Cleaning method and device of pool cleaning robot

Abstract

The embodiment of the invention provides a cleaning method and device of a pool cleaning robot. The cleaning method of the pool cleaning robot comprises the steps that in response to a first interaction operation, a first execution interval time set for the pool cleaning robot is obtained; and according to the first execution interval time, the pool cleaning robot is controlled to execute main cleaning operation regularly, so that the to-be-cleaned area is cleaned. By means of the cleaning method, the pool cleaning robot can obtain the set first execution interval time based on the first interaction operation of the user, and then the to-be-cleaned area is cleaned according to the preset partition cleaning sequence and / or the preset cleaning path based on the first execution interval time. In the process, the user can autonomously set and adjust the cleaning frequency of the pool cleaning robot, so that the cleaning requirements of different users can be met, and the use experience of the user is improved.

Description

Technical Field

[0001] The embodiments of the present application relate to the technical field of cleaning robots, and in particular, to a cleaning method and device for a pool cleaning robot. Background Art

[0002] A pool cleaning robot is a type of cleaning robot developed to meet the cleaning requirements of pools, which can complete the repeated cleaning of the pool bottom and walls and filter the pool water.

[0003] Existing pool cleaning robots usually have a fixed cleaning operation mode built-in, and the pool cleaning robot can only clean the pool according to this cleaning operation mode, resulting in the inability to adapt to the cleaning requirements of different users. Summary of the Invention

[0004] In view of this, the embodiments of the present application provide a cleaning solution for a pool cleaning robot to at least partially solve the above problems.

[0005] According to a first aspect of the embodiments of the present application, a cleaning method for a pool cleaning robot is provided, including: in response to a first interaction operation, obtaining a first execution interval time set for the pool cleaning robot; the first execution interval time represents: the interval duration between the end time of the previous main cleaning operation performed by the pool cleaning robot and the start time of the next main cleaning operation performed by the pool cleaning robot; controlling the pool cleaning robot to regularly perform the main cleaning operation according to the first execution interval time to perform a cleaning operation on the area to be cleaned; wherein, the main cleaning operation includes: cleaning the area to be cleaned according to a preset partition cleaning order and / or a preset cleaning path.

[0006] According to a second aspect of the embodiments of the present application, a cleaning method for a pool cleaning robot is provided, including: obtaining the size information of a target pool area; dividing the target pool area into multiple areas to be cleaned according to the size information of the target pool area and the maximum cleaning area size information of a single pool cleaning robot; respectively allocating corresponding pool cleaning robots to each area to be cleaned, so as to achieve a collaborative cleaning operation on the target pool area by each pool cleaning robot performing the cleaning method as in the first aspect.

[0007] According to a third aspect of the embodiments of the present application, a cleaning device for a pool cleaning robot is provided, including: a first acquisition module, configured to acquire a first execution interval time set for the pool cleaning robot in response to a first interaction operation; the first execution interval time represents: the interval duration between the end time of the previous main cleaning operation executed by the pool cleaning robot and the start time of the next main cleaning operation executed by the pool cleaning robot; a first execution module, configured to control the pool cleaning robot to regularly execute the main cleaning operation according to the first execution interval time, so as to perform a cleaning operation on the area to be cleaned; wherein, the main cleaning operation includes: cleaning the area to be cleaned according to a preset partition cleaning sequence and / or a preset cleaning path.

[0008] According to a fourth aspect of the embodiments of the present application, a cleaning device for a pool cleaning robot is provided, including: a second acquisition module, configured to acquire size information of a target pool area; a region division module, configured to divide the target pool area into a plurality of areas to be cleaned according to the size information of the target pool area and the maximum cleaning area size information of a single pool cleaning robot; a second execution module, configured to allocate corresponding pool cleaning robots to each area to be cleaned, so as to achieve a collaborative cleaning operation on the target pool area by each pool cleaning robot executing the cleaning method as described in the first aspect.

[0009] According to a fifth aspect of the embodiments of the present application, a computer storage medium is provided, on which a computer program is stored, and when the program is executed by a processor, the method as described in the first aspect or the second aspect is implemented.

[0010] According to a sixth aspect of the embodiments of the present application, an electronic device is provided, including a processor, a memory, a communication interface, and a communication bus, and the processor, the memory, and the communication interface complete communication with each other through the communication bus; the memory is used to store at least one executable instruction, and the executable instruction enables the processor to execute the operations corresponding to the method as described in the first aspect or the second aspect.

[0011] According to a seventh aspect of the embodiments of the present application, a computer program product is provided, including computer instructions, and the computer instructions instruct a computing device to execute the operations corresponding to the method as described in the first aspect or the second aspect.

[0012] The embodiments of the present application provide a cleaning solution for a pool cleaning robot. First, in response to a first interaction operation, a first execution interval time set for the pool cleaning robot is obtained. Then, according to the first execution interval time, the pool cleaning robot is controlled to regularly perform a main cleaning operation to clean the area to be cleaned. Through the cleaning method of the embodiments of the present application, the pool cleaning robot can obtain the set first execution interval time based on the user's first interaction operation, and then clean the area to be cleaned according to the preset partition cleaning order and / or preset cleaning path based on the first execution interval time. During this process, the user can independently set and adjust the cleaning frequency of the pool cleaning robot, so as to meet the cleaning needs of different users and improve the user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments described in the embodiments of the present application, and those of ordinary skill in the art can also obtain other drawings based on these drawings.

