Control method of pool cleaning equipment, pool cleaning equipment and storage medium

Abstract

The invention relates to the field of pool cleaning equipment, and provides a pool cleaning equipment control method, pool cleaning equipment and a storage medium, the pool cleaning equipment comprises a first wheel set and a second wheel set, and the first wheel set and the second wheel set are arranged along different sides of the forward direction of the pool cleaning equipment and are used for driving the pool cleaning equipment to operate. The method comprises the steps that a first wheel set is controlled to run at a first speed, a second wheel set is controlled to run at a second speed, and the first speed is different from the second speed, so that the advancing direction of the pool cleaning equipment is inclined; and under the condition that the advancing direction of the pool cleaning equipment is inclined, the pool cleaning equipment is controlled to move along the water line of the pool. By controlling the wheel speed difference between the first wheel set and the second wheel set, the advancing direction of the pool cleaning equipment is inclined, and the pool cleaning equipment can be more flexibly controlled to change the direction, so that the pool cleaning equipment transversely moves along the water level under the inclined condition.

Description

Technical Field

[0001] The present application relates to the field of pool cleaning equipment, and in particular to a control method for pool cleaning equipment, a pool cleaning equipment, and a storage medium. Background Art

[0002] Existing pool cleaning robots typically rely solely on wheels and tracks for forward and backward movement. When the robot's movement needs to be adjusted to follow the water line, they typically tilt the robot by drawing in pool water as a physical counterweight, or by installing an additional water-spraying motor to generate a recoil force that tilts the robot. However, physical counterweights are susceptible to physical damage such as clogging and wear, while multiple motors increase the production and maintenance costs of pool cleaning robots. Improving the stability and control accuracy of lateral movement in pool cleaning equipment has become a pressing issue. Summary of the Invention

[0003] The main purpose of this application is to provide a control method for a pool cleaning device, a pool cleaning device and a storage medium, aiming to improve the stability of the pool cleaning device moving along the water level line.

[0004] In a first aspect, the present application provides a control method for a pool cleaning device, wherein the pool cleaning device includes a first wheel group and a second wheel group, wherein the first wheel group and the second wheel group are respectively arranged along different sides of the forward direction of the pool cleaning device, and are used to drive the pool cleaning device to operate. The method includes:

[0005] controlling the first wheel assembly to operate at a first speed and controlling the second wheel assembly to operate at a second speed, wherein the first speed is different from the second speed so as to tilt the forward direction of the pool cleaning device;

[0006] In the case that the forward direction of the pool cleaning device is tilted, the pool cleaning device is controlled to move along the water level line of the pool.

[0007] In the second aspect, the present application also provides a pool cleaning device, which includes a first wheel group, a second wheel group, and a roller brush mechanism. The first wheel group and the second wheel group are respectively arranged on different sides of the forward direction of the pool cleaning device, and are used to drive the pool cleaning device forward. The roller brush mechanism is at least used to clean the pool wall during the movement of the pool cleaning device; the pool cleaning device also includes a processor, a memory, and a computer program stored on the memory and executable by the processor, wherein when the computer program is executed by the processor, the steps of the control method of the pool cleaning device as described in any one of the embodiments of the present application are implemented.

[0008] In a third aspect, the present application further provides a computer-readable storage medium having a computer program stored thereon, wherein when the computer program is executed by a processor, the control method of the pool cleaning device as described above is implemented.

