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

Abstract

The application provides a pool automatic cleaning device, a control method and a computer storage medium. The control method is used for cleaning a pool, the bottom of the pool has a slope surface, and the control method comprises the following steps: controlling the pool automatic cleaning device to travel along a preset path on the bottom of the pool; and determining whether the pool automatic cleaning device has reached the slope surface during the travel of the pool automatic cleaning device along the preset path, wherein if the pool automatic cleaning device has reached the slope surface, the pool automatic cleaning device is controlled to leave the slope surface.

Description

TECHNICAL FIELD

[0001] The embodiment of the present disclosure relates to the technical field of cleaning devices, in particular to a pool automatic cleaning device, a control method and a computer storage medium. BACKGROUND

[0002] When the pool automatic cleaning robot cleans the pool bottom, it usually works according to a preset mode or algorithm, that is, it cleans according to a straight line, a broken line or a spiral line, etc. For a normal pool environment with a horizontal bottom, the pool cleaner can clean the entire pool bottom in the preset mode; however, when the pool bottom edge is arc-shaped or sloped, etc., the pool automatic cleaning robot is easy to slip and change the original cleaning path due to the arc of the pool bottom edge, resulting in the pool automatic cleaning robot cleaning in one place, forming a dead loop and being trapped in the bowl-shaped pool bottom. Therefore, how to make the pool automatic cleaning robot escape from the bowl-shaped pool bottom is a problem to be solved. SUMMARY

[0003] The technical problem to be solved by the present application is to solve the above-mentioned problems of the prior art, and to provide a control method of a pool automatic cleaning device, which controls the pool automatic cleaning device to leave the slope surface according to the judgment result by judging whether the pool automatic cleaning device has reached the slope surface during driving along the preset path, so as to realize the escape from the bowl-shaped pool bottom.

[0004] According to another aspect of the present disclosure, a pool automatic cleaning device applying the above-mentioned control method is provided.

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

[0006] In one aspect of the present application, a control method of a pool automatic cleaning device is provided for cleaning a pool, the bottom of the pool having a slope surface, the control method comprising:

[0007] controlling the pool automatic cleaning device to drive along a preset path on the bottom of the pool,

[0008] judging whether the pool automatic cleaning device has reached the slope surface during driving of the pool automatic cleaning device along the preset path, wherein,

[0009] if the pool automatic cleaning device has reached the slope surface, controlling the pool automatic cleaning device to leave the slope surface.

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

[0011] Further, the controlling the pool cleaning robot to move away from the slope surface comprises re-planning a path.

[0012] Further, the re-planning a path comprises:

[0013] determining whether there is an uncleaned area on the bottom of the pool;

[0014] if there is an uncleaned area on the bottom of the pool, controlling the pool cleaning robot to move in a direction away from the slope surface and reach the uncleaned area.

[0015] Further, if there is no uncleaned area on the bottom of the pool, a cross path is generated, and the pool cleaning robot is controlled to continue performing the cleaning task according to the cross path, wherein at least a part of the cross path intersects or is perpendicular to at least a part of the preset path.

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

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

[0018] Further, the preset path comprises 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 a long side of a main area of the bottom of the pool or parallel to a short side of the main area.

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

[0020] Further, the pool cleaning robot comprises an inertial measurement unit (IMU), and the pitch angle is measured by the inertial measurement unit.

[0021] The application also discloses a pool cleaning robot capable of performing the control method described in any of the embodiments of the application.

[0022] The application also discloses a computer storage medium, wherein a computer program is stored in the storage medium, and the computer program is executed by a processor to implement the method described in any of the embodiments of the application.

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

[0024] The pool automatic cleaning device and the control method thereof provided in the application can effectively realize the escape from the bowl-shaped pool bottom by judging whether the pool automatic cleaning device has reached the slope surface during driving along the preset path and controlling the pool automatic cleaning device to leave the slope surface according to the judgment result. BRIEF DESCRIPTION OF DRAWINGS

[0025] In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, the drawings needed to be used in the description of the embodiments will be briefly introduced. The drawings in the following description are only exemplary embodiments of the present disclosure.

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

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

[0028] The technical solutions in the present application will be described in detail below. Obviously, the described embodiments are only a part of the embodiments of the present application, but not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the protection scope of the present application. It should be noted that the embodiments in the present application and the features in the embodiments can be combined with each other without conflict.