[0014] Figure 1 It is a flowchart of the steps of a cleaning method for a pool cleaning robot according to an embodiment of the present application;

[0015] Figure 2 It is a flowchart of the steps of a cleaning method for a pool cleaning robot according to another exemplary embodiment of the present application;

[0016] Figure 3 It is a block diagram of the structure of a cleaning device for a pool cleaning robot according to an exemplary embodiment of the present application;

[0017] Figure 4 It is a block diagram of the structure of a cleaning device for a pool cleaning robot according to another exemplary embodiment of the present application;

[0018] Figure 5 It is a schematic diagram of the structure of an electronic device according to an exemplary embodiment of the present application. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0019] In order to enable those skilled in the art to better understand the technical solutions in the embodiments of the present application, the following will clearly and completely describe the technical solutions in the embodiments of the present application with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some embodiments of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the embodiments of the present application, all other embodiments obtained by those of ordinary skill in the art shall fall within the protection scope of the embodiments of the present application.

[0020] Refer toFigure 1 , which shows a step flow chart of a cleaning method for a pool cleaning robot according to an exemplary embodiment of the present application. As shown in the figure, this embodiment mainly includes the following steps:

[0021] S102. In response to the first interaction operation, obtain the first execution interval time set for the pool cleaning robot.

[0022] Exemplarily, the role of the first interaction operation is to enable the pool cleaning robot to obtain the first execution interval time. For example, if the user can customize the first execution interval time according to their own needs, then the first interaction operation can be an operation in which the user customizes and sets the first execution interval time; or, if the user can adopt a preset first execution interval time, then the first interaction operation can be a confirmation operation for the preset first execution interval time, etc. This embodiment does not limit this.

[0023] For the first interaction operation, this embodiment can provide at least one of a variety of interaction methods, such as at least one of a voice interaction method, a touch interaction method, a mobile application interaction method, a gesture interaction method, etc. This embodiment does not limit this. Among them, voice interaction means that the user performs the first interaction operation on the pool cleaning robot through a voice command. Touch interaction means that the user can perform the first interaction operation on the pool cleaning robot through a control device provided on the body of the pool cleaning robot. The control device can include physical buttons / knobs, touch sensors, capacitive touch panels, etc. Mobile application interaction means that the user can perform the first interaction operation on the pool cleaning robot through an application program of a user terminal device (such as a mobile phone, a tablet, etc.). Gesture interaction means that the user can perform the first interaction operation on the pool cleaning robot through a gesture recognition device provided on the body of the pool cleaning robot. The gesture recognition device can include a camera, a sensor, etc.

[0024] The first execution interval time in this embodiment represents: the interval duration between the end time of the previous main cleaning operation executed by the pool cleaning robot and the start time of the next main cleaning operation executed by the pool cleaning robot. It can be understood that the pool cleaning robot can execute the main cleaning operation multiple times in a cycle. There is a certain dormant time between any two adjacent main cleaning operations executed by the pool cleaning robot. For example, after the previous main cleaning operation is completed, the pool cleaning robot starts to enter the dormant time until the dormant time ends, and then the pool cleaning robot starts to execute the next main cleaning operation. The dormant time between two adjacent main cleaning operations is the first execution interval time of this embodiment.

[0025] Among them, the main cleaning operation includes: cleaning the area to be cleaned according to a preset partition cleaning order and / or a preset cleaning path. The preset partition cleaning order can be a cleaning order for multiple sub-areas of the area to be cleaned that is preset in advance. For example, the area to be cleaned can be divided into multiple sub-areas in advance, and then the cleaning order for the multiple sub-areas can be set to obtain the preset partition cleaning order. The basis for dividing the area to be cleaned can be the terrain of the area to be cleaned. For example, the area to be cleaned can include a deep water area, a gentle slope area, a shallow water area, and a pool wall / water line; or, the area to be cleaned can be divided according to the actual cleaning needs of the user, and this embodiment does not limit this. The preset cleaning path can be an overall cleaning path planned in advance for the area to be cleaned, such as a bow-shaped path, etc.; or, if the area to be cleaned is divided, the preset cleaning path can be an operation path composed of the area cleaning paths planned for each sub-area and the movement paths between the sub-areas.

[0026] S104. Control the pool cleaning robot to regularly perform the main cleaning operation at a first execution interval time to perform a cleaning operation on the area to be cleaned.

[0027] Exemplarily, after obtaining the first execution interval time, the pool cleaning robot starts to regularly perform the main cleaning operation at the first execution interval time. For example, assume that the first execution interval time is 2 hours, and the main cleaning operation is an operation procedure for cleaning the swimming pool according to the preset partition cleaning order from the deep water area to the gentle slope area and then to the shallow water area and the preset cleaning route. Then, the pool cleaning robot performs a cleaning operation on the area to be cleaned every 2 hours according to the preset partition cleaning order from the deep water area to the gentle slope area and then to the shallow water area, and the above preset cleaning route. Here, the area to be cleaned can include the pool bottom and / or the pool wall of the pool.

[0028] In some alternative embodiments, before the above step S104, the method of this embodiment further includes: outputting a reminder message for the recommended modification duration of the first execution interval time; in response to the duration adjustment operation for the first execution interval time, determining the adjusted execution interval time; controlling the pool cleaning robot to regularly perform the main cleaning operation at the first execution interval time, including: controlling the pool cleaning robot to regularly perform the main cleaning operation at the adjusted execution interval time.

[0029] Exemplarily, after the pool cleaning robot obtains the first execution interval time, it can output a reminder message for the recommended modified duration of the first execution interval time. The output method can include a voice broadcast method or a text display method. Among them, the text display method can include displaying through a capacitive touch panel provided on the body of the pool cleaning robot, or displaying through the interactive interface of an application on a user terminal device (such as a mobile phone, a tablet, etc.). This embodiment does not limit this. The timing of outputting the reminder message for the recommended modified duration of the first execution interval time can be set to after receiving the first execution interval time and before performing the main cleaning operation, or can also be set to after receiving the first execution interval time and after performing the main cleaning operation.

