Control method of automatic pool cleaning device, automatic pool cleaning device and computer storage medium

Abstract

The invention provides a control method of an automatic pool cleaning device, the automatic pool cleaning device and a computer storage medium. The control method comprises the following steps: acquiring water depth information through a first sensor; when it is determined that the water depth value of the position where the automatic pool cleaning device is located is lower than a shallow water threshold value according to the water depth information, the automatic pool cleaning device is controlled to rotate by a first preset angle, and the target advancing direction is determined based on the pitch angle and the yaw angle corresponding to all moments of the automatic pool cleaning device in the rotating process; and the pool automatic cleaning device is controlled to move in the target advancing direction until the water depth value of the position where the pool automatic cleaning device is located is judged to be higher than the deepwater threshold value through the first sensor. According to the method, the pool cleaning device can be accurately moved to the deepwater area, so that the robot can normally perform subsequent cleaning work in the deepwater area, and the cleaning efficiency of the automatic pool cleaning device is improved.

Description

Technical Field

[0001] The embodiments of the present application relate to the technical field of cleaning devices, and in particular to a control method for an automatic pool cleaning device, an automatic pool cleaning device, 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] Underwater cleaning robots, such as automatic pool cleaning devices, will be placed into the pool by the user when cleaning operations are needed on the bottom, surface or walls of the pool. However, if the automatic pool cleaning device is placed in a shallow water area, it is easy for the automatic pool cleaning device to float due to air absorption, inaccurate motion trajectory, and chaotic ultrasonic data, making it difficult for the automatic pool cleaning device to perform normal cleaning work, thereby affecting the cleaning efficiency of the automatic pool cleaning device. Summary of the invention

[0004] According to a first aspect of the present application, a control method for an automatic pool cleaning device is provided, wherein the automatic pool cleaning device comprises a first sensor, and the control method comprises:

[0005] Acquiring water depth information through the first sensor;

[0006] In the case where it is determined according to the water depth information that the water depth value at the location of the automatic pool cleaning device is lower than the shallow water threshold,

[0007] Controlling the automatic pool cleaning device to rotate to a first predetermined angle, and determining a target forward direction based on the pitch angle and yaw angle corresponding to each moment of the automatic pool cleaning device during the rotation process;

[0008] The automatic pool cleaning device is controlled to move along the target advancing direction until the first sensor determines that the water depth at the location of the automatic pool cleaning device is higher than a deep water threshold.

[0009] According to a control method for an automatic pool cleaning device provided by the present application, the method of determining the target forward direction based on the pitch angle and yaw angle corresponding to each moment of the automatic pool cleaning device during the rotation process includes:

[0010] Record the pitch angle and yaw angle corresponding to each moment of the automatic pool cleaning device during the rotation process;

[0011] Determine the maximum pitch angle from the pitch angles corresponding to each moment;

[0012] When the maximum pitch angle is greater than a preset pitch threshold, the target heading direction is determined based on the yaw angle at the moment corresponding to the maximum pitch angle.

[0013] According to a control method for an automatic pool cleaning device provided by the present application, determining the maximum pitch angle from the pitch angles corresponding to each moment includes:

[0014] Get the pitch angle corresponding to each moment;

[0015] Arrange the pitch angles corresponding to each moment in order from large to small or from small to large to obtain a pitch angle sequence;

[0016] The maximum pitch angle is determined from the sequence of pitch angles.

[0017] According to a control method for an automatic pool cleaning device provided by the present application, the automatic pool cleaning device further includes a second sensor, and the method further includes:

[0018] In the process of controlling the automatic pool cleaning device to move along the target advancing direction, obtaining obstacle information through the second sensor;

[0019] When it is determined based on the obstacle information that there is an obstacle in the target forward direction, the automatic pool cleaning device is controlled to rotate by a second predetermined angle and then move.

