Rapid sinking method, automatic pool cleaning equipment and computer program product

Abstract

The invention relates to the field of underwater robots, and particularly provides a rapid sinking method, automatic pool cleaning equipment and a computer program product. The automatic pool cleaning equipment is provided with a water pump and a water outlet, the water pump can guide fluid to flow out of the water outlet, and the method comprises the steps that after the automatic pool cleaning equipment enters a pool, the automatic pool cleaning equipment is controlled to execute an accelerated sinking action, so that the automatic pool cleaning equipment sinks in the pool in an accelerated mode; whether the automatic pool cleaning equipment meets a first preset condition or not is judged, and if yes, the automatic pool cleaning equipment is controlled to stop executing the accelerated sinking action; wherein the accelerated sinking action comprises the step of controlling the water pump to intermittently work so as to guide the fluid to be intermittently sprayed out of the water outlet, and the intermittent work comprises the step of starting or stopping the water pump according to a preset rule. According to the rapid sinking method disclosed by the invention, the automatic pool cleaning equipment is controlled to accelerate sinking, so that manual intervention can be reduced, and the sinking efficiency and the user experience are improved.

Description

Technical Field

[0001] The present disclosure relates to the field of underwater robots, and in particular to a rapid sinking method, an automatic pool cleaning device, and a computer program product. Background Art

[0002] With the development of artificial intelligence technology, automatic pool cleaning equipment has gradually become one of the main solutions in the field of household and commercial pool cleaning. Compared with traditional manual cleaning methods, automatic pool cleaning equipment can automatically clean the bottom and walls of the pool, with faster cleaning speed, better effect, and more economical.

[0003] However, the current automatic pool cleaning equipment is affected by factors such as its structural sealing and power system. It often has greater buoyancy in the initial stage of entering the water, resulting in low sinking efficiency, and even requiring manual intervention to assist in launching, resulting in a poor user experience. Summary of the invention

[0004] The present disclosure is proposed in view of the above problems. The present disclosure provides a fast sinking method, an automatic pool cleaning device and a computer program product.

[0005] According to one aspect of the present disclosure, a rapid sinking method is provided, which is applied to an automatic pool cleaning device. The automatic pool cleaning device is provided with a water pump and a water outlet, and the water pump can guide the fluid to flow out of the water outlet, wherein the method comprises: after the automatic pool cleaning device enters the pool, controlling the automatic pool cleaning device to perform an accelerated sinking action, so that the automatic pool cleaning device sinks faster in the pool; judging whether the automatic pool cleaning device meets a first preset condition, and if so, controlling the automatic pool cleaning device to stop performing the accelerated sinking action; wherein the accelerated sinking action comprises controlling the water pump to work intermittently, so as to guide the fluid to spray out intermittently from the water outlet, and the intermittent work comprises turning the water pump on or off according to a preset rule.

[0006] In addition, according to one aspect of the rapid sinking method of the present disclosure, the first preset condition includes one of the following conditions: the water pump is periodically turned on or off for a preset number of times; the water pump is periodically turned on or off for a preset time threshold; the automatic pool cleaning device detects that it has reached the bottom of the pool, or is separated from the bottom of the pool by a first preset distance.

[0007] In addition, according to one aspect of the rapid sinking method of the present disclosure, the preset rules include periodic opening or closing, wherein a single cycle includes: controlling the water pump to turn on for a first preset time period, and then controlling the water pump to turn off for a second preset time period.

[0008] In addition, according to the rapid sinking method of one aspect of the present disclosure, wherein the second preset duration is determined based on one of the following conditions: a preset fixed value; or, the time required for the pool automatic cleaning device to sink a preset distance; or, the time required for the pool automatic cleaning device to adjust to a first preset posture.

[0009] In addition, according to the rapid sinking method of one aspect of the present disclosure, wherein the preset fixed value is in the range of 0 - 2 s; or, the preset sinking distance is within 0 - 0.5 m; or, the first preset posture is a posture in which the body of the pool automatic cleaning device is substantially parallel to the water surface.