[0030] After the pool cleaning robot outputs the reminder message for the recommended modified duration of the first execution interval time, the user can choose to adjust the first execution interval time according to the reminder message for the recommended modified duration. For example, the first execution interval time can be shortened or extended. If the user chooses to adjust the first execution interval time, the duration adjustment operation can be performed on the first execution interval time through an interactive operation. After that, in response to the duration adjustment operation, the pool cleaning robot can obtain the adjusted execution interval time and perform the main cleaning operation regularly according to the adjusted execution interval time. For example, assume that the first execution interval time can be 2 hours, and the reminder message for the recommended modified duration can be to shorten the first execution interval time to 1 hour. Then the user can adjust the first execution interval time through a modification setting operation, and the adjusted execution interval time is 1 hour. After that, the pool cleaning robot performs the main cleaning operation every 1 hour.

[0031] Optionally, the timing of outputting the reminder message for the recommended modified duration of the first execution interval time can also be before or at the same time as the first interactive operation. This embodiment does not limit this. If the reminder message for the recommended modified duration of the first execution interval time is output before or at the same time as the first interactive operation, the user can set the first execution interval time through the first interactive operation based on the reminder message for the recommended modified duration, or can adjust the preset first execution interval time through the first interactive operation. This embodiment does not limit this.

[0032] In this embodiment, the pool cleaning robot can also output the reminder message for the recommended modified duration of the first execution interval time, which is convenient for the user to dynamically adjust the first execution interval time and can improve the user experience. Moreover, by dynamically adjusting the first execution interval time, the cleaning frequency of the main cleaning operation of the pool cleaning robot can be comprehensively adjusted by combining the cleaning requirements from the user dimension and the cleaning requirements from the pool cleaning robot dimension, enabling timely adjustment of the cleaning frequency based on the situation of the area to be cleaned and ensuring the cleanliness of the area to be cleaned.

[0033] In some alternative embodiments, output a reminder message for the recommended modified duration of the first execution interval, including: identifying pollutants in the area to be cleaned; generating a reminder message for the recommended modified duration of the first execution interval according to at least one of the distribution density, distribution area, and distribution type of the pollutants in the area to be cleaned; and outputting the reminder message.

[0034] Exemplarily, the pool cleaning robot can pre-identify pollutants in the area to be cleaned, and the identification methods can include at least one of visual recognition and sensor detection. Among them, visual recognition means that the pool cleaning robot can be equipped with visual sensors such as cameras, take images of the inside of the pool through the cameras, and then use image recognition algorithms to analyze and process the images to identify different types of pollutants in the pool. Sensor detection can include optical sensors, acoustic sensors, multi-sensor fusion, etc. The optical sensor can use the optical principle to detect pollutants in the water, such as a turbidity sensor; the acoustic sensor such as a sonar sensor can emit and receive sound waves, and detect pollutants in the pool by analyzing the reflected signals of the sound waves; the multi-sensor fusion technology can combine multiple different types of sensors, such as lidar, cameras, infrared sensors, etc., obtain pool data from different angles, and then comprehensively process and analyze the pool data through data fusion algorithms to identify pollutants in the pool.

[0035] The results of pollutant identification can include at least one of the distribution density, distribution area, and distribution type of the pollutants. Among them, the distribution density can be determined according to the distribution area or distribution quantity of the pollutants in a certain area to be cleaned. For example, for the area to be cleaned A, the ratio between the quantity of countable pollutants such as leaves / municipal waste and the area S of the area to be cleaned A A is used as the pollutant distribution density of this area to be cleaned, or the distribution area S0 of small particulate pollutants such as gravel / algae that are easy to disperse and extend and the area S of the area to be cleaned A AThe ratio between them is used as the pollutant distribution density of the area to be cleaned. The distribution density can be calculated for the entire area to be cleaned or separately for multiple sub-areas within the area to be cleaned. This embodiment does not limit this. The distribution area can include the quantity and location information of the areas with pollutants in multiple sub-areas within the pool. For example, according to the shape of the inner surface of the pool, the distribution area is set to include the deep water area, the gentle slope area, and the shallow water area. Or, according to a preset area value, the inner surface of the pool is divided into several partitions to identify whether there are pollutants in each sub-area. The distribution type can be determined as a difficult-to-clean type and an easy-to-clean type according to the existence form of the pollutants in the pool. For example, pollutants such as small domestic garbage (such as bottle caps) or gravel that are easy to clean and collect are classified into the easy-to-clean type; while pollutants such as pollutants with strong adhesion that are difficult to clean or collect (such as algae) and fallen leaves that are easy to float and escape with the water flow are classified into the difficult-to-clean type.

[0036] According to at least one of the pollutant distribution density, distribution area, and distribution type in the area to be cleaned, a reminder message including a recommended modified duration of the first execution interval is generated. For example, if at least one of the following situations exists, a reminder message recommending shortening the first execution interval can be generated: the pollutant distribution density in the area to be cleaned is relatively large; the distribution area of the pollutants is a preset key cleaning area, such as the deep water area; the quantity of the distribution area of the pollutants reaches a set value, that is, the number N of sub-areas where the pollutant existence amount reaches the set standard is equal to or greater than the set value N0; the distribution type is the difficult-to-clean type. If at least one of the following situations exists, a reminder message recommending extending the first execution interval can be generated; the pollutant distribution density in the area to be cleaned is relatively small; the distribution area of the pollutants does not include a preset key cleaning area; the quantity of the distribution area of the pollutants is less than the set value; the distribution type is the easy-to-clean type. The above is only an exemplary illustration and does not limit this embodiment.

