Automatic pool cleaning device, control method and computer storage medium

Abstract

The invention provides an automatic pool cleaning device, a control method and a computer storage medium. The automatic pool cleaning device is used for cleaning a pool, the pool comprises steps, and the control method comprises the steps that the automatic pool cleaning device is controlled to move on the pool wall of the pool; whether at least part of the automatic pool cleaning device moves to the step or not is judged, and if yes, the distance between the automatic pool cleaning device and the water surface is detected; under the condition that the distance between the automatic pool cleaning device and the water surface is larger than or equal to a first preset distance, the automatic pool cleaning device is controlled to continue to move along the pool wall, it is ensured that the automatic pool cleaning device can adjust the moving path according to the distance between the steps and the water surface, and therefore comprehensive cleaning of the swimming pool is achieved.

Description

Technical Field

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

[0002] With the widespread adoption of swimming pools, users are increasingly demanding personalized treatments. Most pools now feature structures like steps or platforms. Pool robots have several options for handling these steps and platforms during cleaning: retreating upon detecting a step, retracting upon setting a threshold for the number of steps, or simply not treating steps specifically. However, these approaches all have drawbacks, such as potential missed areas, robot jams, and air aspiration. Therefore, a new approach is urgently needed to achieve comprehensive pool cleaning. Summary of the Invention

[0003] In response to the deficiencies of the above-mentioned prior art, the present application provides a control method for an automatic pool cleaning device, wherein the automatic pool cleaning device is used to clean a pool, and the pool includes steps. The control method includes: controlling the automatic pool cleaning device to move on the pool wall; determining whether at least part of the automatic pool cleaning device has moved onto the steps, and if so, detecting the distance between the automatic pool cleaning device and the water surface; and controlling the automatic pool cleaning device to continue moving along the pool wall when the distance between the automatic pool cleaning device and the water surface is greater than or equal to a first predetermined distance.

[0004] Furthermore, the control method further includes: if the distance between the automatic pool cleaning device and the water surface is less than the first predetermined distance, controlling the automatic pool cleaning device to move along the pool wall to the bottom of the pool.

[0005] Furthermore, the method of judging whether at least part of the automatic pool cleaning device has moved to the step includes: judging by map information of the pool wall; judging by the pool wall image captured by the image acquisition component; judging by contour information of the pool wall detected by the laser radar; judging by posture data of the automatic pool cleaning device; or judging by detection data of the downward-looking sensor of the automatic pool cleaning device.

[0006] Furthermore, the posture data includes a pitch angle of the automatic pool cleaning device. If a change in the pitch angle of the automatic pool cleaning device is greater than a preset angle threshold, it is determined that at least a portion of the automatic pool cleaning device has moved onto the step.

[0007] Furthermore, if the detection data of the downward-looking sensor first increases and then decreases within a predetermined time period, it is determined that at least a portion of the automatic pool cleaning device has moved onto the step.

[0008] Furthermore, if the change in the pitch angle of the automatic pool cleaning device is greater than a preset angle threshold, and the detection data of the downward-looking sensor meets a predetermined condition, it is determined that at least part of the automatic pool cleaning device has moved onto the step.

[0009] Furthermore, the predetermined condition includes: the detection data of the downward-looking sensor is greater than a predetermined distance value, or the detection data of the downward-looking sensor is abnormal.

[0010] Furthermore, the distance between the automatic pool cleaning device and the water surface is measured by a depth meter.

[0011] Furthermore, the first predetermined distance is greater than or equal to the body length of the automatic pool cleaning device.

[0012] Furthermore, after controlling the automatic pool cleaning device to move along the pool wall to the bottom of the pool, the control method also includes: controlling the automatic pool cleaning device to turn at the bottom of the pool and move forward a second predetermined distance or a predetermined time, and then move back to the pool wall.

[0013] The present application also discloses an automatic pool cleaning device, which can execute the control method described in any embodiment of the present application.

