Automatic pool cleaning device, control method thereof and computer storage medium

Abstract

The invention provides a control method of an automatic pool cleaning device (20), the control method is used for cleaning a pool, and the control method comprises the following steps: controlling the automatic pool cleaning device (20) to carry out movable cleaning in the pool; detecting the residual electric quantity of the automatic pool cleaning device (20); and controlling the automatic pool cleaning device (20) to switch from a first cleaning mode to a second cleaning mode based on the remaining power, wherein the first cleaning mode is different from the second cleaning mode.

Description

Technical Field

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

[0002] With the increasing usage frequency and application scenarios of pool cleaning robots, charging the pool cleaning robot has become an important step. When the existing pool cleaning robots perform cleaning tasks, they usually adopt a fixed cleaning mode and cannot dynamically adjust the cleaning strategy according to the battery level, resulting in a decline in the cleaning effect or interruption of the task when the battery is low, greatly reducing the cleaning efficiency. In addition, the body of the pool cleaning robot is relatively heavy. If the body is at the pool wall or on the water surface when the task is interrupted, the body may fall from the pool wall or the water surface to the bottom of the pool due to battery exhaustion, and the body may collide with the pool, which may damage the automatic pool cleaning robot and even damage the waterproof structure of the pool. Summary of the Invention

[0003] The present application aims at the above-mentioned deficiencies of the prior art and provides a control method for an automatic pool cleaning device for cleaning a pool. The control method includes: controlling the automatic pool cleaning device to move and clean in the pool; detecting the remaining battery level of the automatic pool cleaning device; and controlling the automatic pool cleaning device to switch from a first cleaning mode to a second cleaning mode based on the remaining battery level, where the first cleaning mode is different from the second cleaning mode.

[0004] Further, the controlling the automatic pool cleaning device to switch from the first cleaning mode to the second cleaning mode based on the remaining battery level includes: the first cleaning mode includes a pool wall cleaning mode or a water surface cleaning mode; the second cleaning mode includes a pool bottom cleaning mode; determining whether the remaining battery level is greater than or equal to a predetermined battery level threshold. If not, controlling the automatic pool cleaning device to switch from the water surface cleaning mode or the pool wall cleaning mode to the pool bottom cleaning mode.

[0005] Further, the controlling the automatic pool cleaning device to switch from the first cleaning mode to the second cleaning mode based on the remaining battery level includes: the first cleaning mode includes a pool bottom cleaning mode; the second cleaning mode includes a pool wall cleaning mode or a water surface cleaning mode; determining whether the remaining battery level is greater than or equal to a predetermined battery level threshold. If so, controlling the automatic pool cleaning device to switch from the pool bottom cleaning mode to the pool wall cleaning mode or the water surface cleaning mode.

[0006] Further, after controlling the automatic pool cleaning device to switch the cleaning mode based on the remaining power, the control method further includes: generating a cleaning path according to the current cleaning mode, and controlling the automatic pool cleaning device to move and clean according to the cleaning path.

[0007] Further, the bottom cleaning mode of the pool includes at least one of the following modes: step mode, high coverage mode, low coverage mode, high efficiency mode, fixed-point cleaning mode, full coverage cleaning mode, and supplementary cleaning mode.

[0008] Further, the predetermined power threshold is 40%-60% of the total capacity of the battery of the automatic pool cleaning device.

[0009] Further, the predetermined power threshold is 50% of the total capacity of the battery of the automatic pool cleaning device.

[0010] The present application also provides an automatic pool cleaning device, wherein the automatic pool cleaning device can execute the control method of any one of the above.

[0011] Further, the automatic pool cleaning device further includes a power detection module and a mode switching module, the power detection module is used for power detection, and the mode switching module is used for switching the cleaning mode.

[0012] The present application also provides a non-volatile computer storage medium, wherein a computer program is stored in the storage medium, and when the computer program is executed by a processor, the method of any one of the above is implemented.