[0010] In addition, according to the rapid sinking method of one aspect of the present disclosure, wherein controlling the water pump to work intermittently includes: if there is only a single water pump, controlling the single water pump to work intermittently; if there are two water pumps, controlling one of the two water pumps to work intermittently; or, controlling the two water pumps to work intermittently alternately.

[0011] In addition, according to the rapid sinking method of one aspect of the present disclosure, wherein controlling the single water pump to work intermittently includes: if the water outlet is one, controlling the single water pump to work intermittently to guide the fluid to intermittently eject from the middle of the water outlet; if the water outlet is two, controlling the single water pump to work intermittently to guide the fluid to intermittently eject from one of the water outlets.

[0012] According to another aspect of the present disclosure, there is provided a pool automatic cleaning device, including: a memory for storing computer-readable instructions; and a processor for running the computer-readable instructions, so that the electronic device executes the rapid sinking method as described above.

[0013] According to yet another aspect of the present disclosure, there is provided a non-transitory computer-readable storage medium for storing computer-readable instructions, which when executed by a processor, causes the processor to execute the rapid sinking method as described above.

[0014] According to still another aspect of the present disclosure, there is provided a computer program product, including a computer program, which when executed by a processor, implements the rapid sinking method as described above.

[0015] As will be described in detail below, according to the rapid sinking method for a pool robot, a pool automatic cleaning device, a non-transitory computer-readable storage medium, and a computer program product according to embodiments of the present disclosure, by controlling the pool automatic cleaning device to accelerate sinking, manual intervention can be reduced, and the sinking efficiency and user experience can be improved.

[0016] It should be understood that both the foregoing general description and the following detailed description are exemplary and are intended to provide further explanation of the claimed technology. Brief Description of the Drawings

[0017] The above and other objects, features, and advantages of the present disclosure will become more apparent by describing the embodiments of the present disclosure in more detail with reference to the accompanying drawings. The drawings are used to provide a further understanding of the embodiments of the present disclosure and constitute a part of the specification. Together with the embodiments of the present disclosure, they are used to explain the present disclosure and do not constitute a limitation to the present disclosure. In the drawings, the same reference numerals generally represent the same components or steps.

[0018] Figure 1 is a schematic diagram of an application scenario of an accelerated sinking method according to an embodiment of the present disclosure.

[0019] Figure 2 is a flowchart of a method of an accelerated sinking method according to an embodiment of the present disclosure.

[0020] Figure 3 is a schematic diagram of a method for controlling the intermittent operation of a water pump according to an embodiment of the present disclosure.

[0021] Figure 4 is a further schematic diagram of a method for controlling the intermittent operation of a water pump according to an embodiment of the present disclosure.

[0022] Figure 5 is a further schematic diagram of a method for controlling the intermittent operation of a water pump according to an embodiment of the present disclosure.

[0023] Figure 6 is a block diagram of a pool automatic cleaning device according to an embodiment of the present disclosure.

[0024] Figure 7 is a schematic diagram of a computer program product according to an embodiment of the present disclosure. Detailed Embodiments

[0025] In order to make the objectives, technical solutions, and advantages of the present disclosure more apparent, exemplary embodiments according to the present disclosure will be described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present disclosure, rather than all of the embodiments of the present disclosure. It should be understood that the present disclosure is not limited by the exemplary embodiments described herein.

[0026] First, refer to Figure 1 to outline the application scenario according to an embodiment of the present disclosure.

[0027] Figure 1 is a schematic diagram of an application scenario of an accelerated sinking method according to an embodiment of the present disclosure. As Figure 1 shown, the application scenario at least includes: a pool automatic cleaning device 10 and a pool 20.

[0028] Among them, the pool automatic cleaning device 10 may be provided with a water pump 101 and a water outlet 102 ( Figure 1 not shown in the figure). Specifically, the water pump 101 can guide the fluid to flow out from the water outlet 102, and the above-mentioned fluid may include water flow and air.

[0029] The pool 20 has a pool bottom 201, a plurality of side surfaces, and a water line 30.