[0014] The present application also discloses a non-volatile computer storage medium, in which a computer program is stored. The computer program is used by a processor to execute the control method described in any embodiment of the present application.

[0015] The embodiments described in this application have the following beneficial effects:

[0016] The control method of the automatic pool cleaning device provided in the present application determines whether the automatic pool cleaning device has moved to the steps and detects the distance between the automatic pool cleaning device and the water surface. When the distance is greater than or equal to a first predetermined distance, the automatic pool cleaning device is controlled to continue moving along the pool wall, ensuring that the automatic pool cleaning device can adjust the moving path according to the distance between the steps and the water surface, thereby achieving comprehensive cleaning of the swimming pool, and at the same time avoiding the problem of the robot getting stuck or inhaling air on the steps. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solution of the present application, the following briefly introduces the drawings required for describing the embodiments. The drawings described below are only exemplary embodiments of the present application.

[0018] Figure 1 A flow chart showing a method for controlling an automatic pool cleaning device according to an embodiment of the present application is shown;

[0019] Figure 2 Schematic diagram showing the automatic pool cleaning device of an embodiment of the present application moving along the pool wall Figure 1 ;as well as

[0020] Figure 3 Schematic diagram showing the automatic pool cleaning device of an embodiment of the present application moving along the pool wall Figure 2 .

[0021] Description of the accompanying drawings: 200 - pool, 201 - pool bottom, 202 - pool wall, 203 - pool bank. DETAILED DESCRIPTION

[0022] The technical solutions in this application will be described clearly and completely below. Obviously, the embodiments described are only some of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application. It should be noted that the embodiments in this application and the features in the embodiments can be combined with each other unless there is a conflict.

[0023] The present application provides a control method for an automatic pool cleaning device, an automatic pool cleaning device using the control method, and a computer storage medium. The automatic pool cleaning device of the present application is used to clean a pool, wherein the pool includes steps. The pool is, for example, a pool-shaped building. The pool-shaped building can be a swimming pool, a reservoir, a spa pool, a water tank, a water storage tank, etc. The automatic pool cleaning device can be a device such as an automatic cleaning device, a pool cleaning robot, etc., which can clean the pool-shaped building. The present application does not limit the specific presentation of the automatic pool cleaning device and the pool-shaped building, as long as the principles of the present application can be implemented. In the following, unless otherwise specified, the robot will be used as an example of the automatic pool cleaning device, and the swimming pool will be used as an example of the pool or pool-shaped building. In the following, unless otherwise specified, the terms "pool bottom", "pool bottom surface", and "pool bottom" all refer to the bottom surface of the swimming pool.

[0024] The following combination Figures 1 to 3 The control method 100 of the automatic pool cleaning device of the present application is described in detail. Figure 1 A flow chart of a control method 100 of an automatic pool cleaning device according to an embodiment of the present application is shown. Figure 2 Schematic diagram showing the automatic pool cleaning device of an embodiment of the present application moving along the pool wall Figure 1 . Figure 3Schematic diagram showing the automatic pool cleaning device of an embodiment of the present application moving along the pool wall Figure 2 .like Figure 1 As shown, the control method 100 includes: in step S101, controlling the automatic pool cleaning device to move on the wall of the pool; in step S102, determining whether at least part of the automatic pool cleaning device has moved to the step; if so, proceeding to step S103; in step S103, detecting the distance between the automatic pool cleaning device and the water surface; when the distance between the automatic pool cleaning device and the water surface is greater than or equal to a first predetermined distance, proceeding to step S104; in step S104, controlling the automatic pool cleaning device to continue moving along the pool wall.

[0025] In step S101, the automatic pool cleaning device is controlled to move on the pool wall.