[0013] The embodiments described in the present application have the following beneficial effects:

[0014] The control method of the automatic pool cleaning device provided by the present application can enable the automatic pool cleaning device to intelligently switch between different cleaning modes according to the remaining power during the cleaning operation. The above control method can reasonably allocate the cleaning time of the bottom, wall, and water surface of the pool within the limited power of the automatic pool cleaning device, improving the cleaning efficiency. The detection of the power of the automatic pool cleaning device can prevent the automatic pool cleaning device from falling from the pool wall or water surface to the bottom of the pool due to insufficient power. Description of the Drawings

[0015] In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, the drawings required for the description of the embodiments will be briefly introduced below. The drawings in the following description are only exemplary embodiments of the present disclosure.

[0016] Figure 1 A flowchart showing the control method of the automatic pool cleaning device of the present application;

[0017] Figure 2 Shows a schematic structural diagram of the automatic pool cleaning device of the present application.

[0018] Description of reference numerals

[0019] 20. Automatic pool cleaning device; 210. Control system; 211. Power detection module; 212. Mode switching module. Specific embodiments

[0020] Embodiments of the present disclosure will be described below with reference to the accompanying drawings. The described embodiments are only a part of the embodiments of the present application, rather than all of the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present application without creative efforts shall fall within the protection scope of the present application. It should be noted that, without conflict, the embodiments in the present application and the features in the embodiments may be combined with each other.

[0021] First, refer to Figure 1 and Figure 2 to give an exemplary description of the automatic pool cleaning device 20 provided by the present application and its control method. Figure 1 is a flowchart showing the control method 100 of the automatic pool cleaning device 20 of the present application. Figure 2 is a schematic structural diagram showing the automatic pool cleaning device 20 of the present application.

[0022] The present application provides a control method for an automatic pool cleaning device 20, an automatic pool cleaning device 20 applying the control method, and a computer storage medium. The automatic pool cleaning device 20 of the present application can clean a pool. The pool is, for example, a pool-shaped building. The pool-shaped building can be a swimming pool, a water storage tank, a spa pool, a water storage tank, a water storage trough, etc. The automatic pool cleaning device 20 can be a device such as an automatic cleaning device, a pool cleaning robot 20, etc., which can clean the pool-shaped building. The present application does not limit the specific presentation forms of the automatic pool cleaning device 20 and the pool-shaped building, as long as the principle of the present application can be realized. In the following text, if not otherwise specified, the robot 20 will be used as an example of the automatic pool cleaning device 20 for description, and the swimming pool will be used as an example of the pool or the pool-shaped building for description. In the following text, if not otherwise specified, the terms "pool bottom", "swimming pool bottom surface", and "swimming pool bottom" all refer to the bottom surface of the swimming pool.

[0023] Next, refer to Figure 1 to give a detailed description of the control method 100 of the automatic pool cleaning device 20 provided by the present application.

[0024] The control method 100 of the automatic pool cleaning device 20 provided by this application is used to clean a pool. The control method 100 includes: in step S101, controlling the automatic pool cleaning device 20 to perform mobile cleaning in the pool; in step S102, detecting the remaining power of the automatic pool cleaning device 20; and in step S103, controlling the automatic pool cleaning device 20 to switch from a first cleaning mode to a second cleaning mode based on the remaining power, where the first cleaning mode is different from the second cleaning mode. The steps S101 to S103 in the control method 100 will be described below.

[0025] First, enter step S101. In step S101, control the automatic pool cleaning device 20 to perform mobile cleaning in the pool. The mobile cleaning may include the automatic pool cleaning device 20 performing mobile cleaning at the bottom of the pool, the automatic pool cleaning device 20 performing mobile cleaning on the water surface, and the automatic pool cleaning device 20 performing mobile cleaning on the pool wall. The movement can be random movement or movement along a planned path (such as a "zigzag" path). During the movement, the automatic pool cleaning device 20 can be powered and its direction adjusted by devices such as drive wheels, tracks, and water pumps on the body.

[0026] Next, enter step S102. In step S102, detect the remaining power of the automatic pool cleaning device 20.

[0027] During the cleaning operation of the automatic pool cleaning device 20, other components of the automatic pool cleaning device 20, such as the drive system, cleaning system, and communication module, will consume power. The automatic pool cleaning device 20 can use a power detection module 211 (described in detail below) to detect the remaining power of the automatic pool cleaning device 20 during the cleaning movement.