[0037] In this embodiment, the type and dispersion position of the pollutants are determined through an image acquisition device, an IMU, etc., the pollutant distribution situation in the area to be cleaned is identified, and then a reminder message including a recommended modified duration of the first execution interval is generated according to the identification result, so that the user can extend or shorten the first execution interval, which can facilitate the user to dynamically adjust the cleaning frequency of the main cleaning operation according to the actual pollutant distribution situation in the area to be cleaned, making the actual demand of the pool correspond to the operation frequency of the pool cleaning robot, so as to improve the energy efficiency of the pool cleaning robot while ensuring the pool cleaning effect.

[0038] In some alternative embodiments, reminder information for a recommended modified duration of the first execution interval is generated based on at least one of the distribution density, distribution area, and distribution type of contaminants in the area to be cleaned, including: determining the pollution level of the area to be cleaned based on at least one of the distribution density, distribution area, and distribution type of contaminants in the area to be cleaned; shortening or lengthening the first execution interval by a set duration according to the pollution level of the area to be cleaned; using the shortened or lengthened first execution interval as the recommended modified duration, and generating corresponding reminder information.

[0039] Exemplarily, the pollution level of the area to be cleaned can be determined based on at least one of the distribution density, distribution area, and distribution type of contaminants in the area to be cleaned. For example, corresponding pollution level evaluation levels can be set for the distribution density, distribution area, and distribution type respectively. Then, if the recognition result only includes one of the distribution density, distribution area, and distribution type, the pollution level evaluation level of this item can be determined as the pollution level of the area to be cleaned; if the recognition result only includes two or three of the distribution density, distribution area, and distribution type, the result with the highest pollution level evaluation level (indicating the heaviest pollution level) among the multiple items can be used as the pollution level of the area to be cleaned, or the pollution level evaluation levels of each item can be comprehensively considered. For example, a weighted calculation can be performed on each item to obtain the pollution level of the area to be cleaned, etc. This embodiment does not limit this.

[0040] The pollution level of the area to be cleaned can be divided into multiple levels. For different levels, the first execution interval can be shortened, lengthened, or not adjusted accordingly. Specifically, for shortening or lengthening the first execution interval, different set durations can be shortened or lengthened according to the specific level. For example, if the pollution level includes three levels: ordinary, intermediate, and high, and the set durations for lengthening corresponding to each pollution level are 10 minutes, 20 minutes, and 30 minutes respectively, then it can be determined according to which level the pollution level of the area to be cleaned specifically is, whether the first execution interval needs to be shortened by 10 minutes, 20 minutes, or 30 minutes. Then, the shortened first execution interval is used as the recommended modified duration, corresponding reminder information is generated, and output. Similarly, multiple levels can also be set for the case of lengthening the first execution interval to implement the basis for the recommended information on lengthening the first execution interval, which will not be elaborated here.

[0041] In this embodiment, by determining the pollution level of the area to be cleaned based on the distribution of contaminants in the area to be cleaned, and then reminding the user to shorten or lengthen the first execution interval by a set duration according to the pollution level of the area to be cleaned, it is convenient for the user to dynamically adjust the cleaning frequency of the main cleaning operation according to the pollution level of the area to be cleaned, thereby ensuring the cleanliness of the area to be cleaned.

[0042] In some alternative embodiments, outputting a reminder message for the recommended modified duration of the first execution interval includes: obtaining the historical execution interval of the historical operation pool cleaning robot in the same area to be cleaned; generating a reminder message for the recommended modified duration of the first execution interval according to the historical execution interval of the historical operation pool cleaning robot; and outputting the reminder message.

[0043] Exemplarily, the historical execution interval of the historical operation pool cleaning robot that has performed operations in the same area to be cleaned can be obtained. Here, the historical operation pool cleaning robot can be the current operation pool cleaning robot or other pool cleaning robots, and this embodiment does not limit this. The historical execution intervals of the historical operation pool cleaning robot can include multiple different execution intervals, and the historical execution interval with the most usage times can be selected from them to match the user's setting habits to the greatest extent. Or, the historical execution interval with the time closest to the current time can be selected to match the user's recent setting requirements to the greatest extent, and so on. After that, the selected historical execution interval of the historical operation pool cleaning robot can be used as the recommended modified duration for the first execution interval, and the corresponding reminder message can be generated and output to provide the user with habitual setting parameters or recent setting parameters as a reference, avoiding the probability of unreasonable setting of parameters due to lack of reference basis or misoperation.

[0044] In this embodiment, generating a reminder message for the recommended modified duration of the first execution interval according to the historical execution interval of the historical operation pool cleaning robot in the same area to be cleaned. By generating the reminder message through the historical cleaning data of this area to be cleaned, the generated reminder message can match the user's usage habits and needs to the greatest extent, thereby improving the user experience.

[0045] In some alternative embodiments, while, before, or after the pool cleaning robot performs the main cleaning operation, the method of this embodiment further includes: in response to a second interaction operation, obtaining a second execution interval time set for the pool cleaning robot; the second execution interval time represents: the time interval between the end time of the pool cleaning robot performing the main cleaning operation and the start time of the pool cleaning robot performing the first auxiliary cleaning operation; and / or the time interval between the end time of the pool cleaning robot performing the previous auxiliary cleaning operation and the start time of the pool cleaning robot performing the next auxiliary cleaning operation; according to the second execution interval time, controlling the pool cleaning robot to regularly perform an auxiliary cleaning operation after completing the main cleaning operation, so as to perform a cleaning operation of low density or local cleaning on the area to be cleaned; wherein, the auxiliary cleaning operation includes at least one of a bottom cruising operation, a water line cleaning operation, and a pool wall cleaning operation, and the cleaning coverage rate of the cleaning area corresponding to the bottom cruising operation is lower than that of the same cleaning area corresponding to the main cleaning operation.

[0046] Exemplarily, the pool cleaning robot can also perform an auxiliary cleaning operation. The auxiliary cleaning operation can be alternately performed with the main cleaning operation, or the auxiliary cleaning operation can be independently performed in stages with the main cleaning operation. For example, the main cleaning operation can be cyclically performed first, and after all the main cleaning operations are completed, the auxiliary cleaning operation can be cyclically performed. This embodiment does not limit this.