[0009] The present application provides a control method for a pool cleaning device, a pool cleaning device, and a storage medium. The pool cleaning device includes a first wheel group and a second wheel group, wherein the first wheel group and the second wheel group are respectively arranged on different sides of the forward direction of the pool cleaning device and are used to drive the pool cleaning device to operate. The method controls the first wheel group to operate at a first speed and the second wheel group to operate at a second speed, wherein the first speed is different from the second speed, so that the forward direction of the pool cleaning device is tilted; when the forward direction of the pool cleaning device is tilted, the pool cleaning device is controlled to move along the water level line of the pool. By controlling the wheel speed difference between the first wheel group and the second wheel group to tilt the forward direction of the pool cleaning device, the pool cleaning device can be more flexibly controlled to change direction, so that the pool cleaning device moves laterally along the water level line when tilted, thereby improving the stability of the pool cleaning device moving along the water level line and the efficiency of water level cleaning. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the description of the embodiments. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0011] Figure 1 A flow chart of a control method for a pool cleaning device provided in one embodiment of the present application;

[0012] Figure 2 A schematic structural diagram of a pool cleaning device provided in one embodiment of the present application;

[0013] Figure 3 A flow chart of a control method for a pool cleaning device provided in one embodiment of the present application;

[0014] Figure 4 A schematic diagram of a use scenario of a control method for a pool cleaning device provided in one embodiment of the present application;

[0015] Figure 5 A flow chart of a control method for a pool cleaning device provided in one embodiment of the present application;

[0016] Figure 6A schematic diagram of a use scenario of a control method for a pool cleaning device provided in one embodiment of the present application;

[0017] Figure 7 They are respectively schematic diagrams of usage scenarios of a control method for a pool cleaning device provided in an embodiment of the present application;

[0018] Figure 8 A flow chart of a control method for a pool cleaning device provided in one embodiment of the present application;

[0019] Figure 9 A schematic diagram of a pool side wall provided in accordance with an embodiment of the present application. DETAILED DESCRIPTION

[0020] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are part 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 efforts are within the scope of protection of this application.

[0021] The flowcharts shown in the accompanying drawings are for illustrative purposes only and do not necessarily include all contents and operations / steps, nor must they be executed in the order described. For example, some operations / steps may be decomposed, combined, or partially merged, so the actual execution order may vary depending on the actual situation.

[0022] Embodiments of the present application provide a control method for a pool cleaning device, a pool cleaning device, and a storage medium.

[0023] The following describes some embodiments of the present application in detail with reference to the accompanying drawings. In the absence of conflict, the following embodiments and features therein may be combined with each other.

[0024] Please refer to Figure 1 , Figure 1 A flow chart of a control method for a pool cleaning device provided in an embodiment of the present application. The control method for a pool cleaning device can be used in a pool cleaning device to improve the stability of the pool cleaning device moving along the water level line.

[0025] Please refer to Figure 2 , Figure 2 This is a schematic structural diagram of a pool cleaning device provided in one embodiment of the present application.

[0026] like Figure 2 As shown, the pool cleaning device includes a first wheel set 10 and a second wheel set 20. The first wheel set 10 and the second wheel set 20 are respectively arranged on different sides of the forward direction of the pool cleaning device to drive the pool cleaning device forward.

[0027] The first wheel assembly 10 and the second wheel assembly 20 are the mobile components of the pool cleaning device, which are used to convert the power of the motor into the mobility of the pool cleaning device, so that the pool cleaning device can move on the bottom wall, side wall or water of the pool. Specifically, the first wheel assembly 10 and the second wheel assembly 20 can be tires, tracks, etc.

[0028] Exemplarily, the first wheel set 10 and the second wheel set 20 can be respectively arranged on the left and right sides of the forward direction of the pool cleaning device. For example, the first wheel set 10 is the left wheel of the pool cleaning device, and the second wheel set 20 is the right wheel of the pool cleaning device.

[0029] like Figure 2 As shown, when the first wheel set 10 and the second wheel set 20 are tires, the first wheel set 10 and the second wheel set 20 each include two tires to ensure balance when the first wheel set 10 and the second wheel set 20 move along the bottom wall or side wall of the pool. Of course, this is not limited to this. The number of tires in the first wheel set 10 and the second wheel set 20 can also be more or less, and is not limited here. Alternatively, the first wheel set 10 and the second wheel set 20 can only be used to represent tires with driving capabilities. If the pool cleaning device is rear-wheel drive, the first wheel set 10 represents the rear wheel on the left side of the pool cleaning device, and the second wheel set 20 represents the rear wheel on the right side of the pool cleaning device.