[0028] Next, enter step S103. In step S103, control the automatic pool cleaning device 20 to switch from a first cleaning mode to a second cleaning mode based on the remaining power, where the first cleaning mode is different from the second cleaning mode.

[0029] The automatic pool cleaning device 20 triggers the switching between the first cleaning mode and the second cleaning mode according to its remaining power. The cleaning modes of the automatic pool cleaning device 20 include: the water surface cleaning mode, the pool bottom cleaning mode, and the pool wall cleaning mode. In the water surface cleaning mode, the automatic pool cleaning device 20 moves randomly on the water surface or along a planned path (such as a "bow-shaped" path). While the automatic pool cleaning device 20 is moving, it uses the water suction port on the water surface of the automatic pool cleaning device 20 to suck the water and debris in front of the automatic pool cleaning device 20; in the pool bottom cleaning mode, the automatic pool cleaning device 20 moves randomly on the pool bottom or along a planned path (such as a "bow-shaped" path). While the automatic pool cleaning device 20 is moving, it uses the suction port at the bottom of the robot 20 to clean the pool bottom; in the pool wall cleaning mode, the automatic pool cleaning device 20 moves randomly on the pool wall or along a planned path (such as a "bow-shaped" path). While the robot 20 is moving, it uses the suction port at the bottom of the robot 20 to clean the pool wall.

[0030] The robot 20 changes its cleaning mode according to its remaining power. Specifically, the user can set a predetermined power threshold according to actual needs. For example, when the remaining power of the robot 20 is less than the predetermined power threshold, the robot 20 switches from the first cleaning mode to the second cleaning mode. The first cleaning mode is different from the second cleaning mode, that is, the first cleaning mode can be one of the water surface cleaning mode, the pool bottom cleaning mode, and the pool wall cleaning mode, and the second cleaning mode can be one of the two cleaning modes different from the first cleaning mode. For example, the first cleaning mode is the pool wall cleaning mode and the second cleaning mode is the pool bottom cleaning mode; the first cleaning mode is the water surface cleaning mode and the second cleaning mode is the pool bottom cleaning mode; of course, the first cleaning mode can also be set to the water surface cleaning mode, the second mode can be set to the pool wall cleaning mode, or the two can be interchanged. It can be understood that the robot 20 is in the first cleaning mode for a certain period of time until the remaining power of the robot 20 is less than the predetermined power threshold, and then the robot 20 changes its cleaning mode, that is, switches from the first cleaning mode to the second cleaning mode.

[0031] In step S103, the controlling the automatic pool cleaning device 20 to switch from the first cleaning mode to the second cleaning mode based on the remaining power includes: the first cleaning mode includes the pool wall cleaning mode or the water surface cleaning mode; the second cleaning mode includes the pool bottom cleaning mode; determining whether the remaining power is greater than or equal to the predetermined power threshold, and if not, controlling the automatic pool cleaning device 20 to switch from the water surface cleaning mode or the pool wall cleaning mode to the pool bottom cleaning mode.

[0032] In one case, the first cleaning mode includes a pool wall cleaning mode or a water surface cleaning mode, and the second cleaning mode includes a pool bottom cleaning mode. The control system of the automatic pool cleaning device 20 analyzes and judges the detected remaining power. If the remaining power of the automatic pool cleaning device 20 is less than a predetermined power threshold, the automatic pool cleaning device 20 switches from the water surface cleaning mode or the pool wall cleaning mode to the pool bottom cleaning mode. For example, when the robot 20 starts cleaning the pool in a fully charged state, given that the robot 20 has sufficient power, there is no worry about the risk of the robot falling from the pool wall / water surface due to power exhaustion. The robot 20 can first clean the water surface or the pool wall. During the cleaning operation of the robot 20, power is consumed. When the power of the robot 20 is consumed to be lower than the predetermined power threshold, the risk of the robot 20 falling from the pool wall or the water surface to the pool bottom due to power exhaustion increases. Then the robot 20 can switch to the pool bottom cleaning mode, that is, the robot 20 can move from the pool wall or the water surface to the pool bottom and clean the pool bottom. If the remaining power is exhausted during the process of the robot 20 performing the pool bottom cleaning mode, the robot 20 can be located at the pool bottom waiting for the user to fish it out, and the situation of the robot 20 falling from the pool bottom or the water surface to the pool bottom will not occur.