[0020] According to a control method of an automatic pool cleaning device provided by the present application, the method further includes:

[0021] In the process of controlling the automatic pool cleaning device to rotate to a second predetermined angle and then move, determining whether the automatic pool cleaning device has crossed the obstacle;

[0022] When the automatic pool cleaning device passes over the obstacle, the automatic pool cleaning device is controlled to continue moving along the target advancing direction.

[0023] According to a control method for an automatic pool cleaning device provided by the present application, the second predetermined angle is 10°-30°.

[0024] According to a control method for an automatic pool cleaning device provided in the present application, the shallow water threshold is 15 cm-20 cm.

[0025] According to a control method for an automatic pool cleaning device provided in the present application, the water depth threshold is 25 cm-30 cm.

[0026] According to a control method for an automatic pool cleaning device provided by the present application, before acquiring water depth information through the first sensor, the method further includes:

[0027] Detect whether the automatic pool cleaning device sinks to the bottom of the pool, and if so, trigger the first sensor to obtain water depth information.

[0028] According to a second aspect of the present application, a swimming pool cleaning device is provided, comprising a memory and a processor, wherein the memory stores computer program instructions, and the processor executes any of the above-mentioned control methods for the automatic pool cleaning device when processing the program instructions.

[0029] According to a third aspect of the present application, a computer storage medium is provided, wherein the storage medium stores a computer program, and when the computer program is executed by a processor, the control method of any of the above-mentioned automatic pool cleaning devices is implemented.

[0030] The embodiments described in this application have the following beneficial effects:

[0031] The first sensor can be used to determine whether the water depth at the location where the automatic pool cleaning device is deployed is lower than a shallow water threshold. If so, the automatic pool cleaning device can be controlled to rotate by a first predetermined angle and based on the yaw angle and pitch angle during the rotation, a target direction in which the automatic pool cleaning device can be controlled to move toward a deep water area can be determined. Based on the target direction, the pool cleaning device can be controlled to accurately move to the deep water area, thereby allowing the robot to perform subsequent cleaning work normally in the deep water area, thereby improving the cleaning efficiency of the automatic pool cleaning device. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] 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.

[0033] Figure 1 is a flow chart of a control method of an automatic pool cleaning device provided in the present application; and

[0034] Figure 2 It is a schematic diagram of the structure of the automatic pool cleaning device provided in this application. DETAILED DESCRIPTION

[0035] 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.

[0036] The present application provides a control method for an automatic pool cleaning device. It is understandable that the automatic pool cleaning device includes a first sensor, 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.

[0037] 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.

[0038] The robot control method 100 is described in detail below with reference to the accompanying drawings.

[0039] Figure 1 1 is a flow chart of a control method 100 of an automatic pool cleaning device provided in the present application. Figure 1 As shown, the control method 100 includes steps 101 to 104. Steps 101 to 104 are described in detail below.

[0040] In step 101, water depth information is acquired through the first sensor.

[0041] It is understandable that when the user needs to use the robot to clean the swimming pool, the robot will be placed in the swimming pool. However, when the user places the robot in the shallow water area of ​​the swimming pool, it is easy to cause the robot to float due to air intake, inaccurate movement trajectory, and chaotic ultrasonic data, making it difficult for the robot to perform normal cleaning work in the shallow water area. Based on this situation, after the robot is placed in the swimming pool and before cleaning work, it is necessary to obtain water depth information through the first sensor to determine the water depth at the robot's location through the water depth information.

[0042] The above-mentioned first sensor can sense the depth of water, and the first sensor can be, for example, a water depth sensor. The water depth sensor can be an ultrasonic sensor, a pressure sensor, a capacitive sensor, or the like. For example, an ultrasonic sensor calculates the water depth by emitting sound waves and measuring their return time; a pressure sensor calculates the water depth by measuring the pressure exerted by a water column; a capacitive sensor determines the depth of the water level by measuring the change in capacitance. The above exemplary description of the water depth sensor is not intended to limit the type of the sensor, and those skilled in the art can select the type of water depth sensor according to actual needs, as long as the technical principles of the present application can be implemented. The above-mentioned water depth information is the data collected by the first sensor, and the water depth information can characterize the depth of the water at the location of the robot.