[0030] Exemplarily, the pool cleaning device further includes a roller brush mechanism 30, which is used to at least clean the pool wall while the pool cleaning device is moving. The roller brush mechanism 30 is a rotatable cylindrical component covered with bristles. As the pool cleaning device moves along the bottom or side walls of the pool, the bristles of the roller brush assembly 30 can contact and rub against the bottom or side walls of the pool, thereby scrubbing the bottom or side walls and cleaning the pool wall. Of course, this is not limited to this. The roller brush mechanism 30 can also have other functions. For example, the roller brush mechanism 30 can be driven by a separate motor, and the rotation speed of the roller brush mechanism 30 can be increased when the pool cleaning device needs to be raised. This will not be discussed in detail here.

[0031] like Figure 1 As shown, the control method of the pool cleaning device includes steps S101 to S102.

[0032] Step S101: Control the first wheel group 10 to run at a first speed, and control the second wheel group 20 to run at a second speed, wherein the first speed is different from the second speed so that the forward direction of the pool cleaning device is tilted.

[0033] Illustratively, the control method of the pool cleaning device provided in the embodiment of the present application is used to control the pool cleaning device to move along the water level line of the pool while the pool cleaning device is running along the side wall of the pool.

[0034] It is understood that if the speeds of the first wheel assembly 10 and the second wheel assembly 20 are different, the direction of travel of the pool cleaning device on the side wall of the pool will be tilted. For example, if the first speed of the first wheel assembly 10 is greater than the second speed of the second wheel assembly 20, the direction of travel of the pool cleaning device will be tilted toward the side where the second wheel assembly 20 is located; conversely, if the second speed of the second wheel assembly 20 is greater than the first speed of the first wheel assembly 10, the direction of travel of the pool cleaning device will be tilted toward the side where the first wheel assembly 10 is located.

[0035] Specifically, the first wheel set 10 and the second wheel set 20 can be driven by different power sources, so that the speeds of the first wheel set 10 and the second wheel set 20 can be adjusted independently of each other. Specifically, the first wheel set 10 can be driven by a first motor, and the second wheel set 20 can be driven by a second motor. Of course, this is not limited to this. In addition to providing different power sources for the first wheel set 10 and the second wheel set 20, the speed of the same power source can also be distributed between the first wheel set 10 and the second wheel set 20 by a differential, so that the first wheel set 10 and the second wheel set 20 have different speeds.

[0036] Please refer to Figure 3 , Figure 3 A schematic flow chart of a control method for a pool cleaning device provided in one embodiment of the present application.

[0037] like Figure 3 As shown, in some embodiments, step S101 controls the first wheel assembly 10 to run at a first speed and controls the second wheel assembly 20 to run at a second speed so as to tilt the forward direction of the pool cleaning device, including:

[0038] Step S1011, controlling the first speed of the first wheel assembly 10 to be lower than the second speed of the second wheel assembly 20, so that the forward direction of the pool cleaning device is tilted toward the direction of the first wheel assembly 10; or,

[0039] Step S1012 : controlling the first speed of the first wheel assembly 10 to be greater than the second speed of the second wheel assembly 20 , so that the forward direction of the pool cleaning device is tilted toward the direction of the second wheel assembly 20 .

[0040] Please refer to Figure 4 , Figure 4 A schematic diagram of a usage scenario of a control method for a pool cleaning device provided in one embodiment of the present application.

[0041] like Figure 4 As shown, when the pool cleaning device needs to move rightward along the water level line, the first speed of the left wheel is made greater than the second speed of the right wheel, so that the forward direction of the pool cleaning device is tilted to the right.

[0042] Illustratively, the tilt direction of the pool cleaning device can be determined based on a pool map and the position of the pool cleaning device in the pool, which will not be described in detail here.