[0033] Thus, when the robot 20 is located on the water surface or the pool wall for cleaning, electrical energy is required to provide mechanical energy for other components such as the water pump set on the robot 20 to maintain the robot 20 in the cleaning movement on the water surface or the pool wall without falling. If the water surface cleaning mode or the pool wall cleaning mode continues when the power of the robot 20 is lower than the predetermined power threshold, when the power of the robot 20 is exhausted and cannot continue to provide mechanical energy for other components such as the water pump, and thus cannot maintain the operation state of the robot 20, the robot 20 will fall from the water surface or the pool wall. During the falling process, the robot 20 may collide with the pool, causing damage to the pool and the robot 20.

[0034] In one case, the first cleaning mode of the robot 20 is the pool wall cleaning mode. The robot 20 can use a path planning algorithm to plan the best path for the robot 20 to move from the pool wall to the pool bottom (for example, the path with the shortest distance between the position of the robot 20 on the pool wall and the pool bottom). The robot 20 moves along this path to the pool bottom and switches to the second cleaning mode.

[0035] In another case, the first cleaning mode of the robot 20 is the water surface cleaning mode. The robot 20 can directly descend from the water surface to the pool bottom to start the second cleaning mode; the robot 20 can also move from the water surface to the nearby pool wall first and then move to the pool bottom via the pool wall to start the second cleaning mode.

[0036] The selection of the first cleaning mode and the path for the first cleaning mode to switch to the second cleaning mode can be determined according to the actual situation. The above description is only exemplary.

[0037] In step S103, controlling the automatic pool cleaning device 20 to switch from the first cleaning mode to the second cleaning mode based on the remaining power includes: the first cleaning mode includes a bottom cleaning mode; the second cleaning mode includes a wall cleaning mode or a water surface cleaning mode; determining whether the remaining power is greater than or equal to a predetermined power threshold, and if so, controlling the automatic pool cleaning device 20 to switch from the bottom cleaning mode to the wall cleaning mode or the water surface cleaning mode.

[0038] In one case, the first cleaning mode includes a bottom cleaning mode; the second cleaning mode includes a wall cleaning mode or a water surface cleaning mode. When the control system of the robot 20 determines that the remaining power of the robot 20 is greater than the predetermined power threshold, the robot 20 switches to the wall cleaning mode or the water surface cleaning mode.

[0039] For example, when the robot 20 operates in the first cleaning mode until the remaining power is insufficient for the robot 20 to continue the cleaning operation, the robot 20 automatically searches for a charging base station and charges (the charging base station is set at the bottom of the pool for example). When the robot 20 completes charging or the robot 20 charges until the remaining power is greater than or equal to the predetermined power threshold, in this case, the robot 20 already has sufficient power, so there is no worry about the risk of the robot falling from the wall / water surface due to power exhaustion. The robot 20 can switch to the second cleaning mode, such as the wall cleaning mode or the water surface cleaning mode.

[0040] For example, the robot 20 can be connected to a solar panel floating on the water surface. During the cleaning operation of the robot 20 in accordance with the first cleaning mode, the solar panel charges the robot 20. The robot 20 can monitor the remaining power in real time. For example, if the control system of the robot 20 detects that the remaining power has become greater than or equal to the predetermined power threshold due to the charging of the robot 20 by the solar panel, the robot 20 can switch to the second cleaning mode, such as the wall cleaning mode or the water surface cleaning mode.

[0041] The above examples are non-exhaustive, and other situations in actual applications are also within the protection scope of this application.

[0042] Based on the principle described above, it can be understood that when the remaining power of the robot 20 is greater than the predetermined power threshold, the wall cleaning mode or the water surface cleaning mode is performed, and when the remaining power of the robot 20 is less than the predetermined power threshold, the bottom cleaning mode is performed.

[0043] The cleaning mode before switching the cleaning mode is the first cleaning mode, and the cleaning mode after switching the cleaning mode is the second cleaning mode. This application does not limit the specific cleaning modes of the first cleaning mode and the second cleaning mode, as long as the technical principle of this application can be achieved.

