatic pool cleaning robot, etc., which can clean a pool-shaped building. The present application does not limit the specific presentation of the automatic pool cleaning device and the pool-shaped building, as long as the principle of the present application can be realized. In the following, if not otherwise specified, the robot will be used as an example of the automatic pool cleaning device, and the swimming pool will be used as an example of a pool or a pool-shaped building. In the following, if not otherwise specified, the terms "pool bottom", "pool bottom", and "pool bottom" all refer to the bottom surface of the swimming pool.

[0030] The control method 100 of the automatic pool cleaning device of the present application is described in detail below in conjunction with the accompanying drawings. The control method 100 is used to clean a pool, and the bottom of the pool has a slope surface.

[0031] In one embodiment, the sloped surface includes an area between the bottom of the pool and a wall of the pool.

[0032] For example, the bottom of the pool to which the control method of the embodiment of the present application is applicable has a sloped surface, and the sloped surface may refer to the side surfaces surrounding the bottom of the pool being all sloped structures, that is, the side walls of the pool are all sloped structures; the sloped surface may also be the area between the bottom of the pool and the pool wall, see Figure 2 There is a bowl-shaped area between the bottom and the wall of the pool, and the bowl-shaped area is configured as a slope surface such as a curved surface or a slope. In the following, if there is no additional explanation, the terms "slope", "slope surface" and "inclined surface" have the same meaning.

[0033] It should be noted that the above description of the sloped surface is only exemplary, and the sloped surface protected by this application is not limited to the contents listed above. In actual situations, any pool structure that can achieve the slope effect of this application falls within the scope of protection of this application.

[0034] Figure 1 The flowchart of the control method 100 of the automatic pool cleaning device according to an embodiment of the present application is shown. The control method 100 includes steps S101 to S103. Steps S101 to S103 will be described below.

[0035] In step S101, the automatic pool cleaning device is controlled to travel along a preset path at the bottom of the pool.

[0036] In one embodiment, the robot needs to plan the path of the cleaning operation first in order to obtain the cleaning path required for the cleaning operation (i.e., the preset path), and then the robot can perform the cleaning operation on the bottom surface of the pool along the cleaning path. The robot can use a path planning algorithm to obtain the preset path; the preset path can also be provided or set by the user; the preset path can also be pre-stored in the memory of the robot. The above description of the method for obtaining the preset path is only exemplary, and those skilled in the art can select the preset path according to actual conditions, as long as the technical principles of the present application can be implemented.

[0037] The preset path is, for example, a "bow" shaped path. When the robot moves in the pool, it usually moves back and forth along a bow-shaped or bow-like trajectory and cleans, hence the name bow-shaped path. Compared with a random path, the bow-shaped path can better utilize the robot's power and time, improve cleaning efficiency, and thus efficiently cover the entire area to be cleaned and reduce missed areas.

[0038] The bow-shaped path may include a plurality of long side sub-paths and a plurality of short side sub-paths. When the robot travels along the bow-shaped path, it will sequentially pass through the long side sub-path, the short side sub-path, the long side sub-path, the short side sub-path, etc., and the long side sub-path and the short side sub-path will alternately reciprocate. The long side sub-path is also called the first sub-path, the long side of the bow, and the long side of the bow-shaped path, and the short side sub-path is also called the second sub-path, the short side of the bow, and the short side of the bow-shaped path.

[0039] It should be noted that, in practice, the terms "path planning" and "bow-shaped path" do not necessarily require the robot to plan a bow-shaped movement trajectory in advance and store the information corresponding to the movement trajectory in the robot's memory. The so-called path planning in this field usually means planning a predetermined movement rule. For example, the bow-shaped path movement rule can control the robot to move in a predetermined direction (i.e., move along the long side of the bow) for a certain distance or time, then deflect 90 degrees, continue to move forward (i.e., move along the short side of the bow) for a certain distance or time (i.e., move along the short side of the bow), then deflect 90 degrees, and move back and forth in this way to clean the bottom of the pool.