[0029] The present application provides a control method of a pool automatic cleaning device, a pool automatic cleaning device applying the control method, and a computer storage medium. The pool automatic cleaning device according to 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 water storage pool, a hydrotherapy pool, a water storage tank, a water storage groove, etc. The pool automatic cleaning device can be a device such as an automatic cleaning device, a pool automatic cleaning robot, etc., which can clean the pool-shaped building. The present application does not limit the specific presentation of the pool automatic cleaning device and the pool-shaped building, as long as the principle of the present application can be realized. Hereinafter, if not specifically stated, the robot will be taken as an example to illustrate the pool automatic cleaning device, and the swimming pool will be taken as an example to illustrate the pool or the pool-shaped building. Hereinafter, if not specifically stated, the terms "pool bottom", "swimming pool bottom surface", and "swimming pool bottom" all represent the pool bottom surface of the swimming pool.

[0030] The control method 100 of the pool automatic cleaning device according to the present application will be described in detail below in combination with the 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 slope surface includes the area between the bottom of the pool and the pool wall.

[0032] For example, the control method of this application embodiment is applicable to a pool with a sloping surface at the bottom. The sloping surface can refer to the sides surrounding the bottom of the pool being sloping structures, i.e., the sidewalls of the pool being sloping structures. The sloping surface can also be the area between the bottom of the pool and the pool wall, see [reference needed]. Figure 2 There is a bowl-shaped area between the bottom and the wall of the pool, which is configured as a sloping surface such as an arc or a ramp. In the following text, unless otherwise specified, the terms "slope," "sloping surface," and "inclined surface" have the same meaning.

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

[0034] Figure 1 A flowchart of a control method 100 for an automatic water tank cleaning device according to an embodiment of this 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 cleaning device for the water tank is controlled to travel along a preset path at the bottom of the water tank.

[0036] In one embodiment, the robot first needs to plan the cleaning path to obtain the required cleaning path (i.e., the preset path). Then, the robot can perform the cleaning operation along this path on the bottom of the pool. 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; or the preset path can be pre-stored in the robot's memory. The above description of how the preset path is obtained is merely exemplary. Those skilled in the art can select the preset path according to actual circumstances, as long as it achieves the technical principles of this application.

[0037] The preset path is, for example, a "bow" shaped path. When the robot moves in the pool, it typically moves back and forth along a bow-shaped or similar trajectory to clean, hence the name "bow" shaped path. Compared to random paths, the bow shaped path makes better use of the robot's power and time, improving cleaning efficiency and thus efficiently covering the entire area to be cleaned, reducing missed areas.

[0038] The arch-shaped path can include a plurality of long-side sub-paths and a plurality of short-side sub-paths. The robot sequentially passes through a long-side sub-path, a short-side sub-path, a long-side sub-path, a short-side sub-path, and so on when moving along the arch-shaped path. The long-side sub-path is also referred to as a first sub-path, an arch-shaped long side, or an arch-shaped long side of the arch-shaped path. The short-side sub-path is also referred to as a second sub-path, an arch-shaped short side, or an arch-shaped short side of the arch-shaped path.

[0039] It should be noted that, in practice, the terms "path planning" and "arch-shaped path" do not necessarily require the robot to plan an arch-shaped moving track in advance and store information corresponding to the moving track in the memory of the robot. In the field, path planning generally means that a predetermined moving rule, such as an arch-shaped path moving rule, can control the robot to move in a predetermined direction (i.e., move along the arch-shaped long side) for a certain distance or time, then turn 90 degrees, and then continue to move (i.e., move along the arch-shaped short side) for a certain distance or time (i.e., move along the short side of the arch-shaped path), then turn 90 degrees, and so on, to achieve cleaning of the bottom of the pool.

[0040] In an embodiment, the long side of the arch-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 an 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 or at a predetermined angle to the pool wall of the pool, that is, the long side of the arch-shaped path is parallel or substantially parallel or at a predetermined angle to the pool wall of the pool. The plurality of short-side sub-paths are perpendicular or substantially perpendicular or at a predetermined angle to the pool wall of the pool, that is, the short side of the arch-shaped path is perpendicular or substantially perpendicular or at a predetermined angle to the pool wall of the pool. During cleaning, the robot moves along a long-side sub-path for a certain distance or time, turns, moves along a short-side sub-path for a certain distance or time, turns, moves along another long-side sub-path for a certain distance or time, turns, moves along another short-side sub-path for a certain distance or time, and so on, to form an arch-shaped path.