[0047] For the auxiliary cleaning operation, the function of the second interaction operation is to enable the pool cleaning robot to obtain the second execution interval time corresponding to the auxiliary cleaning operation. The specific implementation manner of the second interaction operation can refer to the specific implementation manner of the first interaction operation in the foregoing embodiments and will not be elaborated herein.

[0048] The second execution interval time in this embodiment represents the time interval between the end time of the main cleaning operation performed by the pool cleaning robot and the start time of the first auxiliary cleaning operation performed by the pool cleaning robot; and / or the time interval between the end time of the previous auxiliary cleaning operation performed by the pool cleaning robot and the start time of the next auxiliary cleaning operation performed by the pool cleaning robot. When the second execution interval time represents both of the above two time intervals, the time interval between the main cleaning operation and the first auxiliary cleaning operation performed by the pool cleaning robot is equal to the time interval between two adjacent auxiliary cleaning operations performed by the pool cleaning robot. It can be understood that the pool cleaning robot can perform multiple auxiliary cleaning operations in a cycle. There is a certain sleep time between any two adjacent auxiliary cleaning operations performed by the pool cleaning robot. For example, after the previous auxiliary cleaning operation is completed, the pool cleaning robot starts to enter the sleep time until the sleep time ends, and then the pool cleaning robot starts to perform the next auxiliary cleaning operation. The sleep time between two adjacent auxiliary cleaning operations is the second execution interval time in this embodiment.

[0049] The auxiliary cleaning operation may include at least one of a bottom cruising operation, a water line cleaning operation, and a pool wall cleaning operation. Among them, the cleaning coverage rate of the cleaning area corresponding to the bottom cruising operation is lower than that of the same cleaning area corresponding to the main cleaning operation. For example, if the operation paths corresponding to both the bottom cruising operation and the main cleaning operation are bow-shaped paths, the distance between the parallel operation paths corresponding to the bottom cruising operation is greater than the distance between the parallel operation paths corresponding to the main cleaning operation. The water line cleaning operation refers to the operation of cleaning the area corresponding to the water line (pool surface water level) on the pool wall. The pool wall cleaning operation refers to the operation of comprehensively cleaning the pool wall of the pool.

[0050] In this embodiment, the pool cleaning robot can perform multiple cleaning operations. Among them, the main cleaning operation is a full-coverage cleaning, while the auxiliary cleaning operation is a cleaning for a specific area. By cleaning the area to be cleaned through different cleaning operations in cooperation, the number of main cleaning operations can be reduced while ensuring the cleanliness of the area to be cleaned, thereby improving the overall cleaning efficiency of the pool cleaning robot.

[0051] Optionally, when outputting the reminder information for the recommended modified duration of the first execution interval time, the reminder information for the recommended modified duration of the second execution interval time can also be output. Optionally, the reminder information for the recommended modified duration of the first execution interval time or the reminder information for the recommended modified duration of the second execution interval time can be generated according to at least one of the distribution density, distribution area, and distribution type of pollutants in the area to be cleaned. Thus, targeted adjustment of the first execution interval time or the second execution interval time can be realized to improve the cleaning efficiency.

[0052] Optionally, when outputting a reminder message for the recommended modified duration of the first execution interval, a reminder message for the recommended modified number of times of the total execution times of the auxiliary cleaning operation may also be output, such as increasing or decreasing the total execution times. Similarly, a reminder message for the recommended modified number of times of the total execution times of the auxiliary cleaning operation may be generated according to at least one of the distribution density, distribution area, and distribution type of pollutants in the area to be cleaned. Here, a reminder message for the recommended modified duration of the second execution interval and a reminder message for the recommended modified number of times of the total execution times of the auxiliary cleaning operation may be combinedly generated, or one of them may be generated, and this embodiment does not limit this. By adding a reminder message for the recommended modified number of times of the total execution times of the auxiliary cleaning operation, the user can choose to adjust the total execution times of the auxiliary cleaning operation or the second execution interval, and multiple adjustment schemes are provided to the user, which can improve the user experience.

[0053] In some alternative embodiments, before the pool cleaning robot performs the auxiliary cleaning operation, the method of this embodiment further includes: determining to execute one or more of a variety of preset auxiliary cleaning operations such as bottom cruising operation, water line cleaning operation, and pool wall cleaning operation according to the distribution area of pollutants obtained by identifying pollutants in the area to be cleaned.

[0054] Exemplarily, before each execution of the auxiliary cleaning operation, or before the current execution of the auxiliary cleaning operation after a preset number of times has been completed, the distribution area of pollutants obtained by identifying pollutants in the area to be cleaned may be acquired. The distribution area of pollutants may include the bottom area of the pool and the pool wall area, and the water line area may be further divided for the pool wall area. According to the distribution area of pollutants, at least one of the bottom cruising operation, water line cleaning operation, and pool wall cleaning operation is determined as the auxiliary cleaning operation to be executed currently. For example, if the distribution area of pollutants is the bottom area of the pool, the bottom cruising operation may be selected as the auxiliary cleaning operation; if the distribution area of pollutants is the pool wall area, it may be further determined whether the pollutants are only distributed in the water line area or throughout the pool wall. If they are only distributed in the water line area, the water line cleaning operation may be selected as the auxiliary cleaning operation; if the pollutants are distributed throughout the pool wall, the pool wall cleaning operation or a combination of the pool wall cleaning operation and the water line cleaning operation may be selected as the auxiliary cleaning operation, and so on.

