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

Abstract

The application provides a control method of a pool automatic cleaning device, the pool automatic cleaning device and a computer storage medium. The control method comprises the following steps: acquiring water depth information through a first sensor; in the case that it is determined according to the water depth information that the water depth value at the position where the pool automatic cleaning device is located is lower than a shallow water threshold value, controlling the pool automatic cleaning device to rotate by a first predetermined angle, and determining a target forward direction based on the pitch angle and the yaw angle corresponding to each moment of the pool automatic cleaning device during the rotation; and controlling the pool automatic cleaning device to move along the target forward direction until it is determined by the first sensor that the water depth value at the position where the pool automatic cleaning device is located is higher than a deep water threshold value. The method can make the pool cleaning device accurately move to the deep water area, so that the robot can normally perform subsequent cleaning work in the deep water area, and the cleaning efficiency of the pool automatic cleaning device is improved.

Description

TECHNICAL FIELD

[0001] Embodiments of the present application relate to the technical field of cleaning devices, in particular to a control method of an automatic pool cleaning device, an automatic pool cleaning device and a computer storage medium. BACKGROUND

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

[0003] The robot for underwater cleaning, such as an automatic pool cleaning device, is put into a pool by a user when cleaning work needs to be performed on the pool bottom, pool surface or pool wall, etc. However, if the automatic pool cleaning device is placed in a shallow water area, it is easy to cause the automatic pool cleaning device to float by suction, inaccurate movement trajectory and chaotic ultrasonic data, etc., so that the automatic pool cleaning device is difficult to perform normal cleaning work, thereby affecting the cleaning efficiency of the automatic pool cleaning device. SUMMARY

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

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

[0006] in a case where it is determined according to the water depth information that a water depth value at a position where the automatic pool cleaning device is located is lower than a shallow water threshold,

[0007] controlling the automatic pool cleaning device to rotate by a first predetermined angle, and determining a target forward direction based on respective pitch angles and yaw angles of the automatic pool cleaning device at different times during the rotation;

[0008] 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 position where the automatic pool cleaning device is located is higher than a deep water threshold.

[0009] According to the control method of the automatic pool cleaning device provided by the present application, the target forward direction is determined based on respective pitch angles and yaw angles of the automatic pool cleaning device at different times during the rotation, which comprises:

[0010] recording respective pitch angles and yaw angles of the automatic pool cleaning device at different times during the rotation;

[0011] determining a maximum pitch angle from the respective pitch angles at different times;

[0012] In a case where the maximum pitch angle is greater than a preset pitch threshold, determining the target forward direction based on a yaw angle corresponding to a time point of the maximum pitch angle.

[0013] According to the control method of the pool automatic cleaning device provided in the present application, the maximum pitch angle is determined from the pitch angles corresponding to the respective time points, which includes:

[0014] Obtaining the pitch angles corresponding to the respective time points;

[0015] Sorting the pitch angles corresponding to the respective time points in descending order or ascending order to obtain a pitch angle sequence;

[0016] Determining the maximum pitch angle from the pitch angle sequence.

[0017] According to the control method of the pool automatic cleaning device provided in the present application, the pool automatic cleaning device further comprises a second sensor, and the method further comprises:

[0018] During the control of the pool automatic cleaning device moving along the target forward direction, obtaining obstacle information through the second sensor;

[0019] In a case where it is determined based on the obstacle information that there is an obstacle in the target forward direction, controlling the pool automatic cleaning device to move after rotating by a second predetermined angle.

[0020] According to the control method of the pool automatic cleaning device provided in the present application, it further comprises:

[0021] During the control of the pool automatic cleaning device moving after rotating by the second predetermined angle, judging whether the pool automatic cleaning device has passed the obstacle;

[0022] In a case where the pool automatic cleaning device has passed the obstacle, controlling the pool automatic cleaning device to continue moving along the target forward direction.

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

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

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

[0026] According to the control method of the pool automatic cleaning device provided in the application, before the water depth information is acquired by the first sensor, the method further comprises:

[0027] detecting whether the pool automatic cleaning device is sunk to the bottom of the pool, and triggering the first sensor to acquire the water depth information if the pool automatic cleaning device is sunk to the bottom of the pool.

[0028] According to a second aspect of the application, a pool cleaning device is provided, comprising a memory and a processor, the memory stores computer program instructions, and the processor executes the program instructions to perform the control method of the pool automatic cleaning device according to any one of the above aspects.

