Control method of automatic pool cleaning device and automatic pool cleaning device

Abstract

The invention provides a control method of an automatic pool cleaning device and the automatic pool cleaning device.The control method comprises the steps that under the condition that the automatic pool cleaning device meets preset conditions, the automatic pool cleaning device is controlled to move upwards, so that at least part of the automatic pool cleaning device is exposed out of the water surface; after at least part of the pool automatic cleaning device is exposed out of the water surface, position information between the pool automatic cleaning device and a base station is obtained; and based on the position information, the automatic pool cleaning device is controlled to move towards the base station. According to the method, the pool self-defined cleaning device can automatically return to the base station, certain intelligence is achieved, and the pool self-defined cleaning device can be conveniently and smoothly recycled or charged.

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 and an automatic pool cleaning device. Background Art

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

[0003] Pool cleaning robots, such as automatic pool cleaning devices, need to return to the base station for charging when the cleaning task is completed or the battery is low. Currently, pool cleaning robots usually return to the base station for charging with the assistance of users, such as users using a hook to fish the robot out of the pool and put it back to the base station, but this method lacks intelligence and causes certain recycling difficulties for customers. 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, the control method comprising:

[0005] When the automatic pool cleaning device meets a predetermined condition, controlling the automatic pool cleaning device to move upward so that at least a portion of the automatic pool cleaning device is exposed above the water surface;

[0006] After at least a portion of the automatic pool cleaning device emerges from the water surface, obtaining location information between the automatic pool cleaning device and a base station;

[0007] Based on the location information, the automatic pool cleaning device is controlled to move toward the base station.

[0008] According to a control method for an automatic pool cleaning device provided in the present disclosure, the predetermined conditions include: the power level of the automatic pool cleaning device is lower than a preset power threshold; the current cleaning task of the automatic pool cleaning device is completed; the automatic pool cleaning device receives a recall instruction; the automatic pool cleaning device fails; or the degree of dirt collection in the trash basket of the automatic pool cleaning device.

[0009] According to a control method for an automatic pool cleaning device provided in the present disclosure, the automatic pool cleaning device obtains the location information through wireless communication, and the location information includes the azimuth between the automatic pool cleaning device and the base station and / or the distance between the automatic pool cleaning device and the base station.

[0010] According to a control method for an automatic pool cleaning device provided by the present disclosure, when the position information includes an azimuth, the automatic pool cleaning device is controlled to move toward the base station based on the position information, including: generating a target heading angle of the automatic pool cleaning device based on the azimuth, and controlling the automatic pool cleaning device to move to the location of the base station according to the target heading angle.

[0011] According to a control method for an automatic pool cleaning device provided by the present disclosure, wherein controlling the automatic pool cleaning device to move upward so that at least part of the automatic pool cleaning device emerges from the water surface comprises: controlling the automatic pool cleaning device to move from a current position to a wall, and climbing up the wall until at least part of the automatic pool cleaning device emerges from the water surface; or controlling the automatic pool cleaning device to increase its own buoyancy until at least part of the automatic pool cleaning device emerges from the water surface.

[0012] According to a control method for an automatic pool cleaning device provided by the present disclosure, the wall is a wall closest to a current position of the automatic pool cleaning device.

[0013] According to a control method for an automatic pool cleaning device provided in the present disclosure, wherein, based on the position information, controlling the automatic pool cleaning device to move toward the base station includes: controlling the automatic pool cleaning device to move on the water surface to the location of the base station based on the position information, or controlling the automatic pool cleaning device to move to the bottom of the water based on the position information, and moving from the bottom of the water to the location of the base station.

[0014] According to a control method for an automatic pool cleaning device provided by the present disclosure, after the automatic pool cleaning device moves to the base station, the control method further includes: controlling the automatic pool cleaning device to dock with the base station.

[0015] According to a control method for an automatic pool cleaning device provided in the present disclosure, wherein controlling the automatic pool cleaning device to dock with the base station includes: controlling the automatic pool cleaning device to enter the base station from below the base station to achieve docking; or controlling the automatic pool cleaning device to enter the base station from the side of the base station to achieve docking.