[0055] In this embodiment, according to the distribution area of pollutants obtained by identifying pollutants in the area to be cleaned, a suitable one or more can be selected from a variety of auxiliary cleaning operations to perform, so that targeted auxiliary cleaning operations can be carried out on the distribution area of pollutants, and the cleaning effect of the auxiliary cleaning operation can be improved.

[0056] In summary, through the cleaning method of the embodiments of the present application, the pool cleaning robot can obtain the set first execution interval time based on the user's first interaction operation, and then, based on the first execution interval time, clean the area to be cleaned according to the preset partition cleaning sequence and / or the preset cleaning path. During this process, the user can independently set and adjust the cleaning frequency of the pool cleaning robot, thereby meeting the cleaning needs of different users and improving the user experience.

[0057] Referring to Figure 2 , a flowchart showing the steps of a cleaning method for a pool cleaning robot according to another exemplary embodiment of the present application is shown. As shown in the figure, this embodiment mainly includes the following steps:

[0058] S202. Obtain the size information of the target pool area.

[0059] Exemplarily, map information for the target pool area can be obtained, and the size information of the target pool area can be obtained from the map information. The size information may include boundary position information, area information, depth information, etc. of the target pool area.

[0060] S204. Divide the target pool area into multiple areas to be cleaned according to the size information of the target pool area and the maximum cleaning area size information of a single pool cleaning robot.

[0061] Exemplarily, the maximum cleaning area size information of a single pool cleaning robot may include maximum cleaning area information. Based on the maximum cleaning area information, the target pool area can be divided to obtain multiple areas to be cleaned, and the area of each area to be cleaned is less than or equal to the maximum cleaning area of a single pool cleaning robot.

[0062] S206. Allocate corresponding pool cleaning robots to each area to be cleaned, so as to implement collaborative cleaning operations on the target pool area by each pool cleaning robot executing the cleaning method of the foregoing embodiment.

[0063] Exemplarily, a plurality of pool cleaning robots can be associated with a plurality of areas to be cleaned on a one-to-one basis. For example, the area maps of the plurality of areas to be cleaned can be sent to the corresponding pool cleaning robots, so that the pool cleaning robots perform cleaning operations according to the area maps of the corresponding areas to be cleaned. When each pool cleaning robot performs a cleaning operation on the area to be cleaned, the cleaning method of the foregoing embodiment can be adopted for the operation. For example, in response to a first interaction operation, the pool cleaning robot obtains a first execution interval time, and then, according to the first execution interval time, controls the pool cleaning robot to regularly perform a main cleaning operation to clean the area to be cleaned. Wherein, when performing the main cleaning operation on the area to be cleaned, the pool cleaning robot can clean the area to be cleaned according to a preset partition cleaning sequence and / or a preset cleaning path. Here, a plurality of sub-areas can also be pre-divided in the area to be cleaned, and the division method is not limited, so that the pool cleaning robot can clean the area to be cleaned according to the preset partition cleaning sequence.

[0064] The cleaning method of the embodiment of the present application can be applied to the cleaning operation of a target pool area with a relatively large size. According to the size information of the target pool area and the maximum cleaning area size information of a single pool cleaning robot, the target pool area is divided into a plurality of areas to be cleaned. Then, corresponding pool cleaning robots are allocated to each area to be cleaned, so as to realize the collaborative cleaning operation of the target pool area by each pool cleaning robot executing the cleaning method of the foregoing embodiment. In addition, for each pool cleaning robot performing collaborative operations, the user can independently set and adjust the cleaning frequency of the pool cleaning robot, so as to meet the cleaning needs of different users and improve the user experience.

[0065] Referring to Figure 3 , a structural block diagram of a cleaning device of a pool cleaning robot according to an exemplary embodiment of the present application is shown.

[0066] The cleaning device of the pool cleaning robot in this embodiment includes a first acquisition module 302 and a first execution module 304.

[0067] Among them, the first acquisition module 302 is configured to obtain a first execution interval time set for the pool cleaning robot in response to a first interaction operation; the first execution interval time represents: the interval duration between the end time of the previous main cleaning operation performed by the pool cleaning robot and the start time of the next main cleaning operation performed by the pool cleaning robot; the first execution module 304 is configured to control the pool cleaning robot to regularly perform a main cleaning operation according to the first execution interval time to clean the area to be cleaned; wherein, the main cleaning operation includes: cleaning the area to be cleaned according to a preset partition cleaning sequence and / or a preset cleaning path.

[0068] In some alternative embodiments, the device of the present embodiment further includes an information reminder module, configured to: output a reminder message for the recommended modified duration of the first execution interval; determine the adjusted execution interval in response to an operation of adjusting the duration of the first execution interval; the first execution module 304 is further configured to: control the pool cleaning robot to regularly perform the main cleaning operation according to the adjusted execution interval.

[0069] In some alternative embodiments, the information reminder module is further configured to: identify pollutants in the area to be cleaned; generate a reminder message for the recommended modified duration of the first execution interval according to at least one of the distribution density, distribution area, and distribution type of the pollutants in the area to be cleaned; output the reminder message.

[0070] In some alternative embodiments, the information reminder module is further configured to: determine the pollution degree of the area to be cleaned according to at least one of the distribution density, distribution area, and distribution type of the pollutants in the area to be cleaned; shorten or extend the first execution interval by a set duration according to the pollution degree of the area to be cleaned; use the shortened or extended first execution interval as the recommended modified duration and generate a corresponding reminder message.

[0071] In some alternative embodiments, the information reminder module is further configured to: obtain the historical execution interval of the historical operation pool cleaning robot in the same area to be cleaned; generate a reminder message for the recommended modified duration of the first execution interval according to the historical execution interval of the historical operation pool cleaning robot; output the reminder message.