[0029] According to a third aspect of the application, a computer storage medium is provided, the storage medium stores a computer program, and the computer program is executed by a processor to implement the control method of the pool automatic cleaning device according to any one of the above aspects.

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

[0031] The water depth value at the position where the pool automatic cleaning device is thrown can be determined by the first sensor, and if the water depth value is lower than the shallow water threshold, the pool automatic cleaning device is controlled to rotate by a first predetermined angle, and based on the yaw angle and the pitch angle during the rotation, the target forward direction of the pool automatic cleaning device moving to the deep water area can be determined, and based on the target forward direction, the pool cleaning device can be accurately controlled to move to the deep water area, so that the robot can normally perform subsequent cleaning work in the deep water area, and the cleaning efficiency of the pool automatic cleaning device is improved. BRIEF DESCRIPTION OF DRAWINGS

[0032] In order to more clearly illustrate the technical solutions of the embodiments of the application, the following will briefly introduce the drawings needed to be used in the description of the embodiments. The drawings in the following description are only exemplary embodiments of the application.

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

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

[0035] In order to make the objects, technical solutions and advantages of the present application clearer, the technical solutions in the present application will be described clearly and completely below in conjunction with the accompanying drawings in the present application. Obviously, the described embodiments are only some of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the scope of protection of the present application.

[0036] The present application provides a control method of an automatic pool cleaning device. It can be understood that the automatic pool cleaning device comprises 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 can be a swimming pool, a water storage pool, a hydrotherapy pool, a water storage tank, a water storage tank, etc. The automatic pool cleaning device can be a device such as an automatic cleaning device, a pool cleaning robot, etc., 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] Hereinafter, if not specifically stated, the robot will be described as an example of the automatic pool cleaning device, and the swimming pool will be described as an example of 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.

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

[0039] Figure 1 is a flowchart of the control method 100 of the automatic pool cleaning device provided by the present application. As shown in Figure 1 , the control method 100 comprises steps 101 to 104. Steps 101 to 104 will be described in detail below.

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

[0041] It can be understood that when the user needs to use the robot to clean the swimming pool, the robot will be put into the swimming pool. However, when the user puts the robot in the shallow water area of the swimming pool, it is easy to cause the robot to float by suction, inaccurate movement trajectory and chaotic ultrasonic data, etc., causing the robot to have difficulty in normal cleaning work in the shallow water area. Based on this situation, after the robot is put into the swimming pool, before the cleaning work is performed, the water depth information needs to be acquired by the first sensor to determine the water depth at the position where the robot is located by the water depth information.

[0042] The first sensor can sense the depth of water, which can be a water depth sensor. The water depth sensor can be an ultrasonic sensor, a pressure sensor, a capacitive sensor, or the like. For example, the ultrasonic sensor calculates the water depth by emitting sound waves and measuring the return time; the pressure sensor calculates the depth of water by measuring the pressure exerted by the water column; the capacitive sensor determines the depth of the water level by measuring the change in capacitance. The foregoing 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 the water depth sensor according to actual needs as long as the technical principles of the present application can be implemented. The water depth information collected by the first sensor can represent the depth of water at the location where the robot is located.

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

[0044] Next, step 102 is entered, in which, in the case where the water depth information determines that the water depth value at the location where the robotic pool cleaning device is located is lower than the shallow water threshold, the robotic pool cleaning device is controlled to rotate by a first predetermined angle.

[0045] Specifically, after the first sensor collects the water depth information, it sends the water depth information to the control system of the robot, and the control system determines whether the water depth value at the location where the robot is located is lower than the predetermined shallow water threshold. In the case where the water depth value at the location where the robot is located is lower than the predetermined shallow water threshold, it indicates that the robot is placed in the shallow water area of the pool, and the robot is difficult to perform normal cleaning work in the shallow water area, so the robot needs to be controlled to move from the shallow water area to the deep water area for cleaning work.