[0026] When the robot performs cleaning operations in a pool, it can include multiple working modes, such as: pool bottom cleaning mode, pool wall cleaning mode, waterline cleaning mode, and water surface cleaning mode. Among them, the pool wall cleaning mode is also called wall climbing mode. This mode mainly uses the adsorption principle of water pumps to attach the robot to the pool wall and move on the pool wall to clean the pool wall. The waterline cleaning mode can be understood as the machine moving up along the pool wall to the waterline, and moving up and down near the waterline to clean the waterline. It can be seen that both the pool wall cleaning mode and the waterline cleaning mode require controlling the robot to climb the wall. When there are steps in the pool, the robot is likely to encounter steps when climbing the wall. If the steps are close to the water surface, the robot may get stuck or inhale air when climbing up the wall at the steps.

[0027] For example, Figure 2 Schematic diagram showing the automatic pool cleaning device of an embodiment of the present application moving along the pool wall Figure 1 . Figure 2 In the figure, 200 represents a pool, 201 represents the pool bottom, 202 represents the pool wall, and 203 represents the pool bank. The robot can be controlled by the robot control system to move in the following manner: Figure 2 The robot moves on the pool wall (such as a large step) as shown. During the movement, the robot can clean, absorb and filter the dirt on the pool wall through the cleaning mechanism to achieve the purpose of cleaning.

[0028] For example, Figure 3 Schematic diagram showing the automatic pool cleaning device of an embodiment of the present application moving along the pool wall Figure 2 . Figure 3 In the figure, 200 represents a pool, 201 represents the pool bottom, 202 represents the pool wall, and 203 represents the pool bank. The robot can be controlled by the robot control system to move in the following manner: Figure 3The robot moves on the pool wall (such as a small step) as shown. During the movement, the robot can clean, absorb and filter the dirt on the pool wall through the cleaning mechanism to achieve the purpose of cleaning.

[0029] The control system may include, for example, a perception module, a control module, and an execution module. The perception module may include, for example, a flow rate sensor, a pressure sensor, a distance sensor, an image sensor, etc. The perception module is used to monitor the water flow in the pool, the distribution of dirt, the distance between the robot and surrounding objects, and the robot's motion state in real time. The control module may be composed of a control chip and related circuits. The control module is used to receive sensor data, process signals, and generate corresponding control commands based on a preset control strategy. The execution module may include, for example, a motor drive system and a cleaning mechanism. The motor drive system can adjust the motor speed and direction according to the control commands to control the robot's movement speed and movement path. The cleaning mechanism (for example, a water pump, a sewage suction port, a belt conveyor, a rotating brush, etc.) can clean, absorb, and filter dirt during the robot's movement.

[0030] It is understood that the pool wall can be understood as the part of the pool other than the pool bottom, for example, including Figure 2 The large steps shown may also include Figure 3 The small steps shown may also include an arc-shaped area. The above description of the pool wall scene and the robot's movement on the pool wall is only exemplary. Those skilled in the art can set the robot's scene on the pool wall and the movement on the pool wall according to actual conditions, as long as the technical principles of this application can be implemented.

[0031] Next, the process proceeds to step S102 . In step S102 , it is determined whether at least a portion of the automatic pool cleaning device has moved onto the step. If it is determined that at least a portion of the robot has moved onto the step, the process proceeds to step S103 , where the distance between the robot and the water surface is detected.

[0032] For example, robots along Figure 2 or Figure 3 During the movement on the pool wall shown, it is determined whether the robot has moved onto the steps. Specifically, while the robot is moving on the pool wall, it can be determined whether the robot has moved onto the steps, for example, by using an image acquisition device, a distance sensor, a laser radar, an inertial measurement unit, etc. If it is determined that at least a part of the robot has moved to the steps, the process proceeds to step S103 to detect the distance between the robot and the water surface. Among them, whether at least a part of the robot has moved to the steps may include at least a part of the robot moving to the side wall of the steps or the top of the steps. The judgment step in step S102 will be described in detail below with reference to specific examples.