[0043] The first sensor may be disposed on the outer shell of the head, tail, bottom or top of the robot, or may be disposed inside the outer shell of the robot, as long as it can sense the depth of water where the robot is located.

[0044] Next, the process proceeds to step 102. In step 102, when it is determined according to the water depth information that the water depth value at the location of the automatic pool cleaning device is lower than a shallow water threshold, the automatic pool cleaning device is controlled to rotate by a first predetermined angle.

[0045] Specifically, after collecting the water depth information, the first sensor sends the water depth information to the control system of the robot, and the control system determines whether the water depth value at the robot's position is lower than a predetermined shallow water threshold. When the water depth value at the robot's position is lower than the predetermined shallow water threshold, it indicates that the robot has been placed in the shallow water area of ​​the swimming pool. It is difficult for the robot to perform normal cleaning work in the shallow water area, so it is necessary to control the robot to move from the shallow water area to the deep water area for cleaning work.

[0046] It is understandable that the swimming pool usually achieves the transition between the shallow water area and the deep water area by tilting the bottom surface with a slope (i.e., a slope), the shallow water area is above the slope, and the deep water area is below the slope. Therefore, when it is determined that the water depth value at the position of the robot is lower than the shallow water threshold, the robot can be controlled to rotate the first predetermined angle first, and the direction of the robot moving from the shallow water area to the deep water area can be determined by the change of the robot posture during the rotation. Exemplarily, the robot can rotate in situ (i.e., the robot rotates around its current position in the shallow water area), or it can rotate after moving a certain distance (for example, the robot moves a certain distance in a certain direction and then rotates in situ). The above-mentioned first predetermined angle can be, for example, 360 degrees, or close to 360 degrees. The embodiments of the present application are not detailed here, as long as the angle of rotation of the robot can realize the technical principle of the present application. The rotation of the robot can be achieved, for example, by the difference in wheel speed between the left and right sides.

[0047] In one embodiment, the shallow water threshold may be 15 cm to 20 cm. The specific value of the shallow water threshold may be determined according to the size of the robot. The larger the size of the robot, the greater the water depth required for normal cleaning work, and vice versa. Accordingly, if the size of the robot is small, the shallow water threshold is small; if the size of the robot is large, the shallow water threshold is large.

[0048] Next, step 103 is executed. In step 103, the target moving direction is determined based on the pitch angle and yaw angle corresponding to each moment of the automatic pool cleaning device during the rotation process.

[0049] Specifically, since the bottom of the swimming pool is sloped, the shallow water area is above the slope, and the deep water area is below the slope, so the pitch angle and yaw angle of the robot will change during the rotation process on the slope. In the present application, a body coordinate system (i.e., a three-dimensional orthogonal rectangular coordinate system) is constructed for the robot. In the body coordinate system, the center of mass of the robot is the origin O, the direction pointed by the robot head is the OX axis direction, the right side direction of the robot body is the OY axis direction, and the upward direction perpendicular to the XY plane of the body is the OZ axis direction. During the rotation of the robot, the angle between the OX axis and the horizontal plane is the pitch angle. In the present application, since it is hoped that the robot will travel down the slope so that the robot can enter the deep water area, when the OX axis is below the horizontal plane, the pitch angle of the robot is positive; when the OX axis is above the horizontal plane, the pitch angle of the robot is negative. The yaw angle is, for example, the angle between the projection of the OX axis on the horizontal plane and the earth's axis, which reflects the angle of the robot's left and right deflection on the horizontal plane.