[0044] Furthermore, the predetermined power threshold is 40%-60% of the total capacity of the battery of the pool automatic cleaning device 20.

[0045] For example, the predetermined power threshold is 40%-60% of the total capacity of the battery of the pool automatic cleaning device 20, that is, the robot 20 can perform the pool wall cleaning mode or the water surface cleaning mode until the remaining power of the robot 20 is lower than 40%-60% of the total capacity of the battery, and then the robot 20 switches to the pool bottom cleaning mode. Thus, it can prevent the robot 20 from continuously performing the cleaning mode on the pool wall or the water surface until the power is exhausted, causing damage to the pool and the robot 20 described above. At the same time, it can also enable the robot 20 to comprehensively clean the swimming pool within its working time, avoiding the situation where only a part of the swimming pool is repeatedly cleaned (for example, only the pool bottom is cleaned or only the pool wall is cleaned) until the power is exhausted.

[0046] The specific value of the predetermined power threshold can be selected according to the pool wall area, water surface area, pool bottom area of the actual pool, the degree of dirt in the area to be cleaned, etc. For example, when the pool wall area is larger than the pool bottom area, the predetermined power threshold can be set to 40% of the total capacity of the battery of the robot 20, that is, the robot 20 can use more power to clean the pool wall; when the remaining power of the robot 20 is less than 40% of the total capacity of the battery of the robot 20, the robot 20 switches from the pool wall cleaning mode to the pool bottom cleaning mode. The above exemplary description of the setting of the predetermined power threshold is not an exhaustive list.

[0047] In one case, the predetermined power threshold is 50% of the total capacity of the battery of the pool automatic cleaning device 20. If the pool bottom area is equal to or substantially equal to the pool wall area, the predetermined power threshold can be set to 50% of the total capacity of the battery of the robot 20, so that the robot 20 first cleans the pool wall of the pool when fully charged, and when the remaining power is less than 50% of the total capacity of the battery, the robot 20 switches to the pool bottom cleaning mode.

[0048] Furthermore, after controlling the pool automatic cleaning device 20 to switch the cleaning mode based on the remaining power, the control method further includes: generating a cleaning path according to the current cleaning mode, and controlling the pool automatic cleaning device 20 to move and clean according to the cleaning path.

[0049] After the robot 20 switches the cleaning mode, the robot 20 can use components such as lidar, ultrasonic sensors, or cameras installed on its body to scan and range the images in the forward direction of the robot 20, identify obstacles in front of the robot 20 through methods such as AI analysis and depth estimation, and perform path planning using path planning algorithms.

[0050] A lidar can, for example, emit an optical signal (such as a laser) in the moving direction of the pool automatic cleaning device 20. When the optical signal encounters an object (such as an obstacle in front of the pool automatic cleaning device 20), the optical signal will be reflected back to the lidar. At this time, the lidar calculates the distance between the pool automatic cleaning device 20 and the object based on the time difference or phase difference of the optical signal from emission to return. The lidar can also measure the deflection angle of the reflected optical signal. The controller of the pool automatic cleaning device 20 can convert the measured distance information and angle information into three-dimensional coordinates through the lidar, and further generate a point cloud of the object. The controller can further analyze the contour information and position information of the obstacle in front of the pool automatic cleaning device 20 based on the collected point cloud data.

[0051] The ultrasonic sensor emits ultrasonic waves in the forward direction of the pool automatic cleaning device 20 and receives the reflected echo. The pool automatic cleaning device 20 can rely on artificial intelligence software to analyze the data collected by the ultrasonic sensor and further generate an image of the target object.