[0046] It can be understood that the pool usually has a sloping bottom surface (i.e. a slope) to realize the transition between the shallow water area and the deep water area, and the shallow water area is above the slope and the deep water area is below the slope. Therefore, in the case where the water depth value at the location where the robot is located is determined to be lower than the shallow water threshold, the robot can be controlled to rotate by a first predetermined angle, 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's posture during the rotation. For example, the robot can rotate in place (i.e. the robot rotates around its current position in the shallow water area), or it can move a certain distance and then rotate in place (e.g. the robot moves a certain distance in a certain direction and then rotates in place). The first predetermined angle can be 360 degrees or close to 360 degrees, and the present application does not make a specific limitation here, as long as the angle of rotation of the robot can implement the technical principles of the present application. The rotation of the robot can be achieved by the speed difference between the left and right wheels.

[0047] In one embodiment, the shallow water threshold can be 15-20 cm. The specific size of the shallow water threshold can be determined according to the size of the robot body, the larger the robot size, the greater the water depth value required for normal cleaning work, and vice versa, the smaller the water depth value required by the robot. 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 performed, in which the target forward direction is determined based on the pitch angle and the yaw angle corresponding to each time during the rotation of the pool automatic cleaning device.

[0049] Specifically, since the bottom of the pool is a slope, the shallow water area is above the slope, and the deep water area is below the slope, the pitch angle and the yaw angle of the robot will change during the rotation of the robot on the slope. In this application, a body coordinate system (i.e., a three-dimensional orthogonal coordinate system) is constructed for the robot, in which the center of mass of the robot is taken as the origin O, the direction of the head of the robot is taken as the direction of the OX axis, the right side of the robot body is taken as the direction of the OY axis, and the upward direction perpendicular to the XY plane of the body is taken as the direction of the OZ axis. During the rotation of the robot, the angle between the OX axis and the horizontal plane is the pitch angle, and in this application, since it is desired that the robot travel down the slope so as to 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, for example, is the angle between the projection of the OX axis on the horizontal plane and the ground axis, which reflects the angle of left and right deflection of the robot on the horizontal plane.

[0050] Since the robot rotates on the slope, when the head of the robot (i.e., the OX axis) is directed downward of the slope, the pitch angle of the robot is large (e.g., positive), and conversely, when the head of the robot is directed upward of the slope, the pitch angle of the robot is small (e.g., negative). Based on the above principle, during the rotation of the robot, the pitch angle of the robot at each time can be used to select the pitch angle adopted by the head of the robot (i.e., the OX axis) when it travels down the slope to the deep water area (e.g., the robot adopts the maximum pitch angle, thereby achieving the fastest entry into the deep water area), i.e., to determine the pointing direction of the OX axis, thereby determining the angle between the projection of the OX axis on the horizontal plane and the ground axis (i.e., determining the yaw angle), thereby obtaining the target forward direction of the robot. 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 can be measured by an inertial measurement unit (IMU). The inertial measurement unit can include a gyroscope assembly and / or a magnetometer assembly for measuring the direction and attitude of the robot.

[0052] After determining the target advancing direction, step 104 is performed, in which the pool automatic cleaning device is controlled to move in the target advancing direction until the water depth value at the position of the pool automatic cleaning device is determined by the first sensor to be higher than the deep water threshold.

[0053] Specifically, after determining the target advancing direction, the robot can be controlled to move in the target advancing direction to make the robot leave the shallow water area. During the movement of the robot in the target advancing direction, the water depth value at the position of the robot at each time can be determined by the first sensor. When 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 work.

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

[0055] The water depth value at the position where the pool automatic cleaning device is placed can be determined by the first sensor. When the water depth value is lower than the shallow water threshold, the target advancing direction in which the pool automatic cleaning device moves to the deep water area can be determined by controlling the pool automatic cleaning device to rotate by a first predetermined angle and based on the yaw angle and the pitch angle during the rotation. Based on the target advancing direction, the pool cleaning device can be accurately controlled to move to the deep water area, so that the robot can normally perform subsequent cleaning work in the deep water area. The problems such as air suction floating, inaccurate movement trajectory and chaotic ultrasonic data of the pool automatic cleaning device in the shallow water area are avoided, and the cleaning efficiency of the pool automatic cleaning device is improved.

[0056] In an embodiment, the target advancing direction is determined based on the pitch angle and the yaw angle of the pool automatic cleaning device at each time during the rotation, which includes: recording the pitch angle and the yaw angle of the pool automatic cleaning device at each time during the rotation; determining a maximum pitch angle from the pitch angle at each time; and determining the target advancing direction based on the yaw angle at the time corresponding to the maximum pitch angle when the maximum pitch angle is greater than a preset pitch threshold.