[0030] When the pool automatic cleaning device 10 is just thrown into the pool 20, affected by factors such as buoyancy and water surface resistance, it will float on the water line 30. At this stage, the sinking speed is slow and the time is long. However, when it is completely below the water line 30, as the buoyancy is gradually offset, the pool automatic cleaning device 10 can quickly sink to the pool bottom 201 by relying on its own gravity. In order to solve the problem of slow initial sinking of the pool automatic cleaning device 10 after entering the water, the present disclosure proposes the following acceleration sinking method, which will be specifically described in Figures 2 - 6 in detail.

[0031] It should be understood that Figure 1 the shown pool automatic cleaning device 10 and pool 20 are only schematic, and the pool automatic cleaning device and pool applying the quick sinking method according to the embodiments of the present disclosure are not limited thereto.

[0032] Figure 2 is a flowchart of the acceleration sinking method according to the embodiments of the present disclosure. As Figure 2 shown, the quick sinking method may at least include the following steps.

[0033] In step S201, when the pool automatic cleaning device enters the pool, control the pool automatic cleaning device to perform an acceleration sinking action, so that the pool automatic cleaning device accelerates sinking in the pool. Among them, the acceleration sinking action includes controlling the water pump to work intermittently to guide the fluid to be intermittently ejected from the water outlet, and the intermittent work includes the water pump being turned on or off according to a preset rule.

[0034] As described above, the present disclosure aims to solve the problem of slow initial sinking of the pool automatic cleaning device 10 after entering the water. Therefore, the pool automatic cleaning device 10 first needs to detect whether it has entered the water. Specifically, it can be detected based on a water entry detection sensor.

[0035] In one embodiment of the present disclosure, the water entry detection sensor may include one or more of a pressure sensor, an optical sensor, a capacitance sensor, an inductive sensor, etc. Among them, the pressure sensor can determine whether the pool automatic cleaning device 10 has entered the water by sensing the change in water pressure. When the water pressure increases rapidly, it can be considered that the device has entered the water. The optical sensor can determine by monitoring the change in light intensity and / or spectrum. For example, due to the absorption and scattering of light by water and / or the different absorption degrees of water for light of different wavelengths, when the pool automatic cleaning device 10 enters the water, the light intensity will decrease significantly and / or the spectrum will change significantly, thereby determining that the fuselage has entered the water. The capacitance sensor can determine based on the different dielectric constants of water and air. Since the dielectric constant of water is significantly greater than that in air, when the capacitance value changes significantly, it can be considered that the device has entered the water. It should be noted that the above are all exemplary descriptions and are not specific limitations.

[0036] Then, when it is detected that the fuselage has entered the water, the pool automatic cleaning device 10 will control itself to accelerate sinking. Among them, accelerating sinking may include: controlling the water pump 101 to work intermittently, and the intermittent work may include the water pump 101 being turned on or off according to a preset rule.

[0037] In one embodiment of the present disclosure, the preset rule may include periodic turning on or off. Among them, a single period may include: controlling the water pump 101 to be turned on for a first preset duration and then controlling the water pump 101 to be turned off for a second preset duration.

[0038] As described above, since there is still air in the fuselage cavity of the pool automatic cleaning device 10 just after it enters the water, this air will generate buoyancy, preventing the fuselage from sinking and causing the pool automatic cleaning device 10 to float on the water line 30. At this time, in order to allow the fuselage to accelerate sinking and avoid overturning during the sinking process, the water pump 101 can be controlled to be turned on or off periodically.

[0039] Specifically, the pool automatic cleaning device 10 may further include a water inlet 103, and the water pump 101 may include a motor and an impeller. When it is confirmed that the fuselage has entered the water, control the water pump 101 to be turned on periodically. The motor will drive the impeller to rotate, sucking the water in the pool 20 from the water inlet 103 into the cavity of the fuselage of the pool automatic cleaning device 10. When the water flow enters the inside of the water pump 101, the rotation of the impeller will apply a centrifugal force to it, accelerating the water flow. The accelerated water flow can be ejected from the water outlet 102, and a reaction force will be generated when ejected, which can push the pool automatic cleaning device 10 to accelerate sinking.

[0040] Furthermore, since there is still air in the initial cavity, due to the high-speed movement of the water flow, a certain negative pressure effect and entrainment effect will be generated. While discharging the water flow, it can drive the air in the cavity to be discharged together. As the volume of air in the cavity becomes smaller and the volume of water becomes larger, the buoyancy can be further reduced and the gravity can be increased, which helps the pool automatic cleaning device 10 to sink further and accelerate.