[0040] In one embodiment, the long side of the bow-shaped path is parallel to the long side of the main area of ​​the bottom of the pool, or parallel to the short side of the main area.

[0041] In one embodiment, the plurality of long side sub-paths correspond to the pool wall of the pool. For example, the plurality of long side sub-paths are parallel or substantially parallel to the pool wall of the pool or at a predetermined angle. In other words, the long side of the bow-shaped path is parallel or substantially parallel to the pool wall of the pool or at a predetermined angle. The plurality of short side sub-paths are perpendicular or substantially perpendicular to the pool wall of the pool or at a predetermined angle. In other words, the short side of the bow-shaped path is perpendicular or substantially perpendicular to the pool wall of the pool or at a predetermined angle. During the cleaning process, the robot will turn after advancing along a long side sub-path for a certain distance or time, then turn again after advancing along a short side sub-path for a certain distance or time, then turn again after advancing along another long side sub-path for a certain distance or time, then advance along another short side sub-path for a certain distance or time, ..., and so on, forming a bow-shaped path.

[0042] It can be understood that the bow-shaped path is a path formed along a predetermined movement rule, so the multiple long side sub-paths in the bow-shaped path are parallel or substantially parallel to each other, and the multiple short side sub-paths in the bow-shaped path are parallel or substantially parallel to each other.

[0043] If the pool is circular, a spiral path can be planned. For example, the spiral path starts from the center of the pool and gradually expands outward in a spiral shape, or starts from the bottom edge of the pool and shrinks toward the center in a spiral shape. If the pool is irregular in shape, it can be divided into multiple relatively regular sub-areas according to its shape characteristics, and then a bow-shaped path or a spiral path is used for each sub-area.

[0044] The above description of the preset path is only exemplary. The preset path protected by this application is not limited to the contents listed above. Those skilled in the art can set and plan the preset path according to actual conditions as long as the technical principles of this application can be implemented.

[0045] Continue to refer to Figure 2 When the robot gradually walks in an arc shape from the bottom of the pool to the bowl-shaped area and performs cleaning operations, if the robot drives along the short side sub-path (i.e., the short side of the arc shape) toward the slope surface, since the water jet propulsion structure of the robot is relatively close to the tail, it cannot give the center of gravity of the robot enough upward thrust, causing the robot to slide down the slope surface and eventually return to the starting point of the short side sub-path or a position close to the starting point. However, the robot is unaware of the previous slide at this time, and mistakenly believes that it has completed the travel distance / time of the short side sub-path. Then the robot turns and drives along the long side sub-path of the arc-shaped path (e.g., the first The robot first cleans the long side sub-path along the short side sub-path, then the robot drives toward the slope surface again along the short side sub-path and slides down again, and finally returns to the starting point of the short side sub-path or a position close to the starting point. The robot is still unaware of the previous slide at this time, and mistakenly believes that the travel distance / time of the short side sub-path has been completed. Then the robot turns again and cleans along the long side sub-path of the bow-shaped path (for example, the second long side sub-path). Thus, the robot mistakenly believes that two independent long side sub-paths have been cleaned, but in fact, the first long side sub-path and the second long side sub-path overlap with each other or mostly overlap. Therefore, when the robot enters the bowl-shaped area along the short side of the bow-shaped path, it will walk repeatedly on the long side of the bow-shaped path, causing the robot to be stuck in the bowl-shaped area. The following will describe the judgment of whether the robot has entered the bowl-shaped area and how to escape from the bowl-shaped area in conjunction with specific embodiments.

[0046] Next, the process proceeds to step S102. In step S102, during the travel of the automatic pool cleaning device along the preset path, it is determined whether the automatic pool cleaning device has reached the slope surface.

[0047] In one embodiment, determining whether the automatic pool cleaning device has reached the slope surface includes determining whether the pitch angle (ie, pitch angle) of the cleaning device continues to increase.