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

[0043] If the pool is circular, a spiral path can be planned, for example, which starts from the center of the pool and gradually expands outward in a spiral shape, or which starts from the edge of the bottom of the pool and gradually shrinks toward the center in a spiral shape; if the pool is irregularly shaped, it can be divided into a plurality of relatively regular sub-regions according to its shape characteristics, and then for each sub-region, a path similar to the arch-shaped path or the spiral path can be used.

[0044] The above description of the preset path is only exemplary, and the preset path protected by the present application is not limited to the above-mentioned content. Those skilled in the art can set and plan the preset path according to the actual situation, as long as the technical principles of the present application can be realized.

[0045] Continuing to refer to Figure 2 When the robot walks along the arch-shaped path from the bottom of the pool to the bowl-shaped area and performs cleaning, if the robot drives along the short-side sub-path (i.e., the short side of the arch-shaped path) to the slope surface, since the water jet propulsion structure of the robot is relatively close to the tail, it cannot provide sufficient upward thrust to the center of gravity of the robot, causing the robot to slide off the slope surface and eventually return to the starting point or a position close to the starting point of the short-side sub-path, but the robot does not know about the previous sliding at this time, and the robot mistakenly believes that it has completed the driving distance / time of the short-side sub-path, then the robot turns and cleans along the long-side sub-path (e.g., the first long-side sub-path) of the arch-shaped path, after that, the robot again drives along the short-side sub-path to the slope surface and again slides off, and eventually returns to the starting point or a position close to the starting point of the short-side sub-path, the robot still does not know about the previous sliding at this time, and the robot mistakenly believes that it has completed the driving distance / time of the short-side sub-path, then the robot again turns and cleans along the long-side sub-path (e.g., the second long-side sub-path) of the arch-shaped path, thus the robot mistakenly believes that it has performed cleaning along two independent long-side sub-paths, but in fact, the first long-side sub-path and the second long-side sub-path overlap each other or mostly overlap. Therefore, when the robot enters the bowl-shaped area along the short side of the arch-shaped path, the robot repeatedly walks along the long side of the arch-shaped path, causing the robot to be trapped in the bowl-shaped area. The following will describe how to determine whether the robot enters the bowl-shaped area and how to escape from the bowl-shaped area with specific embodiments.

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

[0047] In an embodiment, determining whether the pool automatic cleaning device has reached the slope surface includes determining whether the pitch angle of the cleaning device continuously increases.

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

[0049] The inertial measurement unit can comprise a plurality of accelerometers for measuring linear acceleration of the robot in three-dimensional space and a plurality of gyroscopes for measuring angular velocity of the robot in three-dimensional space, that is, the inertial measurement unit can measure acceleration and angular velocity of the robot in three directions of pitch, roll and yaw.

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

[0051] For example, if the pitch angle of the robot is kept at a fixed value greater than zero degrees within a predetermined time or a predetermined distance when the robot is driving along the short side of the arch, it can be determined that the robot reaches the sloped surface.

[0052] For example, whether the robot reaches the sloped surface can be determined by whether the pitch angle of the robot increases. When the pitch angle increases, it means that the head of the pool cleaning robot is in a lifted state, indicating that the robot is climbing, that is, driving along the sloped surface. However, it should be noted that the robot will have a certain lifting phenomenon when passing through the protrusions on the pool bottom (such as the lampshade on the pool bottom), stones or toys falling on the pool bottom, etc., that is, the pitch angle of the robot will increase, but when the robot returns to the flat surface of the pool bottom, the pitch angle decreases and the lifting is completed. Therefore, to determine whether the robot reaches the sloped surface between the pool bottom 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 lifting, that is, continuously climbing, which indicates that the robot reaches the sloped surface.