[0016] According to a second aspect of the present disclosure, there is provided an automatic pool cleaning device, comprising an image acquisition device, wherein the automatic pool cleaning device is capable of executing any of the control methods described above.

[0017] The embodiments described in this application have the following beneficial effects:

[0018] When the automatic pool cleaning device meets predetermined conditions and needs to return to the base station, the automatic pool cleaning device is controlled to partially emerge from the water surface, so that the automatic pool cleaning device can overcome the interference of the underwater environment and accurately obtain the position information between the automatic pool cleaning device and the base station. After obtaining the position information between the automatic pool cleaning device and the base station, the automatic pool cleaning device can be controlled to move toward the base station according to the position information to realize the automatic return of the automatic pool cleaning device. It has a certain degree of intelligence and is convenient for the smooth recovery of the automatic pool cleaning device or the charging of the automatic pool cleaning device. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] 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.

[0020] Figure 1 is a flow chart of a control method of an automatic pool cleaning device provided in the present application; and

[0021] Figure 2 This is a schematic diagram of the locations of base stations provided in this application. DETAILED DESCRIPTION

[0022] 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.

[0023] 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.

[0024] 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.

[0025] The control method 100 of the automatic pool cleaning device is described in detail below with reference to the accompanying drawings.

[0026] Figure 1 Schematic diagram of the control method of the automatic pool cleaning device provided by the present application. Figure 1 As shown, the control method 100 includes steps 101 to 103. Steps 101 to 103 are described in detail below.

[0027] Step 101, when the automatic pool cleaning device meets a predetermined condition, controlling the automatic pool cleaning device to move upward so that at least a portion of the automatic pool cleaning device is exposed above the water surface.

[0028] Specifically, the above-mentioned predetermined conditions are conditions that need to be met for the robot to return to the base station. When the robot meets the predetermined conditions, it means that the robot needs to be controlled to return to the base station. Figure 2 is a schematic diagram of the location of the base station provided in this application, such as Figure 2 As shown, the base station is usually set at the waterline position on the wall of the swimming pool. When it is necessary to control the robot to return to the base station, it is necessary to know the location information of the base station so that the robot can be accurately controlled to return to the base station autonomously according to the location information of the base station. However, due to the poor signal of wireless communication underwater, the sensor is also prone to failure or inaccurate monitoring, which makes it difficult for the robot to accurately obtain the location information of the base station when it is underwater and the robot is far away from the base station. Therefore, when the robot meets the predetermined conditions, if the robot is under the water, it is necessary to control the machine to move upward first so that at least part of the robot is exposed to the water surface, so that the robot can accurately obtain the location information of the base station on the water surface. Among them, the degree of the robot exposed to the water surface is related to the position of the wireless communication module and / or sensor for obtaining the base station location information on the robot. When at least part of the robot is exposed to the water surface, the wireless communication module and / or sensor set on the robot must be able to be exposed to the water surface.

[0029] It can be understood that when the robot meets the predetermined conditions, if the robot is located on the water surface, for example, when the robot is cleaning the water surface or when the robot is at the waterline position of the swimming pool wall and is cleaning the waterline, there is no need to control the robot to move upwards.

[0030] In step 101, the predetermined conditions include: the power level of the automatic pool cleaning device is lower than a preset power threshold; the current cleaning task of the automatic pool cleaning device is completed; the automatic pool cleaning device receives a recall instruction; the automatic pool cleaning device fails; or the degree of dirt collection in the trash basket of the automatic pool cleaning device.

[0031] Specifically, the predetermined condition may be that the power of the robot is lower than a preset power threshold. For example, when the power of the robot is exhausted, it is difficult for the robot to continue to move. Therefore, when the power of the robot is low before it is exhausted, it is necessary to control the robot to return to the base station to charge at the base station. Therefore, when the power of the robot is lower than the preset power threshold, it is necessary to control the robot to partially emerge from the water in order to obtain the location information of the base station. The size of the preset power threshold may be related to the power of the robot when it moves and the size of the swimming pool. The setting of the preset power threshold is intended to enable the robot to return to the base station before the power is exhausted. The size of the preset power threshold is not specifically limited in this embodiment.