[0041] In addition, the reaction force generated by the water spray and air will cause the fuselage to tilt. The tilting of the fuselage can also accelerate the discharge of water and air, which can also help to accelerate the sinking.

[0042] In an exemplary embodiment of the present disclosure, in order to ensure that the tilt angle generated by the above reaction force is within a controllable range, that is, it will not cause the machine to overturn or get out of control due to an excessive tilt angle, the opening time of the water pump 101 should not be too long, and the first preset duration for a single opening can be, for example, 1 s.

[0043] Then, control the water pump 101 to be periodically closed. In the absence of new external forces, during the process of the pool automatic cleaning device 10 accelerating and sinking, the tilt angle of the fuselage will decrease and the attitude will gradually tend to be stable. When the closing duration meets the second preset duration, the above cycle can be repeated to control the water pump 101 to be turned on again.

[0044] In an exemplary embodiment of the present disclosure, the second preset duration can be determined based on one of the following conditions: a preset fixed value, or the time required for the pool automatic cleaning device 10 to sink a preset distance; or the time required for the pool automatic cleaning device 10 to adjust to the first preset attitude.

[0045] Furthermore, the intermittent operation can also include the water pump 101 being enhanced or weakened according to a preset rule. The preset rule can also include being periodically enhanced or weakened. Correspondingly, a single cycle can include: controlling the water pump 101 to enhance the operation for the first preset duration, and then controlling the water pump 101 to weaken the operation for the second preset duration.

[0046] That is to say, when it is confirmed that the pool automatic cleaning device 10 has entered the water, control the water pump 101 to be turned on and let it work continuously at the first power (for example, a relatively low power), and then periodically enhance its power. After enhancing for the first preset duration, then control it to be periodically weakened back to the first power and continue for the second preset duration, and repeat the above actions until the first preset condition is met.

[0047] Furthermore, the opening or closing of the water outlet 102 can be correspondingly controlled. That is to say, during the period when the water pump 101 enhances the power to work, the water outlet 102 is opened to ensure the fluid is ejected; during the period when the water pump 101 weakens the power to work, the water outlet 102 is closed to ensure the fluid is ejected during the next enhancement.

[0048] Specifically, due to the differences in the hardware of the pool automatic cleaning device 10, the method for controlling the intermittent operation of the water pump may further include: if there is only a single water pump, controlling the single water pump to operate intermittently; if there are two water pumps, controlling one of the two water pumps to operate intermittently; or, controlling the two water pumps to operate alternately intermittently. Specifically, it will be further described in Figures 3 - 5 the following.

[0049] In step S202, it is determined whether the pool automatic cleaning device meets the first preset condition. If it meets, the pool automatic cleaning device is controlled to stop performing the accelerated sinking action.

[0050] Among them, the first preset condition may include one of the following conditions: the periodic on or off of the water pump meets a preset number of times; the periodic on or off of the water pump meets a preset time threshold; the pool automatic cleaning device touches or is detected to have reached the bottom of the pool, or is at a first preset distance from the bottom.

[0051] As described above, the pool automatic cleaning device 10 sinks slowly in the initial stage after entering the water, but its sinking speed is often relatively fast after it is completely submerged below the water line. Therefore, the accelerated sinking method proposed in the embodiments of the present disclosure mainly targets the initial stage, that is to say, the intermittent operation of the above-mentioned water pump 101 does not need to cover the entire sinking process. When the first preset condition is met, the intermittent operation (or the accelerated sinking action) can be stopped.

[0052] In an exemplary embodiment of the present disclosure, the first preset condition may be a preset number of times, such as repeating the above intermittent cycle 4 times; or, the periodic on or off of the water pump meets a preset time, such as 1 minute; or it is detected that the bottom of the pool has been reached, or it is at a first preset distance from the bottom. For example, the water depth of the pool 20 is relatively shallow, and before the above preset number of times or preset time has been completed, it has already touched the bottom 201 of the pool or is very close to the bottom 201. At this time, the above accelerated sinking action can be ended in advance.