[0057] Specifically, the target advancing direction is determined based on the pitch angle and the yaw angle of the robot at each time during the rotation, which includes: recording a set of rotation data of the robot at each time during the rotation of the robot. The rotation data includes the pitch angle and the yaw angle of the robot at the time.

[0058] During the robot rotating process, the pitch angle of the robot is large when the head of the robot is directed to the directly below of the slope, and the pitch angle of the robot is small when the head of the robot is directed to the directly above of the slope, so after recording the pitch angle and the yaw angle corresponding to each time respectively, the maximum pitch angle is selected from the pitch angle corresponding to each time respectively, and the maximum pitch angle is the pitch angle corresponding to the time when the head of the robot is directed to the directly below of the slope, that is, the pitch angle that should be adopted by the robot in the fastest way to drive down the slope and enter the deep water area.

[0059] It can be understood that, in the case that the pool bottom is not a slope but a horizontal shape, and the horizontal pool bottom may have slight undulations due to construction reasons, the pitch angle difference will also exist during the robot rotating process, but the difference is extremely small. For the case of the horizontal pool bottom, the robot is more difficult 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 case that the pool bottom only has slight undulations. Based on the setting of the preset pitch threshold, the robot is determined to be in the shallow water area and can enter the deep water area by moving to the slope only when the maximum pitch angle is greater than the preset pitch threshold, so in the case that the maximum pitch angle is greater than the preset pitch threshold, the heading of the head of the robot at the maximum pitch angle can be determined according to the yaw angle corresponding to the time of the maximum pitch angle, and the heading is the target forward direction of the robot.

[0060] By recording the pitch angle and the yaw angle corresponding to each time during the robot rotating process, the pitch angle of the robot at each time and the direction information (i.e., the yaw angle) corresponding to the pitch angle can be accurately obtained, and then the direction (i.e., the target forward direction) of the head of the robot when driving down the slope can be quickly determined through the maximum pitch angle corresponding to each time.

[0061] In an embodiment, the maximum pitch angle is determined from the pitch angle corresponding to each time respectively, including: obtaining the pitch angle corresponding to each time respectively; sorting the pitch angle corresponding to each time respectively in descending order or ascending order to obtain a pitch angle sequence; and determining the maximum pitch angle from the pitch angle sequence.

[0062] Specifically, when the maximum pitch angle is determined from the pitch angle corresponding to each time respectively, the pitch angle corresponding to each time respectively can be obtained first, and then the pitch angle corresponding to each time respectively can be sorted, which can be sorted in descending order or ascending order. After sorting, the maximum pitch angle can be quickly determined from the pitch angle sequence, and the heading of the robot at the maximum pitch angle (i.e., the target forward direction) can be determined based on the yaw angle corresponding to the time of the maximum pitch angle.

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

[0064] In one embodiment, the pool automatic cleaning device further comprises a second sensor, and the control method further comprises: acquiring obstacle information through the second sensor during the control of the pool automatic cleaning device moving along the target forward direction; and in the case that it is determined based on the obstacle information that there is an obstacle in the target forward direction, controlling the pool automatic cleaning device to move after rotating by a second predetermined angle.

[0065] Specifically, there may be some obstacles in the pool bottom, such as stairs, steps, wall lamps, floor lamps, lampshades, water outlets, water inlets, etc. in the pool. Therefore, the robot may encounter the above obstacles during the control of the robot moving along the target forward direction, thereby causing the robot to be difficult to continue moving along the target forward direction. Based on this situation, during the control of the robot moving along the target forward direction, the second sensor can be used to acquire obstacle information in real time, and in the case that it is determined based on the obstacle information that there is an obstacle in the target forward direction, the robot can be controlled to continue moving after deflecting by a second predetermined angle to avoid the obstacle, thereby facilitating the robot to continue moving into the deep water area.

[0066] It can be understood that in the case of an excessively large obstacle, the robot may still be difficult to avoid the obstacle after rotating by a second predetermined angle, and therefore the robot can be controlled to deflect by a second predetermined angle again to avoid the obstacle again.

[0067] For example, the second sensor can be a laser detector, an ultrasonic detector, a phased array ultrasonic detector, or other devices capable of detecting obstacles, and the present embodiment does not make specific limitations here.