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

[0054] In an embodiment, the robot can store the pitch angles measured in the recent times. For example, after each measurement of the pitch angle θ, it is stored in an array of length n in time sequence. If the elements in the array increase in time sequence, that is, θ1< θ2< … < θn, it means that the pitch angle of the robot increases continuously. nIf the pitch angle is continuously increased, it can be determined that the robot is in a continuous climbing state, i.e., whether the pitch angle is continuously increased can be determined by determining whether the pitch angle is increased twice. For example, if the pitch angle is measured three times in succession as 10 degrees, 12 degrees and 14 degrees, it can be preliminarily determined that the robot is continuously climbing. It should be noted that the pitch angle is increased twice in the embodiment is only an example, and the number of times of continuously increasing the pitch angle in the determination process is not limited, and the number of times of measuring the pitch angle capable of achieving the function of continuously increasing the pitch angle in the application can be set according to the actual situation, and the number of times of measuring the pitch angle capable of achieving the function of continuously increasing the pitch angle in the application is within the protection scope of the application.

[0055] In another embodiment, the robot can also determine whether the pitch angle is continuously increased by determining whether the pitch angle is increased twice and the increasing amplitude is greater than a preset value. For example, the pitch angle θ is measured in time sequence and recorded, and the increasing amplitude of the pitch angle θ is preset, and the preset value is assumed to be Δθ. The pitch angle sequence θ1, θ2, …, θn measured is determined, and when the pitch angle sequence satisfies θ1< θ2< … < θn, and θi+1- θi> Δθ (i = 1, 2, 3, …, n-1), it is determined that the robot is in a continuous climbing state. n n i+1 - θi> Δθ (i = 1, 2, 3, …, n-1), it is determined that the robot is in a continuous climbing state. i For example, it is assumed that the preset value of the increasing amplitude of the pitch angle is 2 degrees, and the three pitch angles measured in succession are 10 degrees, 13 degrees and 16 degrees, so that the three pitch angles are continuously increased, i.e., increased twice, and the increasing amplitude of the pitch angle is 3 degrees (greater than the preset value 2 degrees) each time, and it can be determined that the pitch angle of the robot is continuously increased. It should be noted that the number of times of increasing the pitch angle and the preset value of the increasing amplitude in the embodiment are only examples, and are not limited to the content listed above, and the number of times of increasing the pitch angle and the preset value of the increasing amplitude can be set according to the actual situation, as long as the technical principles of the application can be achieved.

[0056] ​​The robot can also determine whether the pitch angle is continuously increasing by determining whether the pitch angle is increased twice and the second increase is an increase in the pitch angle within a preset walking time or a preset walking distance. For example, when determining the increase within the preset walking time, the preset walking time is set, i.e., the preset walking time is T; the pitch angle θ of the robot is continuously measured, and when it is found that the pitch angle θ1 at a time t1 is greater than the pitch angle θ0 at a previous time t0, the time t1 and the pitch angle θ1 at this time are recorded, i.e., the pitch angle is increased for the first time; then the pool cleaning robot continues to travel for a preset walking time T, i.e., to a time t2=t1+T, the pitch angle θ2 of the pool cleaning robot is measured again, and the pitch angle θ2 at the time t2 is compared with the pitch angle θ1 at the time t1; if θ2>θ1, it is determined that the pitch angle is increased for the second time within the preset walking time T, i.e., the pitch angle is increased twice and the second increase is an increase in the pitch angle within the preset walking time, and it is further determined that the robot is in a continuous climbing state. For example, assuming that the preset time T is 10 s, and the pitch angle θ1 of the pool cleaning robot is 10 degrees at t1=20 s, and the pitch angle θ0 before this time is less than 10 degrees, the pitch angle is increased for the first time; when t2=t1+T, i.e., 30 s, the pitch angle θ2 is 13 degrees, and θ2>θ1, it is determined that the pitch angle of the pool cleaning robot is continuously increased within the preset walking time, so the pool cleaning robot is continuously climbing, i.e., the pitch angle is continuously increased.