[0072] In some alternative embodiments, the first acquisition module 302 is further configured to: obtain the second execution interval set for the pool cleaning robot in response to a second interaction operation; the second execution interval represents: the interval duration between the end time of the previous auxiliary cleaning operation performed by the pool cleaning robot and the start time of the next auxiliary cleaning operation performed by the pool cleaning robot; the first execution module 304 is further configured to: control the pool cleaning robot to regularly perform the auxiliary cleaning operation according to the second execution interval to clean the area to be cleaned; wherein, the auxiliary cleaning operation includes at least one of a bottom cruise operation, a water line cleaning operation, and a pool wall cleaning operation, and the cleaning coverage rate of the cleaning area corresponding to the bottom cruise operation is lower than that of the same cleaning area corresponding to the main cleaning operation.

[0073] In some alternative embodiments, the first execution module 304 is further configured to: determine the auxiliary cleaning operation from the bottom cruise operation, the water line cleaning operation, and the pool wall cleaning operation according to the distribution area of the pollutants obtained by identifying the pollutants in the area to be cleaned.

[0074] The cleaning device of the pool cleaning robot in this embodiment is used to implement the corresponding cleaning method of the pool cleaning robot in the foregoing multiple method embodiments, and has the beneficial effects of the corresponding method embodiments, which will not be elaborated here. In addition, the implementation of each module in the cleaning device of the pool cleaning robot in this embodiment can refer to the description of the corresponding part in the foregoing method embodiments, which will not be elaborated here either.

[0075] Refer to Figure 4 , which shows a structural block diagram of a cleaning device of a pool cleaning robot according to an exemplary embodiment of the present application.

[0076] The cleaning device of the pool cleaning robot in this embodiment includes a second acquisition module 402, a region division module 404, and a second execution module 406.

[0077] Among them, the second acquisition module 402 is used to acquire the size information of the target pool area; the region division module 404 is used to divide the target pool area into multiple areas to be cleaned according to the size information of the target pool area and the maximum cleaning area size information of a single pool cleaning robot; the second execution module 406 is used to allocate corresponding pool cleaning robots to each area to be cleaned, so as to realize the collaborative cleaning operation of the target pool area by each pool cleaning robot executing the cleaning method in the foregoing embodiment.

[0078] The cleaning device of the pool cleaning robot in this embodiment is used to implement the corresponding cleaning method of the pool cleaning robot in the foregoing multiple method embodiments, and has the beneficial effects of the corresponding method embodiments, which will not be elaborated here. In addition, the implementation of each module in the cleaning device of the pool cleaning robot in this embodiment can refer to the description of the corresponding part in the foregoing method embodiments, which will not be elaborated here either.

[0079] Refer to Figure 5 , which shows a structural schematic diagram of an electronic device according to an exemplary embodiment of the present application. The specific implementation of the electronic device in the specific embodiment of the present invention is not limited.

[0080] As Figure 5 shown, the electronic device may include: a processor 501, a memory 503, a communication bus 504, and a communication interface 505.

[0081] Among them: the processor 501, the memory 503, and the communication interface 505 communicate with each other through the communication bus 504.

[0082] The communication interface 505 is used to communicate with other electronic devices or servers.

[0083] A processor 501 is configured to execute a program 502, and specifically, it can execute the steps of any one of the battery fault detection methods in the above embodiments.

[0084] Specifically, the program 502 may include program code, and the program code includes computer operation instructions.

[0085] The processor 501 may be a central processing unit (CPU), or a specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present application. One or more processors included in the intelligent device may be of the same type of processor, such as one or more CPUs; or they may be of different types of processors, such as one or more CPUs and one or more ASICs.

[0086] A memory 503 is configured to store the program 502. The memory 503 may include a high-speed RAM memory, and may also include non-volatile memory, such as at least one disk memory.

[0087] The program 502 is specifically configured to cause the processor 501 to execute the steps to implement the cleaning method of any one of the pool cleaning robots described in the embodiments. For the specific implementation of each step in the program 502, reference may be made to the corresponding descriptions in the steps and units of the cleaning method of any one of the pool cleaning robots in the above steps, which will not be elaborated here. Those skilled in the art can clearly understand that for the convenience and brevity of description, the specific working processes of the above-described devices and modules can refer to the corresponding process descriptions in the foregoing method embodiments.

[0088] The embodiments of the present application further provide a computer storage medium, on which a computer program is stored, and when the program is executed by a processor, it implements the cleaning method of the pool cleaning robot described in any one of the above method embodiments.

[0089] The embodiments of the present application further provide a computer program product, including computer instructions, and the computer instructions instruct a computing device to execute the operations corresponding to the cleaning method of the pool cleaning robot described in any one of the above method embodiments.

[0090] It should be noted that according to the needs of implementation, each component / step described in the embodiments of the present application can be split into more components / steps, or two or more components / steps or partial operations of the components / steps can be combined into new components / steps to achieve the purpose of the embodiments of the present application.

[0091] The method according to the embodiments of the present application can be implemented in hardware, firmware, or be implemented as software or computer code that can be stored in a recording medium (such as a CD ROM, RAM, floppy disk, hard disk, or magneto-optical disk), or be implemented as computer code that is originally stored in a remote recording medium or a non-transitory machine-readable medium and downloaded through a network and will be stored in a local recording medium, so that the method described herein can be stored in such software processing on a recording medium using a general-purpose computer, a dedicated processor, or programmable or dedicated hardware (such as an ASIC or FPGA). It can be understood that a computer, a processor, a microprocessor controller, or programmable hardware includes a storage component (such as RAM, ROM, flash memory, etc.) that can store or receive software or computer code. When the software or computer code is accessed and executed by the computer, the processor, or the hardware, the method described herein is implemented. In addition, when a general-purpose computer accesses the code for implementing the method shown herein, the execution of the code converts the general-purpose computer into a dedicated computer for executing the method shown herein.