[0053] Similarly, if the above intermittent operation may include the water pump 101 being enhanced or weakened according to a preset rule, the determination of whether to stop performing the accelerated sinking action can also be the first preset condition. Correspondingly, the first preset condition may include one of the following conditions: the periodic enhancement or weakening of the water pump meets a preset number of times; the periodic enhancement or weakening of the water pump meets a preset time threshold; the pool automatic cleaning device touches or is detected to have reached the bottom of the pool, or is at a first preset distance from the bottom.

[0054] Figure 3 FIG. is a schematic diagram of a method for controlling the intermittent operation of a water pump according to an embodiment of the present disclosure. As Figure 3As shown, the automatic pool cleaning device 10 is provided with two water pumps 101 and two water outlets 102. Each water pump 101 corresponds to one water outlet 102 respectively (for the convenience of the following description, Figure 3 it is divided into water pump 101a and its corresponding water outlet 102a, and water pump 101b and its corresponding water outlet 102b). The method for controlling the intermittent operation of the water pump 101 applied to such an automatic pool cleaning device 10 may include:

[0055] Method 1: Control one of the two water pumps to operate intermittently, and guide the fluid to intermittently spray out from the water outlet corresponding to the water pump. Specifically:

[0056] Step 1.1: After the automatic pool cleaning device 10 enters the water, control the water pump 101a to be turned on for a first preset duration (for example, 1 s). The water flow and air move at high speed with the rotation of the impeller and are guided to spray out from the water outlet 102a corresponding to the water pump 101a. Assuming that the water outlet 102a is at the top of the fuselage, the reaction force generated during spraying will act on the fuselage on the side where the water outlet 102a is located, causing it to tilt downward, and the other side of the fuselage will rise accordingly, and the automatic pool cleaning device 10 will accelerate sinking.

[0057] Step 1.2: Then control the water pump 101a to be turned off for a second preset duration. During the second preset duration, the automatic pool cleaning device 10 accelerates sinking under the dual action of the reaction force and the increasing self-gravity.

[0058] In an exemplary embodiment of the present disclosure, the second preset duration may be a preset fixed value, for example, within the range of 0 - 2 s, or may be the time required to sink a preset distance, for example, the time required to sink within 0 - 0.5 meters, or may also be the time required to adjust from the inclined state to the first preset attitude, for example, the time required to adjust from the inclined state to the attitude where the fuselage is substantially parallel to the water line 30 or the pool bottom 201.

[0059] Step 1.3: Control the water pump 101a to repeat the processes of the above Step 1.1 and Step 1.2 until the first preset condition is met.

[0060] It should be noted that by intermittently turning on the water pump 101a, the air originally present in the cavity can be gradually discharged, and the volume occupied by the air gradually decreases. At the same time, due to the pressure difference between the inside and outside of the fuselage, the water in the pool 20 will enter the fuselage from the water inlet 103, so that the volume of water in the cavity gradually increases, thereby realizing the increase of its own weight; that is, on the one hand, the buoyancy decreases, and on the other hand, the gravity increases. Under the combined action, the automatic pool cleaning device 10 accelerates sinking. When the first preset condition is met, that is, it is considered that the automatic pool cleaning device 10 can already sink relying on its own gravity and no longer needs the help of the intermittent operation of the water pump 101a, control the water pump 101a to stop the above intermittent operation.

[0061] Further, when the preset rule is to periodically increase or decrease, the method of controlling the intermittent operation of the water pump 101a is also as described above; further, the water outlet 102a can also be correspondingly opened and closed in coordination with the working power of the water pump 101a to guide the fluid to intermittently spray out from the middle of the water outlet 102a during the period when the power of the water pump 101a increases. The principle is roughly the same and will not be elaborated here.

[0062] Similarly, when the intermittently opened or enhanced water pump is the water pump 101b, the fluid sprays out from the corresponding water outlet 102b of the water pump 101b, and the process is the same as above and will not be elaborated.

[0063] Method 2: Control the two water pumps to alternately operate intermittently to guide the fluid to alternately spray out from the two water outlets. Specifically:

[0064] Step 2.1: The same as step 1.1 above.