[0032] The predetermined condition may also be that the robot has completed its current cleaning task. For example, after receiving a cleaning instruction and completing a partial or full cleaning of the swimming pool based on the cleaning instruction, the robot needs to return to the base station for charging, garbage collection, or docking. Therefore, after the robot completes the current cleaning task, it is necessary to control the robot to partially emerge from the water in order to obtain the location information of the base station, so as to facilitate the subsequent control of the robot to return to the base station based on the location information.

[0033] The predetermined condition may also be that the robot receives a recall command. For example, when the robot is cleaning a swimming pool, if it receives a recall command from a user via a remote control or a base station, it means that the user has recalled the robot and the robot needs to return to the base station. At this time, the robot needs to be controlled to partially emerge from the water in order to obtain the location information of the base station, so as to facilitate the subsequent control of the robot to return to the base station based on the location information.

[0034] The predetermined condition may also be that the robot malfunctions, for example, the robot has a sensor failure or other malfunction, and it is difficult for the robot to receive sensor data, resulting in the robot being unable to continue cleaning the pool normally. The robot needs to return to the base station to wait for repairs. At this time, it is necessary to control the robot to partially emerge from the water in order to obtain the location information of the base station, and then facilitate the subsequent return to the base station based on the location information.

[0035] The predetermined condition may also be based on the degree of dirt collection in the robot's trash basket. The degree of dirt collection in the trash basket will affect the robot's pool cleaning efficiency. The degree of dirt collection may include the amount of dirt in the trash basket or the degree of blockage in the trash basket. When the trash basket is blocked or there is a lot of dirt in the trash basket, the robot's cleaning efficiency is greatly reduced, and the robot needs to return to the base station to recycle the dirt in its trash basket. At this time, it is necessary to control the robot to partially emerge from the water in order to obtain the location information of the base station, and then facilitate the subsequent return to the base station based on the location information.

[0036] In the control method described in the present application, the predetermined condition may include one or more of the predetermined conditions described above. In other words, when any one of the predetermined conditions described above is met, the automatic pool cleaning device is controlled to move upward.

[0037] It should be noted that the above description of the predetermined conditions is only exemplary, and the predetermined conditions protected by this application are not limited to the contents listed above. Those skilled in the art can set the predetermined conditions according to actual conditions as long as the technical principles of this application can be implemented.

[0038] In step 101, the automatic pool cleaning device is controlled to move upward so that at least part of the automatic pool cleaning device emerges from the water surface, including: controlling the automatic pool cleaning device to move from a current position to a wall and climbing up the wall until at least part of the automatic pool cleaning device emerges from the water surface; or controlling the automatic pool cleaning device to increase its own buoyancy until at least part of the automatic pool cleaning device emerges from the water surface.

[0039] Specifically, the methods of controlling the robot to move upward include at least the following two:

[0040] The first method is to control the robot to move from the current position to the wall of the swimming pool, and then move upward from the wall of the swimming pool by climbing up the wall until at least part of the robot emerges from the water. Figure 2 As shown in , in this way, when the current position of the robot is at the bottom of the swimming pool, it is necessary to first control the robot to move from the bottom of the swimming pool to the junction of the bottom of the swimming pool and the wall of the swimming pool and control the robot to "climb the wall" at this position, so that the robot moves to the wall of the swimming pool. After the robot moves to the wall of the swimming pool, the robot is controlled to move upward from the wall of the swimming pool in a way of climbing up the wall until at least part of the robot is exposed above the water surface. When the current position of the robot is already on the wall of the swimming pool but the robot is not exposed above the water surface, the robot can be controlled to move upward from the wall of the swimming pool in a way of climbing up the wall from the current position until at least part of the robot is exposed above the water surface.

[0041] The second method is to control the robot to increase its own buoyancy, so that the robot floats up to at least partially above the water surface under the action of the buoyancy. For example, the high-pressure gas storage device of the robot can be controlled to fill gas into a variable-volume gas storage tank to increase the volume of the gas storage tank, thereby increasing the buoyancy of the robot. When the buoyancy of the robot is greater than the weight of the robot, the robot will float up in the water and move upward, so that the robot can at least partially emerge from the water surface.