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

[0069] In one embodiment, the control method of the pool automatic cleaning device provided by the present application further comprises: during the control of the pool automatic cleaning device moving after rotating by a second predetermined angle, determining whether the pool automatic cleaning device crosses the obstacle; and in the case that the pool automatic cleaning device crosses the obstacle, controlling the pool automatic cleaning device to continue moving along the target forward direction.

[0070] It can be understood that after the robot rotates the second predetermined angle and moves a distance in the rotated direction, the robot can have crossed the obstacle, and if the robot is controlled to continue moving in the rotated direction, the moving route of the robot is not the optimal solution for the robot to move to the deep water area, and even the robot moving in the direction cannot enter the deep water area. Therefore, during the process of controlling the robot to move after rotating the second predetermined angle, the obstacle can be monitored in real time to determine whether the robot has crossed the obstacle, and in the case that the robot is determined to have crossed the obstacle, the robot can be controlled to turn back the second predetermined angle so that the robot continues to move in the target advancing direction.

[0071] During the process of controlling the robot to move after rotating the second predetermined angle, the moving direction of the robot can be adjusted in time after the robot crosses the obstacle through the monitoring of the obstacle, so that the robot continues to move in the target advancing direction, and the robot can be quickly moved to the deep water area.

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

[0073] It can be understood that if the second predetermined angle is too small, the robot is more difficult to cross the obstacle, and if the second predetermined angle is too large, the robot can rotate too much, which increases the route length of the robot moving to the deep water area, causes the robot to be difficult to quickly move to the deep water area, and reduces the working efficiency of the robot.

[0074] In an embodiment, before the water depth information is acquired by the first sensor, the control method further comprises: detecting whether the pool automatic cleaning device is sunk to the bottom of the pool, and triggering the first sensor to acquire the water depth information if the pool automatic cleaning device is sunk to the bottom of the pool.

[0075] Specifically, after the user needs to clean the swimming pool and puts the robot into the swimming pool, the robot will first sink from the water surface to the water bottom to facilitate subsequent cleaning work. Based on this, before the water depth information is acquired by the first sensor, it is first needed to detect whether the robot has sunk to the bottom of the pool, and after it is determined that the robot has sunk to the bottom of the pool, the first sensor is triggered to acquire the water depth information to determine whether the current position where the robot is placed can normally perform subsequent swimming pool cleaning work.

[0076] In an embodiment, whether the robot has sunk to the bottom of the pool can be detected by a bottom touch sensor. The bottom touch 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, a pool automatic cleaning device is provided, Figure 2An example is a schematic diagram of the physical structure of an automatic water tank cleaning device, such as... Figure 2 As shown, the automatic pool cleaning device may include a memory 201 and a processor 202. The processor 202 can call computer program instructions in the memory 201 to execute a control method for the automatic pool cleaning device. The automatic pool cleaning device includes a first sensor. The method includes: acquiring water depth information through the first sensor; if the water depth at the location of the automatic pool cleaning device is determined to be lower than a shallow water threshold based on the water depth information, controlling the automatic pool cleaning device to rotate by a first predetermined angle, and determining a target forward direction based on the pitch angle and yaw angle corresponding to the automatic pool cleaning device at each moment during the rotation; controlling the automatic pool cleaning device to move along the target forward 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.

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

[0079] Furthermore, the computer program instructions in the aforementioned memory 201 can be implemented as software functional units and sold or used as independent products, and can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0080] According to a third aspect of the present application, a non-transitory computer readable storage medium is also provided, which stores a computer program. The computer program is executed by a processor to implement the control method of the pool cleaning device provided by the above embodiments, the pool cleaning device comprises a first sensor, and the method comprises: obtaining water depth information by the first sensor; in a case where it is determined according to the water depth information that a water depth value at a position where the pool cleaning device is located is lower than a shallow water threshold, controlling the pool cleaning device to rotate by a first predetermined angle, and determining a target forward direction based on respective pitch angles and yaw angles of the pool cleaning device at different times during the rotation; and controlling the 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 position where the pool cleaning device is located is higher than a deep water threshold. The principle and scheme of the control method are described above in combination with the embodiments and the drawings, and will not be described here again.