[0048] For example, the automatic pool cleaning robot includes an inertial measurement unit (IMU), wherein the pitch angle is measured by the inertial measurement unit.

[0049] The inertial measurement unit may include multiple accelerometers and multiple gyroscopes. The accelerometers are used to measure the linear acceleration of the robot in three-dimensional space, and the gyroscopes are used to test the angular velocity of the robot in three-dimensional space. That is, the inertial measurement unit can measure the acceleration and angular velocity of the robot in three directions: pitch, roll, and yaw.

[0050] Whether the robot reaches the slope surface can be determined by the change in the pitch angle of the robot.

[0051] For example, if the robot's pitch angle remains at a fixed value greater than zero degrees within a predetermined time or a predetermined driving distance while traveling along the short side of the bow shape, it can be determined that the robot has reached the slope surface.

[0052] For example, it is possible to determine whether the robot has reached the slope surface by whether the pitch angle of the robot increases. When the pitch angle increases, it means that the head of the automatic pool cleaning robot is in a state of raising its head, indicating that the robot is climbing, that is, traveling along the slope surface. However, it should be noted that the robot will produce a certain raising of head phenomenon when passing through the protrusions at the bottom of the pool (such as the lampshade at the bottom of the pool), stones and toys that fall on the bottom of the pool, etc., that is, the robot's pitch angle will increase, but when the robot returns to the plane at the bottom of the pool, the pitch angle decreases and the raising of head is completed. Therefore, to determine whether the robot has reached the slope surface between the bottom of the pool and the side wall, it is necessary to determine whether the pitch angle of the robot increases continuously. If the pitch angle increases continuously, it means that the robot is continuously raising its head, that is, continuously climbing, which means that the robot has reached the slope surface.

[0053] There are many ways to determine whether the pitch angle of the robot continues to increase. For example, by determining whether the pitch angle increases twice, or whether the pitch angle increases twice and each increase is greater than a preset value, or whether the pitch angle increases twice and the second increase is an increase in the pitch angle within a preset walking time or a preset walking distance.

[0054] In one embodiment, the robot can store the pitch angles obtained from the most recent measurements. For example, after each pitch angle θ is measured, it is stored in an array of length n in chronological order. If the elements in the array increase in chronological order, that is, θ1<θ2<……<θ n, then it can be determined that the robot is in a continuous climbing state, that is, it can be determined whether the pitch angle continues to increase by judging whether the pitch angle increases twice. For example, the pitch angles are measured three times in succession and are 10 degrees, 12 degrees, and 14 degrees respectively. In this case, it can be preliminarily considered that the robot is continuously climbing. It should be noted that the two increases in the pitch angle in this embodiment are only examples, and do not limit the number of times the pitch angle increases continuously during the judgment process. Those skilled in the art can set it according to actual conditions, and the number of pitch angle measurements that can realize the function of judging the continuous increase of the pitch angle in this application belongs to the protection scope of this application.

[0055] In another embodiment, the robot can also determine whether the pitch angle continues to increase by determining whether the pitch angle increases twice and the increase amplitude each time is greater than a preset value. For example, the pitch angle θ is measured and recorded in time sequence, and the increase amplitude of the pitch angle θ is preset. Assuming that the preset value is △θ, the measured pitch angle sequence θ1, θ2...θ n Make a judgment, when the pitch angle sequence satisfies θ1<θ2<……<θ n , and θ i+1 -θ i >△θ(i=1,2,3,……,n-1), the robot is judged to be in a continuous climbing state. For example, assuming that the preset value of the pitch angle increase amplitude each time is 2 degrees, and the three continuously measured pitch angles are 10 degrees, 13 degrees and 16 degrees respectively, the three pitch angles are continuously increasing, that is, they are increasing twice, and the pitch angle increases by 3 degrees each time (greater than the preset value of 2 degrees), it can be judged that the robot's pitch angle is continuously increasing. It should be noted that the preset values ​​of the number of pitch angle increases and the amplitude of each increase in this embodiment are only examples and are not limited to the contents listed above. Those skilled in the art can set them according to actual conditions, as long as the technical principles of this application can be implemented.