[0042] It is understandable that the method of controlling the robot to move upward can be selected according to the characteristics of the robot. For example, an ordinary cleaning robot can emerge from the water by climbing up the wall, and a robot with mode switching can emerge from the water by floating up after switching the mode.

[0043] Exemplarily, the wall is the wall closest to the current position of the automatic pool cleaning device.

[0044] It is understandable that in order to save the robot's energy consumption and improve the robot's work efficiency, the wall that the robot moves upward can be the wall closest to the robot's current position. For example, when the robot is at the bottom of a swimming pool, the robot can be controlled to rotate once, and during the rotation process, the robot's distance sensor monitors the distance between the robot and the walls of the swimming pool, and the wall closest to the robot's current position is used as the wall that the robot subsequently moves upward, and the robot is controlled to move from the bottom of the swimming pool to the wall, so as to emerge from the water by climbing up from the wall.

[0045] Of course, the robot can also be controlled to move upward through any wall of the swimming pool. For example, when the robot is at the bottom of the swimming pool, the robot can be controlled to move forward in the current direction and to climb up from the wall in front of the robot.

[0046] Next, the process proceeds to step 102. In step 102, after at least a portion of the automatic pool cleaning device emerges from the water surface, location information between the automatic pool cleaning device and a base station is acquired.

[0047] Specifically, after the robot is controlled to move upward so that at least a portion of the robot is exposed to the water surface, the position information between the robot and the base station can be obtained.

[0048] In step 102, the automatic pool cleaning device obtains the location information by wireless communication, and the location information includes the azimuth between the automatic pool cleaning device and the base station and / or the distance between the automatic pool cleaning device and the base station.

[0049] Specifically, the robot can obtain the location information of the base station by wireless communication, for example, the location information of the base station can be obtained by UWB (Ultra-WideBand) positioning technology. The above-mentioned location information may include the azimuth between the robot and the base station and / or the distance between the robot and the base station. The azimuth represents the angle difference between the robot and the base station. The line between the robot and the base station can be used as the target direction line. Starting from the north direction line of the robot's current position, the angle between the target direction line in a clockwise direction is the azimuth between the robot and the base station. The distance represents the distance between the robot and the base station. When the location information includes the distance between the robot and the base station, the location information also includes the direction information of the base station. The direction information of the base station refers to the direction of the robot. Based on the direction information and the distance information, the robot can know the exact location of the base station.

[0050] Exemplarily, for example, a UWB tag can be set on the robot, and a UWB base station can be set on the base station. When at least part of the robot is exposed to the water surface, the UWB tag on the robot is also exposed to the water surface, and then the UWB tag is controlled to send a tag signal to the UWB base station. After receiving the tag signal, the UWB base station can calculate the azimuth and / or distance between the robot and the base station according to the tag signal.

[0051] It is understandable that the wireless communication method may also be a method that can obtain base station location information, such as GPS, various sensors, etc.

[0052] The above description of the selection of the wireless communication method is only exemplary. The wireless communication method protected by this application is not limited to the contents listed above. Those skilled in the art can select the wireless communication method according to actual conditions as long as the technical principles of this application can be implemented.

[0053] Next, proceed to step 103. In step 103, based on the position information, the automatic pool cleaning device is controlled to move toward the base station.

[0054] Specifically, according to the position information obtained in the above steps, the robot can be controlled to move toward the base station. It is understandable that, during the process of the robot moving toward the base station, the position information of the base station can be continuously obtained to correct the heading of the robot in real time, so that the robot can move to the base station accurately and quickly.

[0055] In step 103, when the location information includes an azimuth, the automatic pool cleaning device is controlled to move toward the base station based on the location information, including: generating a target heading angle of the automatic pool cleaning device based on the azimuth, and controlling the automatic pool cleaning device to move to the location of the base station according to the target heading angle.

[0056] Specifically, when the position information includes an azimuth, the target heading angle of the robot can be determined based on the azimuth between the robot and the base station and the current heading angle of the robot. After the target heading angle is determined, the robot can be controlled to move according to the target heading angle so that the robot can move to the location of the base station. It can be understood that controlling the robot to move to the location of the base station can be that the robot is in contact with the base station or the distance between the robot and the base station is less than a predetermined value.