[0092] Those of ordinary skill in the art can realize that the units and method steps of each example described in combination with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are executed in a hardware or software manner depends on the specific application and design constraints of the technical solution. A professional technician can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of the embodiments of the present application.

[0093] The above embodiments are only used to illustrate the embodiments of the present application, rather than to limit the embodiments of the present application. Those of ordinary skill in the relevant technical field can also make various changes and modifications without departing from the spirit and scope of the embodiments of the present application. Therefore, all equivalent technical solutions also belong to the scope of the embodiments of the present application. The patent protection scope of the embodiments of the present application shall be defined by the claims.

Claims

1. A cleaning method for a pool cleaning robot, characterized in that: include: In response to a first interactive operation, obtaining a first execution interval time set for the pool cleaning robot; The first execution interval time represents: the interval between the end time of the previous main cleaning operation performed by the pool cleaning robot and the start time of the next main cleaning operation performed by the pool cleaning robot; According to the first execution interval, controlling the pool cleaning robot to regularly perform the main cleaning operation to clean the area to be cleaned; Wherein, the main cleaning operation includes: cleaning the area to be cleaned according to a preset partition cleaning sequence and / or a preset cleaning path.

2. The method according to claim 1, characterized in that Before controlling the pool cleaning robot to periodically perform the main cleaning operation according to the first execution interval, the method further includes: Outputting reminder information of a recommended modification time length for the first execution interval; In response to the time adjustment operation on the first execution interval, determining an adjusted execution interval; The step of controlling the pool cleaning robot to periodically perform the main cleaning operation according to the first execution interval time includes: According to the adjusted execution interval, the pool cleaning robot is controlled to regularly execute the main cleaning operation.

3. The method according to claim 2, characterized in that The outputting reminder information of the recommended modification duration for the first execution interval time includes: Identifying pollutants in the area to be cleaned; generating reminder information of a recommended modification time length for the first execution interval time according to at least one of a distribution density, a distribution area, and a distribution type of pollutants in the area to be cleaned; The reminder information is output.

4. The method according to claim 3, characterized in that The generating, according to at least one of the distribution density, distribution area and distribution type of the pollutants in the area to be cleaned, reminder information of a recommended modification time length for the first execution interval time comprises: Determining the degree of contamination of the area to be cleaned according to at least one of the distribution density, distribution area and distribution type of the contaminants in the area to be cleaned; According to the degree of contamination of the area to be cleaned, shortening or extending the first execution interval by a set time; The shortened or extended first execution interval time is used as the recommended modification duration, and corresponding reminder information is generated.

5. The method according to claim 2, characterized in that: The outputting reminder information of the recommended modification duration for the first execution interval time includes: Obtain the historical execution interval time of the pool cleaning robot for the same area to be cleaned; Generate reminder information of a recommended modification time length for the first execution interval time according to the historical execution interval time of the historical operation pool cleaning robot; and output the reminder information.

6. The method according to any one of claims 1 to 5, characterized in that: While, before or after the pool cleaning robot performs the main cleaning operation, the method further comprises: In response to the second interactive operation, a second execution interval time set for the pool cleaning robot is obtained; the second execution interval time represents: the interval time between the end time of the pool cleaning robot performing the main cleaning operation and the start time of the pool cleaning robot performing the first auxiliary cleaning operation; and / or the interval time between the end time of the pool cleaning robot performing the previous auxiliary cleaning operation and the start time of the pool cleaning robot performing the next auxiliary cleaning operation; According to the second execution interval, controlling the pool cleaning robot to regularly perform the auxiliary cleaning operation to clean the area to be cleaned; Among them, the auxiliary cleaning operation includes at least one of a pool bottom cruising operation, a waterline cleaning operation and a pool wall cleaning operation, and the cleaning coverage rate of the cleaning area corresponding to the pool bottom cruising operation is lower than the cleaning coverage rate of the same cleaning area corresponding to the main cleaning operation.

7. The method according to claim 6, characterized in that Before the pool cleaning robot performs the auxiliary cleaning operation, the method further includes: According to the distribution area of ​​pollutants obtained by identifying pollutants in the area to be cleaned, at least one of a pool bottom cruising operation, a waterline cleaning operation and a pool wall cleaning operation is determined as the auxiliary cleaning operation.

8. A cleaning method for a pool cleaning robot, characterized in that: include: Get the size information of the target pool area; Dividing the target pool area into a plurality of areas to be cleaned according to the size information of the target pool area and the maximum cleaning area size information of a single pool cleaning robot; A corresponding pool cleaning robot is allocated to each of the areas to be cleaned, so that each of the pool cleaning robots executes the cleaning method as described in any one of claims 1 to 7 to achieve a coordinated cleaning operation of the target pool area.

9. A cleaning device for a pool cleaning robot, characterized in that: include: A first acquisition module, configured to acquire, in response to a first interactive operation, a first execution interval time set for the pool cleaning robot; The first execution interval time represents: the interval between the end time of the previous main cleaning operation performed by the pool cleaning robot and the start time of the next main cleaning operation performed by the pool cleaning robot; The first execution module is used to control the pool cleaning robot to periodically perform the main cleaning operation according to the first execution interval time to clean the area to be cleaned; wherein the main cleaning operation includes: cleaning the area to be cleaned according to a preset partition cleaning order and / or a preset cleaning path.

10. A cleaning device for a pool cleaning robot, characterized in that: include: The second acquisition module is used to obtain the size information of the target pool area; An area division module, used for dividing the target water pool area into a plurality of areas to be cleaned according to the size information of the target water pool area and the maximum cleaning area size information of a single water pool cleaning robot; The second execution module is used to assign a corresponding pool cleaning robot to each of the areas to be cleaned, so that each of the pool cleaning robots executes the cleaning method as described in any one of claims 1 to 7 to achieve a collaborative cleaning operation of the target pool area.

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