[0056] The robot can also judge whether the pitch angle continues to increase by judging whether the pitch angle increases twice and the second increase is the increase in the pitch angle generated within the preset walking time or the preset walking distance. For example, when judging by the increment within the preset walking time, the preset walking time is set, that is, the preset walking time is T; the robot's pitch angle θ is continuously measured, and when it is found that the pitch angle θ1 at a certain moment t1 is greater than the pitch angle θ0 at the previous moment t0, the moment t1 and the pitch angle θ1 at this time are recorded, that is, the pitch angle has achieved the first increase; then the pool cleaning robot continues to travel for the preset walking time T, that is, when it reaches the moment t2=t1+T, the pitch angle θ2 of the pool cleaning robot is measured again, and the pitch angle θ2 at the moment t2 is compared with the pitch angle θ1 at the moment t1. If θ2>θ1 is satisfied, then it can be judged that within the preset walking time T, the pitch angle has achieved the second increase, that is, the pitch angle increases twice and the second increase is the increase in the pitch angle generated within the preset walking time, and then it can be determined that the robot is in a continuous climbing state. For example, assuming the preset time length T is 10s, during the operation of the pool cleaning robot, at t1=20s, the pitch angle θ1=10 degrees, and the previous pitch angle θ0 was less than 10 degrees, achieving the first increase; when it reaches t2=t1+T, that is, 30s, the pitch angle θ2=13 degrees, θ2>θ1, it is judged that the pitch angle of the pool cleaning robot continues to increase within the preset walking time, so the pool cleaning robot is continuously climbing, that is, the pitch angle continues to increase.

[0057] For example, when judging by the increment within a preset walking distance, the preset walking distance is set, that is, the preset walking distance is D; the pitch angle θ of the robot is continuously measured, and when it is found that the pitch angle θ1 of a certain distance d1 is larger than the pitch angle θ0 of the previous distance d0, the distance d1 and the pitch angle θ1 at this time are recorded, that is, the pitch angle has increased for the first time; then the robot continues to travel the preset walking distance D, that is, when the distance d2=d1+D is reached, the pitch angle θ2 of the pool cleaning robot is measured again, and the pitch angle θ2 of the distance d2 is compared with the pitch angle θ1 of the distance d1. If θ2>θ1 is satisfied, then it can be judged that within the preset walking distance D, the pitch angle has increased for the second time, that is, the pitch angle has increased twice and the second increase is the increase in the pitch angle generated within the preset walking distance, and then it can be determined that the pool cleaning robot is in a continuous climbing state. For example, assuming the preset distance D is 1 meter, during the operation of the pool cleaning robot, at d1 = 3 meters, the pitch angle θ1 = 8 degrees, and the previous pitch angle θ0 was less than 8 degrees, achieving the first increase; when it reaches d2 = d1 + D, that is, 4 meters, the pitch angle θ2 = 11 degrees, θ2>θ1, so the pool cleaning robot is continuously climbing, that is, the pitch angle continues to increase.

[0058] It should be noted that the above description of the method for judging whether the pitch angle continues to increase is merely exemplary. The method for judging whether the pitch angle continues to increase protected by the present application is not limited to the contents listed above. Those skilled in the art can set the judgment method according to actual conditions as long as the technical principles of the present application can be implemented.

[0059] If the automatic pool cleaning device has reached the slope surface, the process proceeds to step S103. In step S103, the automatic pool cleaning device is controlled to leave the slope surface.

[0060] After the robot reaches the slope surface, the robot needs to be controlled to leave the slope surface to prevent the robot from Figure 2 The bowl shown is cleaned repeatedly along a path and becomes trapped in a loop.