[0052] The camera is used to collect image data in the pool environment to achieve functions such as obstacle recognition, path planning, and cleaning target detection. The camera can adopt one or more of the following types according to actual needs: a visible light camera (RGB camera) for obtaining color images under sufficient light conditions; a low-light camera (such as a high-sensitivity sensor camera) suitable for image acquisition in low-light environments; an infrared camera (IR camera) that can work in turbid water or low visibility conditions with infrared supplementary lighting; an underwater special camera with waterproof, pressure-resistant, and anti-corrosion characteristics, suitable for long-term underwater operations; a 3D camera or depth camera (such as a binocular vision, structured light, or ToF camera) for obtaining three-dimensional spatial information of obstacles; a multi-spectral or polarization camera for enhancing image recognition capabilities in specific scenarios (such as stain classification or specular reflection suppression); a panoramic camera for providing a wider field of view to enhance environmental perception capabilities. The cameras described above are only limited examples, and in practice, other types of cameras can be adopted as long as they can implement the technical concept of this application. It should be noted that the adopted camera should have a sealed waterproof function to ensure that it can be immersed in water for a long time and work stably.

[0053] The robot 20 can use the above components and combine AI analysis or path planning algorithms to plan a cleaning path, such as a "zigzag" path.

[0054] During the process of the robot 20 moving along the planned cleaning path, the pool automatic cleaning device 20 can provide power and adjust the direction through devices such as drive wheels, tracks, and water pumps on the body.

[0055] Specifically, the crawlers and / or drive wheels of the robot 20 are arranged on both sides of the robot 20. The rotation of the crawlers and / or drive wheels enables the automatic pool cleaning device 20 to overcome the frictional force of the pool bottom or pool wall and move forward or rotate. The robot 20 can change the heading angle through the speed difference between the crawlers on both sides and / or the drive wheels on both sides, thereby enabling the robot 20 to turn. The walking component of the robot 20 can be, for example, a paddle. The paddles can be arranged on both sides of the rear part of the robot 20 or on both sides of the fuselage. The reaction force generated by the rotation of the paddles to push the water flow can provide power for the robot 20 to move, and the speed difference between the paddles on both sides of the robot 20 can change the direction of the robot 20. The water pump can be arranged at the rear part of the automatic pool cleaning device 20 or on the top of the robot 20. The water pump can utilize the reaction force of water spraying to provide power for the robot 20 to move. The water pump changes the spraying angle to change the moving path and heading angle of the robot 20. The water pump can also drain the water in the cavity of the robot 20, enabling the robot 20 to float on the water surface for surface cleaning. The water pump described above is only exemplary, and the position and quantity of the water pump can be set according to the actual situation as long as the technical principle of this application can be achieved.

[0056] Further, the pool bottom cleaning mode includes at least one of the following modes: step mode, high coverage mode, low coverage mode, high efficiency mode, fixed-point cleaning mode, full coverage cleaning mode, and supplementary cleaning mode.

[0057] For example, steps are usually provided at the bottom of the pool for users. The robot 20 can identify the steps through components such as the lidar, ultrasonic sensor, or camera described above and enter the step mode. In the step mode, the robot 20 can, for example, increase the power of the water pump, thereby enabling the robot 20 to climb the steps.

[0058] For example, when the sensor identifies that the dirt level at the pool bottom is relatively high or the remaining power of the robot 20 is relatively high, the robot 20 can adopt the high coverage mode. In the high coverage mode, the robot 20 has a relatively high coverage rate for cleaning the pool bottom. The robot 20 can, for example, increase the power of the cleaning component and precisely map the pool bottom and plan the cleaning path through various sensors on the body of the robot 20 to achieve the high coverage mode.

[0059] For example, when the sensor identifies that the dirt level at the pool bottom is relatively low or the remaining power of the robot 20 is relatively low, the robot 20 can adopt the low coverage mode. In the low coverage mode, the robot 20 has a relatively low coverage rate for cleaning the pool bottom. Usually, the robot 20 performs random cleaning, the power of the cleaning component is reduced, and the missed cleaning area of the robot 20 for cleaning the pool bottom is relatively large in the low coverage mode, but the power consumption in the low coverage mode is less than that in the high coverage mode.

[0060] For example, if the remaining power of the robot 20 is low and the bottom area of the pool is large, the robot 20 can adopt the high-efficiency mode. In the high-efficiency mode, the robot 20 can achieve low-energy consumption and high-efficiency cleaning operations through measures such as intelligent path planning, power system optimization, and adaptive adjustment of cleaning parameters. Among them, the path planning has been described in detail above and will not be elaborated here. The power system optimization is, for example, the intermittent operation of the cleaning components; the adaptive adjustment of the cleaning parameters is, for example, the robot 20 adjusts the power of the cleaning components in real time according to the water quality situation.