[0033] In step S102, the method of determining whether at least part of the automatic pool cleaning device has moved to the step may include: determining by map information of the pool wall; determining by an image of the pool wall captured by an image acquisition component; determining by contour information of the pool wall detected by a laser radar; determining by posture data of the automatic pool cleaning device; or determining by detection data of a downward-looking sensor of the automatic pool cleaning device.

[0034] For example, the map information of the pool wall can be used to determine whether at least part of the robot has moved to the steps. Specifically, the map information of the pool wall contains key data such as the shape and outline of the pool wall and the position of the steps. Before performing the cleaning task, the robot can obtain the map information of the pool wall in a variety of ways. For example, the pool can be scanned by a sensor (for example, scanning the pool wall) to obtain point cloud data, and generate map information based on the point cloud data, or the map information of the pool wall can be obtained in advance based on the learning and recording of historical cleaning paths, or the user can manually draw or manually input the map information. While the robot is moving on the pool wall, the robot's built-in positioning system (such as an inertial navigation system or a visual recognition system) can determine the robot's own position in real time and compare it with the pre-stored map information. When the positioning system detects that the robot's position matches the step area marked on the map, it can be determined that at least part of the robot has moved to the steps.

[0035] For example, the image of the pool wall collected by the image acquisition component can be used to determine whether at least part of the robot has moved to the step. Specifically, the image data of the pool (such as the image data of the pool wall) is collected in real time by an image acquisition component (such as a camera), and the image data is transmitted to the control system. The control system has a built-in image recognition algorithm that can analyze the image data and identify the feature differences between the pool wall and the steps, such as the shape of the steps, the edge contour, etc. By comparing the continuous image sequence, the control system can identify the position change of the robot. When the step feature appears in the image and the analysis shows that the robot has reached the step position, it is determined that at least part of the robot has moved to the step.

[0036] For example, the contour information of the pool wall detected by the laser radar can be used to determine whether at least part of the robot has moved onto the steps. Specifically, the laser radar obtains the contour data of the pool wall by emitting a laser beam and receiving the reflected signal. While the robot is moving on the pool wall, the laser radar continuously scans the surrounding environment, obtains point cloud data of the pool wall, and uses the point cloud data to identify the shape and structural features of the pool wall. The control system is able to receive and process this contour information in real time and analyze the geometric shape of the pool wall. When a change in the shape of a step is detected in the contour of the pool wall, such as the junction of a horizontal plane and a vertical plane or a change in the edge of a step, it is determined that at least part of the robot has moved onto the step.

[0037] For example, the robot's posture data can be used to determine whether at least part of the robot has moved to the step. Specifically, the robot is provided with an inertial measurement unit (IMU) inside. IMU generally includes an accelerometer, a gyroscope, and a magnetometer. The accelerometer is used to measure the acceleration of the robot in three-dimensional space. The gyroscope is used to measure the angular velocity of the robot in three-dimensional space, that is, the rate at which the robot rotates around each spatial axis (X-axis, Y-axis, and Z-axis). The magnetometer is used to detect the magnetic field of the surrounding environment when the robot performs the cleaning task, helping to determine the direction of the robot in the earth coordinate system. Through these data, the robot's posture changes can be calculated. If the robot moves toward the waterline along the pool wall surface, and the pool wall surface is smooth, the robot's posture data usually shows a stable feature. However, when the robot moves onto the steps, its posture will change significantly. For example, when the robot encounters the corner of the steps, there may be a significant change in the pitch angle. The control system receives and analyzes these posture data in real time, and determines that at least part of the robot has moved onto the steps through the preset angle change threshold.

[0038] Furthermore, the posture data may include a pitch angle of the automatic pool cleaning device. If a change in the pitch angle of the automatic pool cleaning device is greater than a preset angle threshold, it is determined that at least a portion of the automatic pool cleaning device has moved onto the step.