[0050] Since the robot rotates on the slope, when the robot's head (i.e., the OX axis) faces the bottom of the slope, the robot's pitch angle is large (e.g., a positive value). On the contrary, when the robot's head faces the top of the slope, the robot's pitch angle is small (e.g., a negative value). Based on the above principle, during the robot's rotation, the pitch angle adopted by the robot's head (i.e., the OX axis) when driving down the slope toward the deep water area can be selected according to the pitch angles corresponding to each moment of the robot (e.g., the robot adopts the maximum pitch angle to achieve the fastest entry into the deep water area), that is, the direction of the OX axis is determined, thereby determining the angle between the projection of the OX axis on the horizontal plane and the earth's axis (i.e., determining the yaw angle), thereby obtaining the robot's target forward direction. The selection of the pitch angle and the yaw angle will be further described below in conjunction with specific embodiments.

[0051] The pitch angle and the yaw angle may be measured by an inertial measurement unit (IMU). The inertial measurement unit may include a gyroscope component and / or a magnetometer component for measuring the direction and posture of the robot.

[0052] After determining the target direction of travel, execute step 104. In step 104, control the automatic pool cleaning device to move along the target direction of travel until the first sensor determines that the water depth at the location of the automatic pool cleaning device is higher than a deep water threshold.

[0053] Specifically, after determining the target direction, the robot can be controlled to move in the target direction so as to get out of the shallow water area. In the process of controlling the robot to move in the target direction, the water depth value of the robot at each moment can be determined in real time by the first sensor. If the water depth value is higher than the predetermined deep water threshold, it indicates that the robot has moved to the deep water area and can perform normal cleaning work. At this time, the robot can be controlled to start cleaning operations.

[0054] The specific value of the deep water threshold can be determined according to the size of the robot. The larger the size of the robot, the greater the water depth required for normal cleaning work. Therefore, the smaller the size of the robot, the smaller the deep water threshold is set, and the larger the size of the robot, the greater the deep water threshold is set. In one embodiment, the deep water threshold can be 25 cm-30 cm.

[0055] The first sensor can be used to determine whether the water depth at the location where the automatic pool cleaning device is deployed is lower than a shallow water threshold. If it is lower, the automatic pool cleaning device can be controlled to rotate by a first predetermined angle and based on the yaw angle and pitch angle during the rotation, the target direction in which the automatic pool cleaning device is controlled to move to a deep water area can be determined. Based on the target direction, the pool cleaning device can be controlled to accurately move to the deep water area, so that the robot can perform subsequent cleaning work normally in the deep water area, thereby avoiding problems such as air suction floating, inaccurate motion trajectory, and chaotic ultrasonic data that may occur in the automatic pool cleaning device in shallow water areas, thereby improving the cleaning efficiency of the automatic pool cleaning device.

[0056] In one embodiment, the method of determining the target forward direction based on the pitch angle and yaw angle corresponding to each moment of the automatic pool cleaning device during the rotation process includes: recording the pitch angle and yaw angle corresponding to each moment of the automatic pool cleaning device during the rotation process; determining the maximum pitch angle from the pitch angles corresponding to each moment; and determining the target forward direction based on the yaw angle at the moment corresponding to the maximum pitch angle when the maximum pitch angle is greater than a preset pitch threshold.

[0057] Specifically, determining the target forward direction based on the pitch angle and yaw angle corresponding to the robot at each moment during the rotation process includes: recording a set of robot rotation data at each moment during the robot rotation process, and the rotation data includes the pitch angle and yaw angle of the robot at that moment.

[0058] During the rotation of the robot, when the robot's head is facing directly below the slope, the robot's pitch angle is large, and when the robot's head is facing directly above the slope, the robot's pitch angle is small. Therefore, after recording the pitch angle and yaw angle corresponding to each moment, the largest pitch angle is selected from the pitch angles corresponding to each moment. The largest pitch angle is the pitch angle corresponding to the moment when the robot's head is facing directly below the slope, that is, the pitch angle that the robot should adopt to drive down the slope and into the deep water area in the fastest way.