[0061] For example, if the remaining power of the robot 20 is low or the dirty areas at the bottom of the pool are prominent (such as algae accumulation in the pool corners, sediments accumulated near the pool bottom railings, etc.), the robot 20 can adopt the fixed-point cleaning mode. In the fixed-point cleaning mode, the robot 20 can use components such as the above-mentioned lidar and ultrasonic sensors to scan the dirt condition at the bottom of the pool, generate the coordinates of the severely dirty areas at the bottom of the pool, and plan the path for the robot 20 to travel to the severely dirty areas.

[0062] For example, if the remaining power of the robot 20 is high or the pool area is large and the structure is complex, the robot 20 can adopt the full-coverage cleaning mode. In the full-coverage cleaning mode, the robot 20 can use high-precision ranging components such as lidar to scan the bottom of the pool, generate point cloud information of the bottom of the pool through the control system and perform deep learning, construct a three-dimensional model of the bottom of the pool, and intelligently plan the cleaning path of the robot 20.

[0063] For example, the supplementary cleaning mode can cooperate with the above-mentioned cleaning modes. In the supplementary cleaning mode, after the robot 20 completes the main cleaning task, it scans the bottom of the pool through sensors to check if there are any missed areas or local stains. If there are, the robot 20 cleans the missed areas or local stains again according to the above path planning method to make up for the deficiencies in the main cleaning task.

[0064] The above descriptions of the step mode, high-coverage mode, low-coverage mode, high-efficiency mode, fixed-point cleaning mode, full-coverage cleaning mode, and supplementary cleaning mode are only exemplary and not an exhaustive list. When the robot 20 performs the bottom cleaning mode, it can adopt one or more of the above cleaning modes according to the actual situation. This application does not limit the mode selection in the actual situation, as long as the technical principle of this application can be achieved.

[0065] This application also provides a pool automatic cleaning device 20, wherein the pool automatic cleaning device 20 can execute the control method of any one of the above.

[0066] The pool automatic cleaning device 20 can be, for example, a cleaning device such as a pool automatic cleaning robot or a pool automatic sweeping robot. The pool automatic cleaning device 20 can execute the above control program, which has been described in detail above and will not be elaborated here.

[0067] The automatic pool cleaning device 20 further includes a power detection module 211 and a mode switching module 212. The power detection module 211 is used for power detection, and the mode switching module 212 is used for switching the cleaning mode.

[0068] As Figure 2 shown, the power detection module 211 and the mode switching module 212 of the automatic pool cleaning device 20 are usually integrated in the control system 210 of the automatic pool cleaning device 20.

[0069] For example, the power detection module 211 monitors physical quantities such as voltage and current in real time. For example, the power detection module 211 can measure the battery voltage through a voltage detection circuit, and the battery voltage can reflect the remaining power of the current battery. The power detection module 211 processes the above voltage detection data and runs a power estimation algorithm to calculate the real-time power of the robot 20.

[0070] For example, the real-time power detected by the power detection module 211 is fed back to the control system 210. The control system 210 compares the above real-time power with a predetermined power threshold. Whether the real-time power of the robot 20 is greater than or less than the predetermined power threshold will trigger the mode switching module 212 to run the corresponding logic. For example, when the real-time power of the robot 20 is less than the predetermined power threshold, the mode switching module 212 controls the robot 20 to switch to the bottom cleaning mode of the pool.

[0071] This application also provides a non-volatile computer storage medium. A computer program is stored in the storage medium, and when the computer program is executed by a processor, the method of any one of the above is implemented.

[0072] It should be understood that the non-volatile computer storage medium can be located in at least one of multiple network servers in a computer network. Optionally, in this application, the above storage medium may include, but is not limited to: USB flash drives, read-only memories (ROMs), random access memories (RAMs), mobile hard disks, magnetic disks, or optical discs and other various media that can store program codes.