[0039] For example, the posture data may include the pitch angle of the robot. Figure 2 , the robot along Figure 2 During the illustrated wall movement, the robot moves from the bottom of the pool along the vertical wall toward the stepped platform. As it gradually moves onto the platform, the robot's body transitions from a vertical to a horizontal orientation, causing the robot's head to sink and its tail to tilt upward, resulting in a change in pitch angle. If the change in pitch angle exceeds a preset angle threshold (e.g., 10 degrees), it is determined that at least part of the robot has moved onto the step.

[0040] The variation of the pitch angle can be determined, for example, by the variation of the pitch angles of two adjacent sampling points. The IMU can collect the values of the robot's pitch angle at two consecutive sampling moments, and then calculate the difference between the two pitch angles, and determine the variation of the pitch angle by the difference between the two pitch angles. The variation of the pitch angle can also be determined, for example, by the variation of the pitch angle for a predetermined time period. The IMU continuously collects data on the pitch angle for a predetermined time period (for example, within 5 seconds), and then calculates the difference between the pitch angles at the beginning and end of the predetermined time period, or calculates the value of the pitch angle change during the entire predetermined time period, thereby obtaining the variation of the pitch angle.

[0041] Continue to refer to Figure 3 , the robot along Figure 3 During the pool wall movement shown, the robot's body length is greater than the height of a step. When the robot moves on the step, the pitch angle of the machine is the largest when it moves to the corner of the step. It can be determined whether the machine has at least partially moved onto the step based on the change in the pitch angle near the corner of the step.

[0042] It will be appreciated that the angle threshold may be set according to the size of the robot, or the size of the robot's tracks or wheels.

[0043] For example, the detection data of the robot's downward-looking sensor can be used to determine whether at least a part of the robot has moved onto the step. The downward-looking sensor can be a sensor provided at the bottom of the robot to detect the distance between the bottom of the robot and the pool wall or the pool bottom, such as an ultrasonic sensor, a DTOF sensor, etc. Specifically, while the robot is moving along the pool wall, the downward-looking sensor continuously monitors the distance between the robot and the pool wall or the pool bottom. When the robot moves along the vertical pool wall, the detection data of the downward-looking sensor is relatively stable. When the robot moves from the side wall of the step to the top of the step (for example Figure 2 The robot posture shown in the figure is that the robot's head will be higher than the side wall of the step. The downward sensor is generally set at the bottom of the robot's head. At this time, the downward sensor detects the difference between the bottom of the robot and the side wall of the step. Figure 2 The distance between the robot and the left side wall of the pool is as follows: at this time, the detection data of the downward-looking sensor increases compared to when the robot's head is not higher than the side wall of the step. When the robot moves from the side wall of the step to the table top of the step, the detection data of the downward-looking sensor begins to decrease. Or when the robot moves from the table top of the step to the side wall of the step, the robot's head will be raised, and the robot's head will be in a suspended state. At this time, the detection data of the downward-looking sensor increases. When the robot continues to move until the robot's head or the robot body is in contact with the side wall of the step again, the detection data of the downward-looking sensor decreases. It can be seen that the change in the detection data of the downward-looking sensor when the robot moves on the step is more obvious than that of the vertical pool wall. Based on the detection data of the downward-looking sensor, it can be judged that at least part of the robot has moved to the step.

[0044] Furthermore, if the detection data of the downward-looking sensor first increases and then decreases within a predetermined time period, it is determined that at least a portion of the automatic pool cleaning device has moved onto the step.

[0045] For example, Figure 3 In the scenario shown above, with multiple small steps, most or all of the robot is on the steps. The downward-looking sensor detects the maximum distance at the corner where the step's top meets the sidewall. Before the corner, the downward-looking sensor's distance reading gradually increases, while after the corner, the distance reading gradually decreases. Therefore, if the downward-looking sensor's detection data increases and then decreases within a predetermined time period (e.g., 5 seconds), it can be determined that at least part of the robot has moved onto the steps.

[0046] Furthermore, if the change in the pitch angle of the automatic pool cleaning device is greater than a preset angle threshold, and the detection data of the downward-looking sensor meets a predetermined condition, it is determined that at least part of the automatic pool cleaning device has moved onto the step.