[0059] It is understandable that when the bottom of the swimming pool is not sloped but horizontal, and the horizontal bottom may have slight undulations due to construction reasons, there will also be differences in pitch angles during the rotation of the robot, but the differences are extremely small. For this kind of horizontal swimming pool bottom, it is difficult for the robot to quickly find the direction of the deep water area based on the pitch angle difference. Therefore, a preset pitch threshold is set here to exclude the situation where the bottom of the swimming pool has only slight undulations. Based on the setting of the preset pitch threshold, when it is determined that the maximum pitch angle is greater than the preset pitch threshold, it is characterized that the robot is in a shallow water area and can enter a deep water area by moving down the slope. Therefore, when the maximum pitch angle is greater than the preset pitch threshold, the yaw angle corresponding to the maximum pitch angle at the same time can be used to determine the direction of the robot's head at the maximum pitch angle, and this direction is the target forward direction of the robot.

[0060] By recording the pitch angle and yaw angle corresponding to each moment in the robot's rotation process, the pitch angle of the robot at each moment and the direction information corresponding to the pitch angle (i.e., the yaw angle) can be accurately obtained. Then, the direction in which the robot's head is pointing when going downhill (i.e., the target forward direction) can be quickly determined through the maximum pitch angle among the pitch angles corresponding to each moment.

[0061] In one embodiment, determining the maximum pitch angle from the pitch angles corresponding to each moment includes: obtaining the pitch angles corresponding to each moment; sorting the pitch angles corresponding to each moment in order from large to small or from small to large to obtain a pitch angle sequence; and determining the maximum pitch angle from the pitch angle sequence.

[0062] Specifically, when determining the maximum pitch angle from the pitch angles corresponding to each moment, the pitch angles corresponding to each moment can be obtained first, and then the pitch angles corresponding to each moment can be sorted, either from large to small or from small to large. After sorting, the maximum pitch angle can be quickly determined from the pitch angle sequence, and based on the yaw angle corresponding to the moment of the maximum pitch angle, the robot's orientation at the moment of the maximum pitch angle, i.e., the target forward direction, can be determined.

[0063] By sorting the pitch angles corresponding to each moment, the maximum pitch angle can be determined quickly and accurately, and then the target's heading direction can be determined accurately and quickly based on the yaw angle corresponding to the maximum pitch angle.

[0064] In one embodiment, the automatic pool cleaning device also includes a second sensor, and the control method also includes: in the process of controlling the automatic pool cleaning device to move along the target direction, obtaining obstacle information through the second sensor; when it is determined based on the obstacle information that there is an obstacle in the target direction, controlling the automatic pool cleaning device to rotate by a second predetermined angle and then move.

[0065] Specifically, there may be some obstacles at the bottom of the swimming pool, such as escalators, steps, wall lamps, floor lamps, lampshades, water outlets, water inlets, etc. in the swimming pool. Therefore, when controlling the robot to move along the target direction, it may encounter some of the above obstacles, making it difficult for the robot to continue moving along the target direction. Based on this situation, in the process of controlling the robot to move along the target direction, the obstacle information can be obtained in real time through the second sensor. When it is determined that there is an obstacle in the target direction based on the obstacle information, the robot can be controlled to deflect by a second predetermined angle and continue to move to avoid the obstacle, so that the robot can continue to drive into the deep water area.

[0066] It is understandable that, in the case where the obstacle is too large, it may still be difficult to avoid the obstacle after controlling the robot to rotate by the second predetermined angle, so the robot may be controlled to deflect by the second predetermined angle again to avoid the obstacle again.

[0067] Exemplarily, the second sensor may be a device capable of detecting obstacles, such as a laser detector, an ultrasonic detector, a phased array ultrasonic detector, etc., which is not specifically limited in this embodiment.

[0068] By monitoring obstacles during the movement of the robot, the robot can be controlled to overcome the obstacles encountered during the movement to ensure that the robot can move smoothly to the deep water area.

[0069] In one embodiment, the control method of the automatic pool cleaning device provided in the present application also includes: in the process of controlling the automatic pool cleaning device to rotate to a second predetermined angle and then move, determining whether the automatic pool cleaning device has crossed the obstacle; when the automatic pool cleaning device has crossed the obstacle, controlling the automatic pool cleaning device to continue moving along the target moving direction.