[0065] Step 2.2: The same as step 1.2 above.

[0066] Step 2.3: Control the water pump 101b to be turned on for a first preset duration (such as 1 s). The water flow and air move at high speed with the rotation of the impeller and are guided to spray out from the corresponding water outlet 102b of the water pump 101b; assuming that the water outlet 102b is at the top of the fuselage, the reaction force generated during spraying will act on the fuselage on the side where the water outlet 102b is located, causing it to tilt downward, and the other side of the fuselage will rise accordingly, and the pool automatic cleaning device 10 will accelerate to sink.

[0067] Step 2.4: Then control the water pump 101b to be turned off for a second preset duration. During the second preset duration, the pool automatic cleaning device 10 accelerates to sink under the dual action of the reaction force and the increased self-gravity.

[0068] It should be noted that the volume of water in the cavity in step 2.4 is greater than the volume of water in the cavity in step 2.2, that is, the buoyancy of the pool automatic cleaning device 10 in step 2.4 is less than the buoyancy in step 2.2, and the self-gravity in step 2.4 is greater than the self-gravity in step 2.2. That is to say, the sinking speed in step 2.4 is faster than the sinking speed in step 2.2.

[0069] It is easy to understand that during subsequent repetitions, the sinking speed of each acceleration of sinking is faster than the previous one.

[0070] Step 2.5: Control the water pump 101a and the water pump 101b to repeat the process from step 2.1 to step 2.4 until the first preset condition is met.

[0071] Further, when the preset rule is to periodically increase or decrease, the method of controlling the intermittent operation of pumps 101a and 101b alternately is as described above; further, the water outlets 102a and 102b can also be opened and closed correspondingly in coordination with the working power of pumps 101a and 101b respectively. The principle is the same and will not be elaborated here.

[0072] It is easy to understand that since the body tilts alternately left and right (or front and back) in Method 2, it is less likely to cause the machine to tip over or get out of control than in Method 1. Therefore, the second preset duration in Method 2 can be shorter, so that the overall rapid sinking process can be faster.

[0073] It should be noted that Figure 3 the pool automatic cleaning device 10, pump 101, and water outlet 102 shown in are all exemplary, and the present disclosure does not limit their structures, positions, etc. in the embodiments. That is to say, the present disclosure does not specifically limit the direction of the reaction force, the direction of the body tilt angle, etc., and they are all within the protection scope of the embodiments of the present disclosure. The following Figure 4 、 Figure 5 are also all exemplary and are not specifically limited, and will not be elaborated below.

[0074] Figure 4 is a further schematic diagram showing the method of controlling the intermittent operation of the pump according to the embodiment of the present disclosure. As Figure 4 shown, the pool automatic cleaning device 10 is only provided with a single pump 101' and its corresponding single water outlet 102'. The method of controlling the intermittent operation of the pump 101' applied to such a pool automatic cleaning device 10 may include:

[0075] Controlling the single pump 101' to operate intermittently to guide the fluid to intermittently spray out from the water outlet 102', or performing the above-mentioned periodic increase or decrease to guide the fluid to intermittently spray out from the water outlet 102'. Further, the water outlet 102' can also be controlled to open or close correspondingly to guide the fluid to intermittently spray out from the water outlet 102' during the power increase of the pump 101'. The specific process is as described above and will not be elaborated.

[0076] Figure 5 is a further schematic diagram showing the method of controlling the intermittent operation of the pump according to the embodiment of the present disclosure. As Figure 5 shown, the pool automatic cleaning device 10 is provided with a single pump 101'' and two corresponding water outlets 102'' (for the convenience of the following description, Figure 5 they are divided into water outlet 102''a and water outlet 102''b). The method of controlling the intermittent operation of the pump 101'' applied to such a pool automatic cleaning device 10 may include:

[0077] Control the single water pump 101 to work intermittently to guide the fluid to intermittently eject from one of the water outlets 102”a or 102”b. Specifically, it can eject from the water outlet 102”a every time, or eject from the water outlet 102”b every time, or alternately eject from the water outlets 102”a and 102”b (especially when the second preset duration is short, for example, when the body tilt angle has not been restored to the first preset posture).