[0043] Exemplarily, the difference between the first speed and the second speed can be determined according to the required tilt angle. Specifically, a mapping relationship between the speed difference and the tilt angle can be pre-set. It can be understood that within a certain range, the greater the speed difference between the first wheel group 10 and the second wheel group 20, the greater the tilt angle in the forward direction.

[0044] Step S102: When the forward direction of the pool cleaning device is tilted, the pool cleaning device is controlled to move along the water level of the pool.

[0045] For example, the waterline marks the intersection of the pool's water level and the pool's sidewalls. Due to the buoyancy of the water, stains, algae, and mineral deposits are easily accumulated at the waterline. Furthermore, the waterline is also exposed to air. If not cleaned promptly, these deposits will gradually harden, forming stubborn stains that are difficult to remove. Therefore, the waterline is a key location for pool cleaning equipment.

[0046] Illustratively, the control method of the pool cleaning device provided in the embodiment of the present application can control the pool cleaning device to move along the water level line of the pool, avoiding the need for the pool cleaning device to repeatedly discharge water and change the water outlet position in order to clean various positions on the water level line.

[0047] Please refer to Figure 5 , Figure 5 A schematic flow chart of a control method for a pool cleaning device provided in one embodiment of the present application.

[0048] like Figure 5 As shown, in some embodiments, the pool cleaning device is further provided with a roller brush mechanism 30. During step S102 of controlling the pool cleaning device to move along the water level of the pool, the method further includes:

[0049] Step S1022: When the roller brush mechanism 30 is above the water level, the pool cleaning device is controlled to reduce the first speed of the first wheel assembly 10 and the second speed of the second wheel assembly 20;

[0050] Step S1122 : When the roller brush mechanism 30 is below the water level, the pool cleaning device is controlled to increase the first speed of the first wheel assembly 10 and the second speed of the second wheel assembly 20 .

[0051] like Figure 2 As shown, a roller brush mechanism 30 is further provided on one side of the forward direction of the pool cleaning device to scrub and clean the water level line.

[0052] Please refer to Figure 6 、 Figure 7, Figure 6 、 Figure 7 They are respectively schematic diagrams of usage scenarios of a control method for a pool cleaning device provided in an embodiment of the present application.

[0053] like Figure 6 As shown, when the roller brush mechanism 30 is higher than the water level line as a whole, the roller brush mechanism 30 cannot clean to the water level line, but is in a position above the cleaning water level line. At this time, it is necessary to reduce the wheel speed of the pool cleaning equipment so that the height of the pool cleaning equipment in the vertical direction drops and returns to a position where it can clean to the water level line.

[0054] Likewise, if Figure 7 As shown, when the roller brush mechanism 30 is lower than the water level line as a whole, the roller brush mechanism 30 is also unable to clean to the water level line, but is in a position below the cleaning water level line. At this time, it is necessary to increase the wheel speed of the pool cleaning equipment to increase the height of the pool cleaning equipment in the vertical direction and return to a position where it can clean to the water level line.

[0055] like Figure 5 As shown, in some embodiments, a first liquid sensor 301 is provided on a side of the roller brush mechanism 30 close to the first wheel assembly 10, and a second liquid sensor 302 is provided on a side of the roller brush mechanism 30 close to the second wheel assembly 20. The first liquid sensor 301 and the second liquid sensor 302 generate a first signal when in contact with liquid, and generate a second signal when not in contact with liquid. The method further includes:

[0056] Step S1021: upon receiving the second signal from the first liquid sensor 301 and the second signal from the second liquid sensor 302, determining that the roller brush mechanism 30 is above the water level;

[0057] Step S1121 : upon receiving the first signal from the first liquid sensor 301 and the first signal from the second liquid sensor 302 , determining that the roller brush mechanism 30 is below the water level.

[0058] like Figure 2 As shown, the first liquid sensor 301 and the second liquid sensor 302 are respectively arranged on the left and right sides of the roller brush mechanism 30 to detect whether they are in contact with liquid.