[0047] For example, in order to more accurately determine that at least part of the robot has moved onto a step, the robot's pitch angle and the detection data of the downward-looking sensor can be used to make a comprehensive judgment. Specifically, if the change in the robot's pitch angle is greater than a preset angle threshold, it indicates that the robot may have encountered a step during movement, causing a change in posture. At the same time, the detection data of the downward-looking sensor also meets predetermined conditions, such as the detection data first increasing and then decreasing within a predetermined time period, or the detection data suddenly increasing and exceeding a predetermined distance value, or no reflected signal from the sensor is received, i.e., the bottom of the robot does not contact the pool wall or bottom. If the above two conditions are met at the same time, it is determined that at least part of the robot has moved onto a step.

[0048] For example, the predetermined condition may include: the detection data of the downward-looking sensor being greater than a predetermined distance value, or the detection data of the downward-looking sensor being abnormal. If the detection data of the downward-looking sensor is greater than the predetermined distance value or the detection data is abnormal, it can generally be assumed that the bottom of the robot is not in contact with the pool wall or bottom, that is, the bottom of the robot is in a suspended state. If, at this time, the change in the robot's pitch angle is greater than a preset angle threshold, it can be assumed that at least part of the robot has moved onto a step.

[0049] If it is determined in step S102 that at least a portion of the robot has moved to the step, the process proceeds to step S103 to detect the distance between the robot and the water surface. For example, the distance between the automatic pool cleaning device and the water surface can be measured using a depth meter.

[0050] For example, if it is determined in step S102 that at least a portion of the robot has moved onto a step, the distance between the robot and the water surface is detected. The distance between the robot and the water surface can be measured using various sensors, such as ultrasonic sensors or depth gauges. For example, an ultrasonic sensor can transmit sound waves to the water surface, receive the reflected sound waves, and calculate the distance between the robot and the water surface based on the time it takes for the sound waves to travel back and forth. A depth gauge can determine the distance between the robot and the water surface based on the relationship between water pressure and water depth. For example, a depth gauge can be mounted on the top or side of the robot. As the robot moves in the pool, the depth gauge can detect the water depth of the robot in real time, i.e., the vertical distance between the robot and the water surface. The operating principle of the depth gauge is based on physical properties. For example, it utilizes the proportional relationship between water pressure and depth, and converts the water pressure value into depth data using a preset algorithm. The robot's movement path can be adjusted based on the distance between the robot and the water surface, thereby avoiding problems such as missed cleaning spots, robot jams, or the robot inhaling air when it emerges from the water.

[0051] When the distance between the automatic pool cleaning device and the water surface is greater than or equal to the first predetermined distance, the process proceeds to step S104 , in which the automatic pool cleaning device is controlled to continue moving along the pool wall.

[0052] For example, in step S103, if it is detected that the distance between the robot and the water surface is greater than or equal to the first predetermined distance, it indicates that the robot is located deeper than the water surface. In this case, the robot can be controlled to move upward along the pool wall and clean.

[0053] For example, control the robot to move up along the pool wall and clean it, refer to Figure 2 , the robot can follow Figure 2 The large steps shown are moved upwards to Figure 2 After the machine is on the step shown, continue to use the solution described in this manual to determine that the machine is on the step and the distance from the water surface is still greater than or equal to the first predetermined distance, and then control the machine to continue along the step. Figure 2 The pool wall on the middle left moves upward, and the robot uses the cleaning mechanism to clean the large steps in all directions or clean the water line above the steps.

[0054] For example, control the robot to move up along the pool wall and clean it, refer to Figure 3 , the robot can follow Figure 3 The small step shown moves upward, with the bottom of the robot touching the corner of the small step (i.e., the robot is lying on the small step), and the robot uses its cleaning mechanism to clean the small step. By adjusting the robot's body posture and / or wheel speed difference, the robot can smoothly transition from the current step to the next step and continue cleaning, thereby achieving comprehensive cleaning of the small step or cleaning the waterline above the step.