[0061] In one embodiment, controlling the automatic pool cleaning device to leave the slope surface includes: controlling the automatic pool cleaning device to rotate 180 degrees and move forward.

[0062] In one embodiment, controlling the automatic pool cleaning device to leave the slope surface includes: replanning a path.

[0063] The re-planning of the path includes: determining whether there is an uncleaned area at the bottom of the pool; if there is an uncleaned area at the bottom of the pool, controlling the automatic pool cleaning device to travel in a direction away from the slope surface and reach the uncleaned area.

[0064] For example, when the robot replans the cleaning path of the pool, it first determines whether there is an uncleaned area at the bottom of the pool. If there is an uncleaned area at the bottom of the pool, it is necessary to clean the uncleaned area. The uncleaned area should be a position away from the slope surface, that is, the area on the bottom of the pool outside the area that has been cleaned by the robot along the preset path. At this time, the robot is still on the slope surface, that is, the head is facing the slope surface. To continue cleaning, the robot needs to be driven to the uncleaned area first, that is, the robot is driven in a direction away from the slope surface. For example, the robot is controlled to rotate 180 degrees (to achieve a U-turn of the robot) and drive forward, and then drive to the uncleaned area and clean the uncleaned area. When the robot cleans the uncleaned area, it can use the bow-shaped path or other paths as described above, which will not be repeated here.

[0065] If there is no uncleaned area at the bottom of the pool, a cross path is generated, and the cleaning device is controlled to continue to perform the cleaning task along the cross path, wherein at least a portion of the cross path intersects or is perpendicular to at least a portion of the preset path.

[0066] In one embodiment, the cross path may be a bow-shaped path. The bow-shaped path is similar to the bow-shaped path described above as the preset path in combination with step S101, and also includes multiple long side sub-paths and multiple sub-paths. When the robot travels along the bow-shaped path, it will pass through the long side sub-path, the short side sub-path, the long side sub-path, the short side sub-path, etc. in sequence, and the long side sub-path and the short side sub-path alternately reciprocate. The cross path here is different from the preset path described above in that the long side sub-path of the cross path here intersects, is perpendicular or substantially perpendicular to the long side sub-path of the preset path. In other words, the long side sub-path of the cross path here intersects, is perpendicular or substantially perpendicular to the long side sub-path of the preset path. In other words, the direction of the long side sub-path of the cross path is the same or similar to the direction of the short side sub-path of the preset path; the short side sub-path of the cross path is the same or similar to the direction of the long side sub-path of the preset path, thereby realizing the "long side becomes short side" and "short side becomes long side" of the bow-shaped path as the preset path, and then obtaining the cross path.

[0067] The reason for generating the cross path is that: when the robot drives toward the slope surface along the short side sub-path of the preset path (i.e., the short side of the bow shape), it is determined that it has reached the slope surface (see step S102). After that, the robot is controlled to leave the slope surface (see step S103). For example, the robot rotates 180 degrees to complete the U-turn and drives forward. It can be seen that the robot does not turn 90 degrees at the intersection of the slope surface and the pool bottom and drive along the long side of the bow shape to clean the intersection line between the slope surface and the pool bottom. In other words, the robot completes one less cleaning of the long side of the bow-shaped path at the intersection of the slope surface and the pool bottom. In order to clean the boundary line, the robot is controlled to generate the cross path. The long side sub-path of the cross path, for example, intersects, is perpendicular or substantially perpendicular to the long side sub-path of the preset path. In this way, the newly generated cross path realizes the interchange of the long side and the short board in the bow-shaped path compared to the preset path. The robot can clean the intersection position by traveling along the cross-path, and when the robot travels toward the slope surface along the long side sub-path of the bow-shaped path serving as the cross-path, even if the robot slides on the slope surface, the robot will eventually slide back to the long side sub-path (the robot is cleaning the intersection position during climbing and sliding), and then the robot makes a 90-degree turn on the long side sub-path, and then can still clean the intersection while traveling along the short side sub-path. It can be seen that the robot can clean the intersection position of the pool bottom and the bowl-shaped area through the cross-path, and finally complete the cleaning of the entire pool bottom.