[0059] Please combine Figure 2 、 Figure 6 and Figure 7As can be understood, during the process of the roller brush mechanism 30 cleaning the water level, one of the first liquid sensor 301 and the second liquid sensor 302 is located in the water and in contact with the liquid, while the other is located above the water and not in contact with the liquid. When neither the first liquid sensor 301 nor the second liquid sensor 302 is in contact with the liquid, the roller brush mechanism 30 is above the water level. Conversely, when both the first liquid sensor 301 and the second liquid sensor 302 are in contact with the liquid, the roller brush mechanism 30 is below the water level.

[0060] In some embodiments, the pool cleaning device is provided with a third liquid sensor for detecting the relative position of the roller brush mechanism 30 and the water level line, and the third liquid sensor is arranged in parallel with the roller brush mechanism 30; the third liquid sensor is used to generate different third signals according to the relative position of the roller brush mechanism 30 and the water level line; the method further includes:

[0061] The position of the roller brush mechanism 30 relative to the water level line is determined according to the third signal.

[0062] For example, the liquid sensor provided on the roller brush mechanism 30 may also be a third liquid sensor for detecting liquid level, capable of generating electrical signals of varying magnitudes according to the liquid level as a third signal. The magnitude of the third signal can be used to determine the height of the roller brush mechanism 30 relative to the water level, thereby controlling the height of the roller brush mechanism 30 relative to the water level within a certain range. For example, when controlling the movement of the pool cleaning device along the water level of the pool for cleaning, the magnitude of the third signal can be used to control 1 / 3 to 2 / 3 of the length of the roller brush mechanism 30 to be located in the water. This is of course not limiting and is not intended to be limiting herein.

[0063] Please refer to Figure 8 , Figure 8 A schematic flow chart of a control method for a pool cleaning device provided in one embodiment of the present application.

[0064] In some embodiments, the cleaning device includes an acceleration sensor, and controlling the pool cleaning device to move along the water level of the pool includes:

[0065] Step S201: Acquire acceleration information detected by the acceleration sensor;

[0066] Step S202: When the acceleration information is in a normal state, control the pool cleaning device to move along the water level of the pool;

[0067] Step S203: When a sudden change occurs in the acceleration information, the pool cleaning device is controlled to reduce its speed or move along an obstacle avoidance route.

[0068] For example, the sidewall of the pool is usually a smooth plane or curved surface, but there may be decorative or supporting protrusions or ladders for easy access at some locations. These obstacles may collide with the pool cleaning device and hinder the movement of the pool cleaning device on the sidewall of the pool.

[0069] To prevent the pool cleaning device from colliding with obstacles, which could hinder its movement or even cause damage, an acceleration sensor can be used to detect whether the pool cleaning device has collided with an obstacle. Specifically, the acceleration sensor detects the acceleration of the pool cleaning device. When the pool cleaning device is moving normally, the acceleration changes steadily. However, when the pool cleaning device collides with an obstacle, the force generated by the collision causes the acceleration detected by the acceleration sensor to change suddenly. Therefore, by detecting a sudden change in the acceleration, it is possible to determine whether the pool cleaning device has collided with an obstacle.

[0070] For example, when a sudden change in acceleration information is detected, it is determined that the pool cleaning device has collided with an obstacle. At this time, the operating speed of the pool cleaning device is reduced to lower the vertical height of the pool cleaning; or the operating direction of the pool cleaning device is changed to move along an obstacle avoidance route so that the pool cleaning device avoids the obstacle.

[0071] In some embodiments, when the acceleration information suddenly changes, controlling the pool cleaning device to reduce speed or move along an obstacle avoidance route includes:

[0072] When the acceleration information suddenly changes in the first direction, the first speed of the first wheel set 10 and the second speed of the second wheel set 20 are reduced;

[0073] When the acceleration information suddenly changes in the second direction, the pool cleaning device is controlled to move along an obstacle avoidance route;

[0074] The first direction is perpendicular to the water level line, and the second direction is parallel to the water level line.