[0055] Exemplarily, the first predetermined distance is greater than or equal to the body length of the automatic pool cleaning device.

[0056] For example, the first predetermined distance can be set to be greater than or equal to the body length of the robot, so as to ensure that the robot has sufficient range of movement, avoid getting stuck on the steps due to insufficient distance, and prevent the problem of inhalation caused by the robot being exposed to the water surface, thereby ensuring comprehensive cleaning of the pool while also improving cleaning efficiency.

[0057] Furthermore, when the distance between the automatic pool cleaning device and the water surface is less than a first predetermined distance, the automatic pool cleaning device is controlled to move along the pool wall to the bottom of the pool.

[0058] For example, when the distance between the robot and the water surface is less than the first predetermined distance, it indicates that the robot is too close to the water surface. If the robot continues to move upward, the above-mentioned problem of the robot getting stuck on the steps or the robot emerging from the water and inhaling air may occur, thereby affecting the normal operation of the robot. Figure 2 As shown, if the machine is Figure 2 If the robot is at least partially located on the step and the distance between the robot and the water surface is less than a first predetermined distance, the robot can be controlled to move downward along the pool wall until it reaches the bottom of the pool and no longer needs to be moved. Figure 2 Clean the pool wall to the left of the step as shown or the waterline above the step to prevent the machine from getting stuck or aspirating air on the step.

[0059] Furthermore, after controlling the automatic pool cleaning device to move along the pool wall to the bottom of the pool, the control method also includes: controlling the automatic pool cleaning device to turn at the bottom of the pool and move forward a second predetermined distance or a predetermined time, and then move back to the pool wall.

[0060] For example, after the robot moves along the pool wall to the bottom of the pool, the robot is controlled to complete the turn at the bottom of the pool and move forward a second predetermined distance, or after continuing to move for a predetermined time (for example, the predetermined time is 3 seconds), the robot is controlled to move to the pool wall again, so that the robot switches from the current cleaning path to another path to be cleaned to continue cleaning, thereby achieving a comprehensive cleaning of the pool wall or bypassing the step to clean other water lines to avoid the machine getting stuck or inhaling air when cleaning the water line at the step.

[0061] It will be understood that the above description of the first predetermined distance, the second predetermined distance and the predetermined duration is merely exemplary, and the first predetermined distance, the second predetermined distance and the predetermined duration can be set according to the shape of the pool, the size of the pool, the body size of the robot and the driving speed.

[0062] The control method 100 of the automatic pool cleaning device provided in the present application determines whether the automatic pool cleaning device has moved to the steps and detects the distance between the automatic pool cleaning device and the water surface. When the distance is greater than or equal to a first predetermined distance, the automatic pool cleaning device is controlled to continue moving along the pool wall, ensuring that the automatic pool cleaning device can adjust the moving path according to the distance between the steps and the water surface, thereby achieving comprehensive cleaning of the swimming pool, and at the same time avoiding the problem of the robot getting stuck or inhaling air on the steps.

[0063] The present application also discloses an automatic pool cleaning device, which can execute the control method described in any embodiment of the present application.

[0064] The present application also discloses a non-volatile computer storage medium, in which a computer program is stored. When the computer program is executed by a processor, the control method described in any embodiment of the present application can be implemented.

[0065] It should be understood that, in this embodiment, the computer storage medium may be located in at least one of the plurality of network servers in the computer network. Alternatively, in this embodiment, the storage medium may include, but is not limited to, various media capable of storing program code, such as a USB flash drive, a read-only memory (ROM), a random access memory (RAM), a mobile hard disk, a magnetic disk, or an optical disk.

[0066] It should be noted that the sequence of the above embodiments of the present application is only for description and does not represent the advantages or disadvantages of the embodiments.