[0078] Further, it is also possible to control the above-mentioned periodic enhancement or weakening to guide the fluid to intermittently eject from the water outlet 102”a or 102”b. Further, it is also possible to control the corresponding opening or closing of the water outlet 102”a or 102”b to guide the fluid to intermittently eject from the water outlet 102”a or 102”b during the power enhancement of the water pump 101. The specific process is the same as described above and will not be elaborated here.

[0079] Figure 6 It is a block diagram of a pool automatic cleaning device according to an embodiment of the present disclosure. As Figure 6 shown, the pool automatic cleaning device 10 according to an embodiment of the present disclosure at least includes a memory 601 and a processor 602. The memory 601 is used to store computer-readable instructions. The processor 602 is used to run the computer-readable instructions so that the pool automatic cleaning device 10 executes the fast sinking method according to the embodiment of the present disclosure as described above. It is easy to understand that the pool robot 10 according to the embodiment of the present disclosure is not limited to the above components, Figure 6 only the components related to the fast sinking method according to the embodiment of the present disclosure are shown.

[0080] Figure 7 It is a schematic diagram of a computer program product according to an embodiment of the present disclosure. As Figure 7 shown, the computer program product 700 according to an embodiment of the present disclosure includes a computer program 701, and when the computer program 701 is executed by a processor, it implements the fast sinking method according to the embodiment of the present disclosure as described above.

[0081] Above, the fast sinking method, the pool automatic cleaning device, and the computer program product according to the embodiments of the present disclosure have been described with reference to the accompanying drawings. According to the fast sinking method according to the embodiments of the present disclosure, by controlling the pool automatic cleaning device to accelerate sinking, manual intervention can be reduced, and the sinking efficiency and user experience can be improved.

[0082] Those of ordinary skill in the art can realize that the units and algorithm steps of the examples described in combination with the embodiments disclosed herein can be implemented by 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. Professional technicians 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 this disclosure.

[0083] The basic principles of this disclosure have been described above in combination with specific embodiments. However, it should be noted that the advantages, benefits, effects, etc. mentioned in this disclosure are only examples and not limitations. It cannot be considered that these advantages, benefits, effects, etc. are essential for each embodiment of this disclosure. In addition, the specific details disclosed above are only for the purpose of illustration and facilitating understanding, rather than limitations. These details do not limit this disclosure to necessarily adopt the above specific details for implementation.

[0084] The block diagrams of the devices, apparatuses, equipment, and systems involved in this disclosure are only illustrative examples and do not intend to require or imply that they must be connected, arranged, and configured in the manner shown in the block diagrams. As those skilled in the art will recognize, these devices, apparatuses, equipment, and systems can be connected, arranged, and configured in any manner. Words such as "including", "comprising", "having", etc. are open-ended terms, meaning "including but not limited to", and can be used interchangeably with each other. The word "or" and "and" used herein refer to the word "and / or", and can be used interchangeably with each other unless the context clearly indicates otherwise. The word "such as" used herein refers to the phrase "such as but not limited to", and can be used interchangeably with each other.

[0085] In addition, as used herein, the "or" used in the enumeration of items starting with "at least one" indicates a separate enumeration. For example, the enumeration of "at least one of A, B, or C" means A or B or C, or AB or AC or BC, or ABC (that is, A and B and C). In addition, the term "exemplary" does not mean that the described examples are preferred or better than other examples.

[0086] It should also be noted that in the systems and methods of this disclosure, each component or each step can be decomposed and / or recombined. These decompositions and / or recombinations should be regarded as equivalent solutions of this disclosure.

[0087] Various changes, substitutions, and alterations to the technology described herein can be made without departing from the teachings defined by the appended claims. Additionally, the scope of the claims of this disclosure is not limited to the specific aspects of the processes, machines, manufactures, compositions of events, means, methods, and acts described above. Processes, machines, manufactures, compositions of events, means, methods, or acts that are currently existing or later to be developed and that perform substantially the same function or achieve substantially the same result as the corresponding aspects described herein can be utilized. Accordingly, the appended claims include such processes, machines, manufactures, compositions of events, means, methods, or acts within their scope.