[0057] In step 103, the controlling the automatic pool cleaning device to move toward the base station based on the location information includes: controlling the automatic pool cleaning device to move on the water surface to the location of the base station based on the location information, or controlling the automatic pool cleaning device to move to the bottom of the water based on the location information, and then moving from the bottom of the water to the location of the base station.

[0058] For example, since the robot is partially exposed to the water surface, when controlling the robot to move toward the base station, the robot can be controlled to move directly from the water surface to the location of the base station. In this movement mode, the robot can move to the base station in a relatively short distance, which can save power consumption during the robot's movement process.

[0059] For example, ordinary cleaning robots cannot move on the water surface, or the walking direction of the robot on the water surface may be affected by a variety of external environmental factors, such as the speed of the water flow, wind direction, the collision and friction between the robot and the pool wall, the friction between the robot and the water surface, wind force, etc. Therefore, the walking direction of the robot on the water surface may be affected by the combined effect of a variety of external factors, which jointly determine the movement trajectory of the robot on the water surface. Based on the above situation, the robot can be controlled to move to the bottom of the water first based on the position information, and then move from the bottom of the water to the location of the base station. For example, the robot is controlled to move downward from the wall of the current swimming pool until the robot moves down to the bottom of the swimming pool, and then the robot is controlled to move from the bottom of the pool to the junction of the bottom of the pool and the wall where the base station is located, and the robot is further controlled to "climb the wall" and climb up from the wall where the base station is located to the location of the base station.

[0060] The control method of the automatic pool cleaning device provided in the present application controls the automatic pool cleaning device to partially emerge from the water surface when the automatic pool cleaning device meets predetermined conditions and needs to return to the base station, so that the automatic pool cleaning device can overcome the interference of the underwater environment and accurately obtain the position information between the automatic pool cleaning device and the base station. After obtaining the position information between the automatic pool cleaning device and the base station, the automatic pool cleaning device can be controlled to move toward the base station according to the position information to realize the automatic return of the automatic pool cleaning device. The method has a certain degree of intelligence and is convenient for smoothly recovering the automatic pool cleaning device or charging the automatic pool cleaning device.

[0061] Furthermore, after the automatic pool cleaning device moves to the base station, the control method further includes: controlling the automatic pool cleaning device to dock with the base station.

[0062] Specifically, after controlling the robot to return to the base station, the robot may already be very close to the base station or has already touched the base station, but the robot needs to accurately dock with the base station when returning to the base station for charging, garbage collection, or docking. Therefore, after the robot moves to the base station, the relative position between the robot and the base station can be adjusted by controlling the robot to move, thereby enabling the robot to achieve accurate docking with the base station so that the robot can be charged or docked.

[0063] Of course, in some cases, the robot is controlled to move to the base station position, and the robot and the base station are docked. In this case, there is no need to perform the docking step and the step can be omitted.

[0064] Further, controlling the automatic pool cleaning device to dock with the base station includes: controlling the automatic pool cleaning device to enter the base station from below the base station to achieve docking; or controlling the automatic pool cleaning device to enter the base station from the side of the base station to achieve docking.

[0065] Specifically, openings are usually provided below and to the side of the base station for the robot to enter the base station and successfully dock with the base station. Since the base station is set at the waterline position of the swimming pool wall, the robot is usually located below or to the side of the base station before the robot moves to the base station position and successfully docks with the base station. When the robot moves to the base station position, the position information of the base station can be acquired again through distance sensor monitoring, wireless communication or artificial intelligence (AI) recognition. When the robot is located below the base station, the robot is controlled to move upward from the bottom of the base station into the interior of the base station to achieve a reference docking with the base station. When the robot is located to the side of the base station, the robot is controlled to move horizontally from the side waterline position of the base station, so that the robot enters the interior of the base station from the side of the base station to achieve precise docking with the base station.

[0066] According to a second aspect of the present application, an automatic pool cleaning device is also provided. The automatic pool cleaning device can execute the control method described above with reference to the various embodiments. The description of the control method of the automatic pool cleaning device executing the various embodiments is omitted here. The principle and scheme of the control method refer to the control method described above in combination with the various embodiments and the accompanying drawings, and will not be repeated here.