[0067] In the description of this specification, the reference terms "one embodiment," "some embodiments," "example," "specific example," or "some examples" mean that the specific features, structures, materials, or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. Moreover, the specific features, structures, materials, or characteristics described may be combined in any appropriate manner in any one or more embodiments or examples. In addition, those skilled in the art may combine and integrate different embodiments or examples described in this specification, as well as features of different embodiments or examples, unless they are mutually inconsistent.

[0068] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features being referred to. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. Throughout the description of this application, "plurality" means two or more, unless otherwise specifically defined.

[0069] In this application, unless otherwise specified, directional words such as "up" and "down" are generally used with respect to the directions shown in the drawings, or with respect to the vertical, perpendicular or gravity directions; similarly, for ease of understanding and description, "left" and "right" are generally used with respect to the left and right shown in the drawings; "inside" and "outside" refer to the inside and outside relative to the outline of each component itself, but the above directional words are not used to limit this application.

[0070] The above is merely an exemplary embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any person skilled in the art can easily conceive of various modifications or substitutions within the technical scope described in this application, and such modifications or substitutions should be included in the scope of protection of the present application. Therefore, the scope of protection of the present application should be based on the scope of protection of the claims.

Claims

1. A method for controlling an automatic pool cleaning device, wherein the automatic pool cleaning device is used to clean a pool including steps, the control method comprising: Controlling the automatic pool cleaning device to move on the pool wall; determining whether at least a portion of the automatic pool cleaning device has moved onto the step, and if so, detecting a distance between the automatic pool cleaning device and the water surface; When the distance between the automatic pool cleaning device and the water surface is greater than or equal to a first predetermined distance, the automatic pool cleaning device is controlled to continue moving along the pool wall.

2. The control method according to claim 1, further comprising: If the distance between the automatic pool cleaning device and the water surface is less than the first predetermined distance, the automatic pool cleaning device is controlled to move along the pool wall to the bottom of the pool.

3. The control method according to claim 1 or 2, wherein: The method of determining whether at least part of the automatic pool cleaning device has moved onto the step includes: Judging by map information of the pool wall; Judging by the pool wall image acquired by the image acquisition component; Determining by using the contour information of the pool wall detected by the laser radar; Judging by the posture data of the automatic pool cleaning device; or The determination is made based on the detection data of the downward-looking sensor of the automatic pool cleaning device.

4. The control method according to claim 3, wherein: The posture data includes the pitch angle of the automatic pool cleaning device. If the change in the pitch angle of the automatic pool cleaning device is greater than a preset angle threshold, it is determined that at least part of the automatic pool cleaning device has moved onto the step.

5. The control method according to claim 3, wherein: If the detection data of the downward-looking sensor first increases and then decreases within a predetermined time period, it is determined that at least a portion of the automatic pool cleaning device has moved onto the step.

6. The control method according to claim 4, wherein: If the change in the pitch angle of the automatic pool cleaning device is greater than a preset angle threshold and the detection data of the downward-looking sensor meets a predetermined condition, it is determined that at least part of the automatic pool cleaning device has moved onto the step.

7. The control method according to claim 6, wherein: The predetermined condition includes: the detection data of the downward-looking sensor is greater than a predetermined distance value, or the detection data of the downward-looking sensor is abnormal.

8. The control method according to claim 1, wherein: The distance between the automatic pool cleaning device and the water surface is measured by a depth gauge.

9. The control method according to claim 1, wherein: The first predetermined distance is greater than or equal to the body length of the automatic pool cleaning device.

10. The control method according to claim 2, wherein: After controlling the automatic pool cleaning device to move along the pool wall to the bottom of the pool, the control method further includes: controlling the automatic pool cleaning device to turn and move forward at the pool bottom for a second predetermined distance or a predetermined time, and then move back to the pool wall.

11. An automatic pool cleaning device, wherein: The automatic pool cleaning device can execute the control method according to any one of claims 1 to 10.

12. 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 control method according to any one of claims 1 to 10 is implemented.

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