[0070] It is understandable that after the robot rotates the second predetermined angle and moves a certain distance in the direction after rotation, the robot may have crossed the obstacle. At this time, if the robot is controlled to continue to move in the direction after rotation, its moving route is not the optimal solution for the robot to move to the deep water area, and the robot may not even be able to enter the deep water area by moving in the direction. Therefore, in the process of controlling the robot to rotate the second predetermined angle and move, the obstacle can be monitored in real time to determine whether the robot has crossed the obstacle. If it is determined that the robot has crossed the obstacle, the robot can be controlled to rotate the second predetermined angle so that the robot continues to move in the target forward direction.

[0071] In the process of controlling the robot to rotate to the second predetermined angle and then move, by monitoring the obstacles, the robot's moving direction can be adjusted in time after the robot passes the obstacle, so that the robot continues to move along the target direction, thereby enabling the robot to move quickly to the deep water area.

[0072] In one embodiment, the second predetermined angle may be 10°-30°.

[0073] It is understandable that if the second predetermined angle is too small, it will be difficult for the robot to cross obstacles; if the second predetermined angle is too large, it may cause the robot to rotate too much, thereby increasing the length of the route for the robot to move to the deep water area, making it difficult for the robot to move quickly to the deep water area, thereby reducing the robot's work efficiency.

[0074] In one embodiment, before acquiring water depth information through the first sensor, the control method further includes: detecting whether the automatic pool cleaning device sinks to the bottom of the pool, and if so, triggering the first sensor to acquire water depth information.

[0075] Specifically, when the user needs to clean the pool and puts the robot into the pool, the robot will first sink from the water surface to the bottom of the water to facilitate the subsequent cleaning work. Based on this, before obtaining the water depth information through the first sensor, it is first necessary to detect whether the robot has sunk to the bottom of the pool. After determining that the robot has sunk to the bottom of the pool, the first sensor is triggered to obtain water depth information to determine whether the current location of the robot can normally perform subsequent pool cleaning work.

[0076] In one embodiment, a bottom sensor can be used to detect whether the robot has sunk to the bottom of the pool. The bottom sensor can be a pressure sensor, an ultrasonic sensor, a capacitive sensor, an infrared sensor, an optical sensor, a mechanical switch sensor, etc.

[0077] According to a second aspect of the present application, there is provided an automatic pool cleaning device. Figure 2The following is a schematic diagram of the physical structure of an automatic pool cleaning device. Figure 2 As shown, the automatic pool cleaning device may include: a memory 201 and a processor 202. The processor 202 may call the computer program instructions in the memory 201 to execute a control method for the automatic pool cleaning device, wherein the automatic pool cleaning device includes a first sensor, and the method includes: obtaining water depth information through the first sensor; when it is determined according to the water depth information that the water depth value at the location of the automatic pool cleaning device is lower than the shallow water threshold, controlling the automatic pool cleaning device to rotate by a first predetermined angle, and determining the target forward direction based on the pitch angle and yaw angle corresponding to each moment of the automatic pool cleaning device during the rotation process; and controlling the automatic pool cleaning device to move along the target forward direction until it is determined by the first sensor that the water depth value at the location of the automatic pool cleaning device is higher than the deep water threshold.

[0078] The principle and scheme of the control method executed by the processor 202 refer to the control method described above in combination with various embodiments and drawings, and will not be repeated here.

[0079] In addition, the computer program instructions in the above-mentioned memory 201 can be implemented in the form of software functional units and can be stored in a computer-readable storage medium when sold or used as an independent product. Based on such an understanding, the technical solution of the present application can be essentially or partly embodied in the form of a software product that contributes to the prior art, and the computer software product is stored in a storage medium, including several instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a disk or an optical disk.