[0067] According to the third aspect of the present application, a non-transitory computer-readable storage medium is also provided, on which a computer program is stored. When the computer program is executed by a processor, it is implemented to execute the control method of the automatic pool cleaning device provided in the above-mentioned embodiments, the method comprising: when the automatic pool cleaning device meets a predetermined condition, controlling the automatic pool cleaning device to move upward so that at least part of the automatic pool cleaning device is exposed to the water surface; after at least part of the automatic pool cleaning device is exposed to the water surface, obtaining the position information between the automatic pool cleaning device and the base station; based on the position information, controlling the automatic pool cleaning device to move toward the base station. 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.

[0068] In a fourth aspect, the present application further provides a computer program product, the computer program product comprising a computer program, the computer program being storable on a non-transitory computer-readable storage medium, and when the computer program is executed by a processor, the computer is capable of executing the control method of the automatic pool cleaning device provided by the above methods, the method comprising: when the automatic pool cleaning device satisfies a predetermined condition, controlling the automatic pool cleaning device to move upward so that at least part of the automatic pool cleaning device is exposed to the water surface; after at least part of the automatic pool cleaning device is exposed to the water surface, obtaining the position information between the automatic pool cleaning device and a base station; based on the position information, controlling the automatic pool cleaning device to move toward the base station. 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.

[0069] 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.

[0070] 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.

[0071] 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.

[0072] 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.

[0073] 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 control method comprising: When the automatic pool cleaning device meets a predetermined condition, controlling the automatic pool cleaning device to move upward so that at least a portion of the automatic pool cleaning device is exposed above the water surface; After at least a portion of the automatic pool cleaning device emerges from the water surface, obtaining location information between the automatic pool cleaning device and a base station; Based on the location information, the automatic pool cleaning device is controlled to move toward the base station.

2. The control method according to claim 1, wherein: The predetermined conditions include: The power level of the automatic pool cleaning device is lower than a preset power threshold; The current cleaning task of the automatic pool cleaning device is completed; The automatic pool cleaning device receives a recall instruction; The automatic pool cleaning device fails; or, The degree of dirt collection of the waste basket of the automatic pool cleaning device.

3. The control method according to claim 1, wherein: The automatic pool cleaning device obtains the location information by wireless communication, and the location information includes the azimuth between the automatic pool cleaning device and the base station and / or the distance between the automatic pool cleaning device and the base station.

4. The control method according to claim 3, wherein: When the position information includes an azimuth, controlling the automatic pool cleaning device to move toward the base station based on the position information includes: A target heading angle of the automatic pool cleaning device is generated based on the azimuth angle, and the automatic pool cleaning device is controlled to move to the location of the base station according to the target heading angle.

5. The control method according to claim 1, wherein: The controlling the automatic pool cleaning device to move upward so that at least a portion of the automatic pool cleaning device emerges from the water surface includes: controlling the automatic pool cleaning device to move from a current position to a wall and climbing up the wall until at least a portion of the automatic pool cleaning device emerges from the water surface; or controlling the automatic pool cleaning device to increase its own buoyancy until at least a portion of the automatic pool cleaning device emerges from the water surface.

6. The control method according to claim 5, wherein: The wall is the wall closest to the current position of the automatic pool cleaning device.

7. The control method according to claim 1, wherein: The step of controlling the automatic pool cleaning device to move toward the base station based on the location information includes: Based on the position information, the automatic pool cleaning device is controlled to move on the water surface to the location of the base station, or based on the position information, the automatic pool cleaning device is controlled to move to the bottom of the water and then move from the bottom of the water to the location of the base station.

8. The control method according to any one of claims 1 to 7, wherein: After the automatic pool cleaning device moves to the base station, the control method further includes: Control the automatic pool cleaning device to dock with the base station.

9. The control method according to claim 8, wherein: The controlling the automatic pool cleaning device to connect with the base station comprises: Control the automatic pool cleaning device to enter the base station from below the base station to achieve docking; or, The automatic pool cleaning device is controlled to enter the base station from the side of the base station to achieve docking.

10. An automatic pool cleaning device, wherein: The automatic pool cleaning device is capable of performing the method according to any one of claims 1-9.

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