[0081] According to a fourth aspect of the present application, a computer program product is also provided, which comprises a computer program. The computer program can be stored on a non-transitory computer readable storage medium. When the computer program is executed by a processor, the computer can implement the control method of the pool cleaning device provided by the above methods. The pool cleaning device comprises a first sensor, and the method comprises: obtaining water depth information by the first sensor; in a case where it is determined according to the water depth information that a water depth value at a position where the pool cleaning device is located is lower than a shallow water threshold, controlling the pool cleaning device to rotate by a first predetermined angle, and determining a target forward direction based on respective pitch angles and yaw angles of the pool cleaning device at different times during the rotation; and controlling the 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 position where the pool cleaning device is located is higher than a deep water threshold. The principle and scheme of the control method are described above in combination with the embodiments and the drawings, and will not be described here again.

[0082] The device embodiments described above are only schematic, wherein the units shown as separate components can or can not be physically separate, and the components shown as units can or can not be physical units, i.e., can be located in one place, or can be distributed on multiple network units. Part or all of the modules can be selected according to actual needs to achieve the purpose of the present embodiment scheme. Those skilled in the art can understand and implement it without creative labor.

[0083] Those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus a necessary universal hardware platform, and of course can be implemented by hardware. Based on such an understanding, the above technical solutions essentially or in other words the part that contributes to the prior art can be embodied in the form of a software product. The computer software product can be stored in a computer readable storage medium, such as a ROM / RAM, a magnetic disk, or an optical disk, and includes a plurality of instructions used to cause 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 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 connection with the embodiment or example are included in at least one embodiment or example of the present application. Moreover, the specific features, structures, materials or characteristics described can be combined in any appropriate manner in any one or more embodiments or examples. In addition, different embodiments or examples described in the present specification and the features of different embodiments or examples can be combined and combined by those skilled in the art without contradiction.

[0085] In addition, the terms "first", "second" are only for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined with "first", "second" can explicitly or implicitly include at least one of the features. In the description of the present application, the meaning of "a plurality of" is two or more, unless otherwise specifically limited.

[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 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, the automatic pool cleaning device comprising a first sensor, the control method comprising: obtaining water depth information by the first sensor; in a case where it is determined according to the water depth information that a water depth value at a location where the automatic pool cleaning device is located is lower than a shallow water threshold, controlling the automatic pool cleaning device to rotate by a first predetermined angle, and recording a pitch angle and a yaw angle corresponding to each time instant respectively during the rotation, determining a maximum pitch angle from the pitch angles corresponding to each time instant respectively, and in a case where the maximum pitch angle is greater than a preset pitch threshold, determining a target forward direction based on a yaw angle corresponding to a time instant of the maximum pitch angle; 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 where the automatic pool cleaning device is located is higher than a deep water threshold. 2.The control method of claim 1, wherein the determining the maximum pitch angle from the pitch angles corresponding to each time instant respectively comprises: obtaining the pitch angles corresponding to each time instant respectively; sorting the pitch angles corresponding to each time instant respectively in a descending order or an ascending order to obtain a pitch angle sequence; and determining the maximum pitch angle from the pitch angle sequence. 3.The control method of claim 1, wherein the automatic pool cleaning device further comprises a second sensor, and the control method further comprises: obtaining obstacle information by the second sensor during the controlling the automatic pool cleaning device to move along the target forward direction; and in a case where it is determined based on the obstacle information that there is an obstacle in the target forward direction, controlling the automatic pool cleaning device to move after rotating by a second predetermined angle. 4.The control method of claim 3, further comprising: determining whether the automatic pool cleaning device has passed the obstacle during the controlling the automatic pool cleaning device to move after rotating by the second predetermined angle; and in a case where the automatic pool cleaning device has passed the obstacle, controlling the automatic pool cleaning device to continue to move along the target forward direction. The second predetermined angle is 10°-30°. 6.The control method of claim 1, wherein the shallow water threshold is 15 cm-20 cm. 7.The control method of claim 1, wherein the deep water threshold is 25 cm-30 cm. 8.The control method of claim 1, further comprising, before the obtaining water depth information by the first sensor: detecting whether the automatic pool cleaning device is sunk to a bottom of a pool, and triggering the first sensor to obtain water depth information if the automatic pool cleaning device is sunk to the bottom of the pool. 9.An automatic pool cleaning device comprising a memory and a processor, the memory storing computer program instructions, and the processor executing the program instructions to perform the control method of any one of claims 1-8. 10.A computer storage medium, the storage medium storing a computer program, and the computer program being executed by a processor to implement the method of any one of claims 1-8. ​ ​ ​ ​ ​ 5. The control method according to claim 3, wherein ​ ​ ​ ​ ​ ​ ​

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