[0057] For example, when determining the increase within the preset walking distance, the preset walking distance is set, i.e., 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 at a distance d1 is greater than the pitch angle θ0 at a previous distance d0, the distance d1 and the pitch angle θ1 at this time are recorded, i.e., the pitch angle is increased for the first time; then the robot continues to travel for a preset walking distance D, i.e., to a distance d2=d1+D, the pitch angle θ2 of the pool cleaning robot is measured again, and the pitch angle θ2 at the distance d2 is compared with the pitch angle θ1 at the distance d1; if θ2>θ1, it is determined that the pitch angle is increased for the second time within the preset walking distance D, i.e., the pitch angle is increased twice and the second increase is an increase in the pitch angle within the preset walking distance, and it is further determined that the pool cleaning robot is in a continuous climbing state. For example, assuming that the preset distance D is 1 meter, and the pitch angle θ1 of the pool cleaning robot is 8 degrees at d1=3 meters, and the pitch angle θ0 before this time is less than 8 degrees, the pitch angle is increased for the first time; when d2=d1+D, i.e., at 4 meters, the pitch angle θ2 is 11 degrees, and θ2>θ1, so the pool cleaning robot is continuously climbing, i.e., the pitch angle is continuously increased.

[0058] It should be noted that the above description of the method for determining the continuous increase of the pitch angle is only exemplary, and the method for determining the continuous increase of the pitch angle protected by the present application is not limited to the above-mentioned content. Those skilled in the art can set the method according to the actual situation, as long as the technical principles of the present application can be realized.

[0059] If the pool automatic cleaning device has reached the slope surface, step S103 is entered. In step S103, the pool automatic 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 being trapped in the pool. Figure 2 The situation that the bowl-shaped area repeatedly cleans along a path and falls into a cycle to be trapped occurs.

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

[0062] In an embodiment, the control of the pool automatic cleaning device to leave the slope surface includes: re-planning a path.

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

[0064] For example, when the robot re-plans the cleaning path of the pool, it first determines whether there is an uncleaned area on the bottom of the pool. If there is an uncleaned area on the bottom of the pool, the uncleaned area needs to be cleaned, and the uncleaned area should be a position away from the slope surface, i.e., a region on the bottom of the pool other than the region that has been cleaned by the robot along the preset path. At this time, the robot is still on the slope surface, i.e., the head faces the slope surface, and the robot needs to drive to the uncleaned area first, i.e., the robot needs to drive away from the slope surface first, for example, the robot is controlled to rotate 180 degrees (to make a U-turn) 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 above-mentioned arch-shaped path or other paths, which will not be described here.

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

[0066] In an embodiment, the cross path can be a bow-shaped path. The bow-shaped path is similar to the bow-shaped path described above in connection with step S101 as a preset path, and also includes a plurality of long-side sub-paths and a plurality of short-side sub-paths. The robot sequentially passes through a long-side sub-path, a short-side sub-path, a long-side sub-path, a short-side sub-path, and so on when driving along the bow-shaped path. The difference between the cross path and the preset path described above is that the long-side sub-paths of the cross path intersect, are perpendicular to, or substantially perpendicular to the long-side sub-paths of the preset path. In other words, the long-side sub-paths of the cross path are the same as or similar to the short-side sub-paths of the preset path in direction, and the short-side sub-paths of the cross path are the same as or similar to the long-side sub-paths of the preset path in direction, so that the long-side of the bow-shaped path is changed to a short-side and the short-side of the bow-shaped path is changed to a long-side, and the cross path is obtained.

[0067] The reason for generating the cross path is that the robot determines that the slope surface has been reached when driving along the short-side sub-path (i.e., the short-side of the bow-shaped path) of the preset path to the slope surface (see step S102), and then the robot is controlled to leave the slope surface (see step S103), for example, the robot rotates 180 degrees to complete a U-turn and drives forward. As can be seen, the robot does not turn 90 degrees at the junction of the slope surface and the pool bottom and drive along the long-side of the bow-shaped path to clean the junction line of the slope surface and the pool bottom. In other words, the robot completes cleaning of the long-side of the bow-shaped path once less at the junction of the slope surface and the pool bottom. In order to clean the junction line, the robot is controlled to generate the cross path, and the long-side sub-paths of the cross path intersect, are perpendicular to, or substantially perpendicular to the long-side sub-paths of the preset path. In this way, the long-side and the short-side of the bow-shaped path are exchanged in the new cross path compared with the preset path. The robot drives along the cross path to clean the junction line, and when the robot drives along the long-side sub-path of the bow-shaped path as the cross path to the slope surface, even if the robot slips on the slope surface, the robot will eventually slip back onto the long-side sub-path (the robot cleans the junction line during climbing and slipping), and then the robot turns 90 degrees on the long-side sub-path and can still clean the junction line during driving along the short-side sub-path. As can be seen, the robot can clean the junction line of the pool bottom and the bowl-shaped area through the cross path, and finally complete cleaning of the entire pool bottom.