[0088] The foregoing description of the disclosed aspects is provided to enable any person skilled in the art to make or use the present disclosure. Various modifications to these aspects will be readily apparent to those skilled in the art, and the general principles defined herein can be applied to other aspects without departing from the scope of the disclosure. Thus, the disclosure is not intended to be limited to the aspects shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

[0089] The foregoing description has been presented for purposes of illustration and description. Furthermore, this description is not intended to limit the embodiments of the disclosure to the form disclosed herein. Although several example aspects and embodiments have been discussed above, those skilled in the art will recognize certain variations, modifications, alterations, additions, and subcombinations thereof.

Claims

1. A rapid sinking method, applied to a pool automatic cleaning device, the pool automatic cleaning device is provided with a water pump and a water outlet, the water pump can guide fluid to flow out from the water outlet, characterized in that, The method includes: After the automatic pool cleaning device enters the pool, control the automatic pool cleaning device to perform an accelerated sinking action, so that the automatic pool cleaning device accelerates and sinks in the pool; Judge whether the automatic pool cleaning device meets the first preset condition. If it meets, control the automatic pool cleaning device to stop performing the accelerated sinking action; Wherein, the accelerated sinking action includes controlling the water pump to work intermittently to guide the fluid to be intermittently ejected from the water outlet, and the intermittent work includes the water pump being turned on or off according to a preset rule.

2. The rapid sinking method according to claim 1, wherein The first preset condition includes one of the following conditions: The periodic on or off of the water pump meets a preset number of times; The periodic on or off of the water pump meets a preset time threshold; The automatic pool cleaning device detects that it has reached the bottom of the pool or is at a first preset distance from the bottom.

3. The rapid sinking method according to claim 1, characterized in that The preset rule includes periodic on or off. Wherein, a single period includes: Control the water pump to be turned on for a first preset duration and then control the water pump to be turned off for a second preset duration.

4. The rapid sinking method according to claim 3, wherein The second preset duration is determined based on one of the following conditions: A preset fixed value; Or, the time required for the automatic pool cleaning device to sink a preset distance; Or, the time required for the automatic pool cleaning device to adjust to a first preset posture.

5. The rapid sinking method according to claim 4, wherein Includes: The preset fixed value is in the range of 0 - 2s; Or, the preset sinking distance is within 0 - 0.5 meters; Or, the first preset posture is the posture where the body of the automatic pool cleaning device is basically parallel to the water surface.

6. The rapid sinking method according to any one of claims 1-5, characterized in that, The control of the water pump to work intermittently includes: If there is only a single water pump, control the single water pump to work intermittently; If there are two water pumps, control one of the two water pumps to work intermittently; or control the two water pumps to work intermittently alternately.

7. The rapid sinking method according to claim 6, characterized in that, The control of the single water pump to work intermittently includes: If the water outlet is one, control the single water pump to work intermittently to guide the fluid to be intermittently ejected from the middle of the water outlet; If the water outlet is two, control the single water pump to work intermittently to guide the fluid to be intermittently ejected from one of the water outlets.

8. The rapid sinking method according to claim 6, wherein The control of one of the two water pumps to work intermittently further includes: The water outlet is two, and each of the two water pumps corresponds to a water outlet. Control one of the two water pumps to work intermittently to guide the fluid to be intermittently ejected from the water outlet corresponding to this water pump.

9. The rapid sinking method according to claim 6, wherein The control of the two water pumps to work intermittently alternately includes: The water outlet is two, and each of the two water pumps corresponds to a water outlet. Control the two water pumps to work intermittently alternately to guide the fluid to be alternately ejected from the two water outlets.

10. An automatic pool cleaning device, characterized in that, Includes: A memory for storing computer-readable instructions; And A processor for running the computer-readable instructions, so that the automatic pool cleaning device executes the rapid sinking method according to any one of claims 1 to 9.

11. A non-transitory computer-readable storage medium for storing computer-readable instructions, characterized in that, When the computer-readable instructions are executed by the processor, the processor executes the rapid sinking method according to any one of claims 1 to 9.

12. A computer program product comprising a computer program, characterized in that, When the computer program is executed by a processor, the rapid sinking method described in any one of claims 1 to 9 is implemented.

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