[0068] The present application also provides an automatic pool cleaning device. The automatic pool cleaning device comprises an inertial measurement unit, wherein the pitch angle is measured by the inertial measurement unit.

[0069] The technical contents of the inertial measurement unit and the like have been described in detail in the above embodiments, and will not be repeated here. The actual pitch angle is the actual value of the pitch angle measured when the pool cleaning robot is climbing a slope.

[0070] Wherein, the automatic pool cleaning device can execute the control method described in any of the embodiments described above.

[0071] This embodiment discloses a computer storage medium, in which a computer program is stored. When the computer program is executed by a processor, the control method described above is implemented.

[0072] It should be understood that, in this embodiment, the computer storage medium may be located in at least one of the multiple network servers of the computer network. Optionally, in this embodiment, the storage medium may include, but is not limited to, various media that can store program codes, such as a USB flash drive, a read-only memory (ROM), a random access memory (RAM), a mobile hard disk, a magnetic disk, or an optical disk.

[0073] It should be noted that the sequence of the above embodiments of the present application is only for description and does not represent the advantages or disadvantages of the embodiments.

[0074] 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.

[0075] 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.

[0076] 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.

[0077] The above is only an exemplary embodiment of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of various changes or substitutions within the technical scope recorded in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application shall be based on the protection scope of the claims.

Claims

1. A control method for an automatic pool cleaning device, for cleaning a pool, wherein the bottom of the pool has a sloped surface, the control method comprising: Controlling the automatic pool cleaning device to travel along a preset path at the bottom of the pool, During the travel of the automatic pool cleaning device along the preset path, it is determined whether the automatic pool cleaning device has reached the slope surface, wherein: If the automatic pool cleaning device has reached the sloped surface, the automatic pool cleaning device is controlled to leave the sloped surface.

2. The control method according to claim 1, wherein: Determining whether the automatic pool cleaning device has reached the slope surface includes determining whether the pitch angle of the cleaning device continues to increase.

3. The control method according to claim 1, wherein: Controlling the automatic pool cleaning device to leave the slope surface, Including re-routing.

4. The control method according to claim 3, wherein: The re-planning path includes: Determining whether there is an uncleaned area at the bottom of the pool; If there is an uncleaned area at the bottom of the pool, the automatic pool cleaning device is controlled to travel in a direction away from the slope surface and reach the uncleaned area.

5. The control method according to claim 4, wherein: If there is no uncleaned area at the bottom of the pool, a cross path is generated, and the cleaning device is controlled to continue to perform the cleaning task along the cross path, wherein at least a portion of the cross path intersects or is perpendicular to at least a portion of the preset path.

6. The control method according to any one of claims 1 to 5, wherein: The slope includes the area between the pool bottom and the pool wall.

7. The control method according to claim 4, wherein: The controlling the automatic pool cleaning device to travel in a direction away from the slope surface includes: controlling the automatic pool cleaning device to rotate 180 degrees and travel forward.

8. The control method according to any one of claims 1 to 5, wherein: The preset path includes a first sub-path and a second sub-path, the first sub-path is perpendicular to the second sub-path, and the first sub-path is parallel to the long side of the main body area of ​​the bottom of the pool, or parallel to the short side of the main body area.

9. The control method according to claim 8, wherein: The first sub-path or the second sub-path is perpendicular to a surface of the slope.

10. The control method according to claim 2, wherein: The automatic pool cleaning device includes an inertial measurement unit (IMU), wherein the pitch angle is measured by the inertial measurement unit.

11. An automatic pool cleaning device, characterized in that The control method described in any one of claims 1 to 10 can be executed.

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

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