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

[0069] The technical content of the inertial measurement unit and the like has 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 climbs a slope.

[0070] The pool automatic cleaning device can perform the control method described in any of the above embodiments.

[0071] The embodiment discloses a computer storage medium, wherein the storage medium stores a computer program, and the computer program is executed by a processor to implement the control method described above.

[0072] It should be understood that, in the embodiment, the above computer storage medium can be located in at least one of a plurality of network servers of a computer network. Alternatively, in the embodiment, the above storage medium can include, but is not limited to, a variety of storage medium capable of storing program codes, such as a U disk, 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 above sequence of the embodiments of the application is only for description, and does not represent the advantages and disadvantages of the embodiments.

[0074] In the description of the present specification, the description of the terms "one embodiment", "some embodiments", "an example", "a specific example" or "some examples" means that the specific features, structures, materials or characteristics described in combination 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 any one or more embodiments or examples in a suitable manner. In addition, the person skilled in the art can combine and combine the different embodiments or examples described in the specification and the features of the different embodiments or examples without contradiction.

[0075] In addition, the terms "first", "second" are only for description purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features. Therefore, the features limited by "first", "second" can explicitly or implicitly include at least one feature. In the description of the present application, the meaning of "a plurality of" is two or more, unless otherwise specifically limited.

[0076] In the present application, the orientation words such as "upper, lower" are generally directed to the direction shown in the drawings or the vertical, perpendicular or gravity direction unless otherwise stated; similarly, for the convenience of understanding and description, "left, right" are generally directed to the left and right shown in the drawings; "inner, outer" refer to the inner and outer relative to the contour of the components themselves, but the above orientation words are not used to limit the present application.

[0077] The above description is merely exemplary embodiments of the present application, and the protection scope of the present application is not limited thereto, and any person skilled in the art can easily think of various changes or replacements within the technical scope disclosed in the present application, and these should be covered within the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A control method of an automatic pool cleaning device for cleaning a pool, a bottom of the pool having a sloped surface, the control method comprising: controlling the automatic pool cleaning device to travel along a preset path on the bottom of the pool, during the automatic pool cleaning device traveling along the preset path, determining whether the automatic pool cleaning device has reached the sloped surface, wherein, if the automatic pool cleaning device has reached the sloped surface, determining whether there is an uncleaned area on the bottom of the pool; if there is an uncleaned area on the bottom of the pool, controlling the automatic pool cleaning device to travel in a direction away from the sloped surface and reach the uncleaned area; if there is no uncleaned area on the bottom of the pool, generating a cross path, and controlling the cleaning device to continue performing a cleaning task according to 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.

2. The control method according to claim 1, wherein The determining whether the automatic pool cleaning device has reached the sloped surface comprises determining whether a pitch angle of the cleaning device continuously increases.

3. The control method according to claim 1 or 2, wherein The sloped surface comprises an area between the bottom of the pool and a pool wall of the pool.

4. The control method according to claim 1, wherein The controlling the automatic pool cleaning device to travel in a direction away from the sloped surface comprises controlling the automatic pool cleaning device to rotate 180 degrees and travel forward.

5. The control method according to claim 1 or 2, wherein The preset path comprises a first sub-path and a second sub-path, the first sub-path being perpendicular to the second sub-path, the first sub-path being parallel to a long side of a main area of the bottom of the pool or parallel to a short side of the main area.

6. The control method according to claim 5, wherein: The first sub-path or the second sub-path is perpendicular to a surface of the sloped surface.

7. The control method according to claim 2, wherein The automatic pool cleaning device comprises an inertial measurement unit, wherein the pitch angle is measured by the inertial measurement unit.

8. An automatic pool cleaning device characterized by The control method of any one of claims 1-7 can be performed. 9.A computer storage medium, the storage medium storing a computer program, the computer program being executed by a processor to implement the method of any one of claims 1-7.

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