[0073] It should be noted that in practice, the term "path planning" does not necessarily require the robot 20 to pre-plan a movement trajectory and store the information corresponding to the movement trajectory in the memory of the robot 20. What is generally referred to as path planning in this field usually means planning a movement rule, which can be a trajectory planned according to a global map. The movement rule can also be a certain movement rule for controlling the movement of the robot 20. For example, a zigzag path movement rule. For example, the robot 20 is controlled to move straight ahead in a certain predetermined direction (i.e., move along the long side of the zigzag), turn right 90 degrees after encountering an obstacle in front, then move forward a preset distance or for a preset time (i.e., move along the short side of the zigzag), and then turn right 90 degrees, and so on.

[0074] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place, or may be distributed to multiple network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art can understand and implement it without creative efforts.

[0075] In the description of this specification, the descriptions with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples", etc. mean that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments or examples. In addition, without contradiction, those skilled in the art can combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples.

[0076] In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present application, "a plurality" means two or more, unless otherwise specifically defined.

[0077] In the present application, unless otherwise stated, the orientation terms such as "upper" and "lower" are usually in the direction shown in the drawings, or in the vertical, perpendicular or gravitational direction; similarly, for the convenience of understanding and description, "left" and "right" are usually the left and right shown in the drawings; "inner" and "outer" refer to the inner and outer of the contour of each component itself, but the above orientation terms do not limit the present application.

[0078] As described above, it is only an exemplary embodiment of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art within the technical scope recorded in the present application can easily think of various changes or substitutions, which should all be covered within the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims

1. A control method for an automatic pool cleaning device (20) for cleaning a pool, the control method comprising: Controlling the automatic pool cleaning device (20) to move and clean in the pool; Detecting the remaining power of the automatic pool cleaning device (20); And Based on the remaining power, controlling the automatic pool cleaning device (20) to switch from a first cleaning mode to a second cleaning mode, wherein the first cleaning mode is different from the second cleaning mode.

2. The control method according to claim 1, wherein, The controlling the automatic pool cleaning device (20) to switch from the first cleaning mode to the second cleaning mode based on the remaining power comprises: The first cleaning mode includes a pool wall cleaning mode or a water surface cleaning mode; The second cleaning mode includes a pool bottom cleaning mode; Judging whether the remaining power is greater than or equal to a predetermined power threshold, if not, then controlling the automatic pool cleaning device (20) to switch from the water surface cleaning mode or the pool wall cleaning mode to the pool bottom cleaning mode.

3. The control method according to claim 1, wherein The controlling the automatic pool cleaning device (20) to switch from the first cleaning mode to the second cleaning mode based on the remaining power comprises: The first cleaning mode includes a pool bottom cleaning mode; The second cleaning mode includes a pool wall cleaning mode or a water surface cleaning mode; Judging whether the remaining power is greater than or equal to a predetermined power threshold, if so, then controlling the automatic pool cleaning device (20) to switch from the pool bottom cleaning mode to the pool wall cleaning mode or the water surface cleaning mode.

4. The control method according to claim 1, wherein, After controlling the automatic pool cleaning device (20) to switch the cleaning mode based on the remaining power, the control method further comprises: Generating a cleaning path according to the current cleaning mode, and controlling the automatic pool cleaning device (20) to move and clean according to the cleaning path.

5. The control method according to claim 2 or 3, wherein, The pool bottom cleaning mode includes at least one of the following modes: step mode, high coverage mode, low coverage mode, high efficiency mode, fixed-point cleaning mode, full coverage cleaning mode, and supplementary cleaning mode.

6. The control method according to claim 2 or 3, wherein The predetermined power threshold is 40%-60% of the total capacity of the battery of the automatic pool cleaning device (20).

7. The control method according to claim 6, wherein, The predetermined power threshold is 50% of the total capacity of the battery of the automatic pool cleaning device (20).

8. An automatic pool cleaning device (20), wherein, The automatic pool cleaning device (20) is capable of executing the control method according to any one of claims 1-7.

9. The automatic pool cleaning device (20) according to claim 8, the automatic pool cleaning device (20) further comprises a power detection module (211) and a mode switching module (212), the power detection module (211) is used for power detection, and the mode switching module (212) is used for switching the cleaning mode.

10. A non-volatile computer storage medium, wherein a computer program is stored in the storage medium, and when the computer program is executed by a processor, the method according to any one of claims 1-7 is implemented.

Images