[0080] 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 embodiments, the automatic pool cleaning device includes a first sensor, and the method includes: obtaining water depth information through the first sensor; when it is determined that the water depth value at the position of the automatic pool cleaning device is lower than the shallow water threshold according to the water depth information, the automatic pool cleaning device is controlled to rotate a first predetermined angle, and the target forward direction is determined based on the pitch angle and yaw angle corresponding to each moment of the automatic pool cleaning device during the rotation process; the automatic pool cleaning device is controlled to move along the target forward direction until the first sensor determines that the water depth value at the position of the automatic pool cleaning device is higher than the deep water threshold. 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.

[0081] 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, and when the computer program is executed by a 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 first sensor, and the method includes: obtaining water depth information through the first sensor; when it is determined that the water depth value at the position of the automatic pool cleaning device is lower than the shallow water threshold according to the water depth information, the automatic pool cleaning device is controlled to rotate a first predetermined angle, and the target forward direction is determined based on the pitch angle and yaw angle corresponding to each moment of the automatic pool cleaning device during the rotation process; the automatic pool cleaning device is controlled to move along the target forward direction until the first sensor determines that the water depth value at the position of the automatic pool cleaning device is higher than the deep water threshold. 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.

[0082] 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.

[0083] 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, it 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.

[0084] 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.

[0085] 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.

[0086] 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 first sensor, the control method comprising: Acquiring water depth information through the first sensor; In the case where it is determined according to the water depth information that the water depth value at the location of the automatic pool cleaning device is lower than the shallow water threshold, Controlling the automatic pool cleaning device to rotate to a first predetermined angle, and determining a target forward direction based on the pitch angle and yaw angle corresponding to each moment of the automatic pool cleaning device during the rotation process; The automatic pool cleaning device is controlled to move along the target advancing direction until the first sensor determines that the water depth value at the location of the automatic pool cleaning device is higher than a deep water threshold.

2. The control method according to claim 1, wherein: The method of determining the target moving direction based on the pitch angle and yaw angle corresponding to each moment of the automatic pool cleaning device during the rotation process includes: Record the pitch angle and yaw angle corresponding to each moment of the automatic pool cleaning device during the rotation process; Determine the maximum pitch angle from the pitch angles corresponding to each moment; When the maximum pitch angle is greater than a preset pitch threshold, the target heading direction is determined based on the yaw angle at the moment corresponding to the maximum pitch angle.

3. The control method according to claim 2, wherein determining the maximum pitch angle from the pitch angles corresponding to each moment comprises: Get the pitch angle corresponding to each moment; Arrange the pitch angles corresponding to each moment in order from large to small or from small to large to obtain a pitch angle sequence; The maximum pitch angle is determined from the sequence of pitch angles.

4. The control method according to claim 1, wherein the automatic pool cleaning device further comprises a second sensor, and the method further comprises: In the process of controlling the automatic pool cleaning device to move along the target advancing direction, obtaining obstacle information through the second sensor; When it is determined based on the obstacle information that there is an obstacle in the target forward direction, the automatic pool cleaning device is controlled to rotate by a second predetermined angle and then move.

5. The control method according to claim 4, further comprising: In the process of controlling the automatic pool cleaning device to rotate to a second predetermined angle and then move, determining whether the automatic pool cleaning device has crossed the obstacle; When the automatic pool cleaning device passes over the obstacle, the automatic pool cleaning device is controlled to continue moving along the target advancing direction.

6. The control method according to claim 4 or 5, wherein: The second predetermined angle is 10°-30°.

7. According to the control method of claim 1, the shallow water threshold is 15 cm-20 cm.

8. The control method according to claim 1, wherein the water depth threshold is 25 cm to 30 cm.

9. The control method according to claim 1, before acquiring the water depth information through the first sensor, further comprising: Detect whether the automatic pool cleaning device sinks to the bottom of the pool, and if so, trigger the first sensor to obtain water depth information.

10. An automatic pool cleaning device, comprising a memory and a processor, wherein the memory stores computer program instructions, and the processor executes the control method according to any one of claims 1 to 9 when processing the program instructions.

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

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