[0075] Please refer to Figure 9 , Figure 9 A schematic diagram of a pool side wall provided in accordance with an embodiment of the present application.

[0076] like Figure 9 As shown, in order to prevent the pool water from splashing out, the top of the pool edge is usually provided with a pool pressure top protruding from the side wall of the pool. When the pool water is full, the pool cleaning robot is prone to collision with the pool pressure top during the waterline cleaning process.

[0077] As you can understand, colliding with a vertical obstacle like the top of the pool will cause a sudden change in acceleration information in the vertical direction. Conversely, colliding with a horizontal obstacle like an escalator will cause a sudden change in acceleration information in the horizontal direction. Therefore, the direction of the obstacle can be determined based on the direction of the sudden change in acceleration information, and the pool cleaning device's movement strategy can be tailored to that direction.

[0078] For example, when the acceleration information suddenly changes in the vertical direction, the obstacle is usually located at the top of the pool, such as the top of the pool. At this time, the first speed of the first wheel group 10 and the second speed of the second wheel group 20 are reduced, and the height of the pool cleaning device in the vertical direction is lowered, so that the pool cleaning device is away from the obstacle at the top of the pool. When the acceleration information suddenly changes in the horizontal direction, the obstacle is usually located at the side wall of the pool, such as a pool escalator. At this time, the moving path of the pool cleaning device is changed so that the pool cleaning device bypasses the obstacle.

[0079] In some embodiments, when the acceleration information suddenly changes in the second direction, controlling the pool cleaning device to move along an obstacle avoidance route includes:

[0080] When the acceleration information suddenly changes in the second direction, the pool cleaning device is controlled to move to the bottom of the pool and move a preset distance on the bottom of the pool until it bypasses the obstacle;

[0081] After the pool cleaning device bypasses the obstacle, the pool cleaning device is controlled to move back to the height of the water level line and continues to move along the water level line.

[0082] For example, if the obstruction is located on the side of the pool, the pool cleaning device is controlled to change the water outlet position, thereby performing water level cleaning at a location other than the location of the obstruction. Specifically, the pool cleaning device is controlled to move downward to the bottom wall of the pool. After moving a preset distance in a preset direction along the bottom wall of the pool until the obstruction is bypassed, the device is moved back along the side of the pool to the location of the water level. Steps S101 and S102 are repeated at the new water outlet position, and the device moves along the water level to perform water level cleaning.

[0083] The control method of the pool cleaning device provided in the embodiment of the present application controls the first wheel assembly 10 to operate at a first speed and the second wheel assembly 20 to operate at a second speed, wherein the first speed is different from the second speed, so as to tilt the forward direction of the pool cleaning device; when the forward direction of the pool cleaning device is tilted, the pool cleaning device is controlled to move along the water level line of the pool. By controlling the wheel speed difference between the first wheel assembly 10 and the second wheel assembly 20 to tilt the forward direction of the pool cleaning device, the pool cleaning device can be more flexibly controlled to change direction, thereby causing the pool cleaning device to move laterally along the water level line while tilted, thereby improving the stability of the pool cleaning device's movement along the water level line and the efficiency of water level cleaning.

[0084] An embodiment of the present application also provides a pool cleaning device, which includes a first wheel group 10, a second wheel group 20, and a roller brush mechanism 30. The first wheel group 10 and the second wheel group 20 are respectively arranged on different sides of the forward direction of the pool cleaning device, and are used to drive the pool cleaning device forward. The roller brush mechanism 30 is at least used to clean the pool wall during the movement of the pool cleaning device; the pool cleaning device also includes a processor, a memory, and a computer program stored in the memory and executable by the processor, wherein when the computer program is executed by the processor, the steps of the control method of the pool cleaning device as described in any one of the embodiments of the present application are implemented.

[0085] Exemplarily, the first wheel assembly 10 and the second wheel assembly 20 are mobile components of the pool cleaning device, which are used to convert the vehicle's power into mobility, allowing the pool cleaning device to move along the bottom wall, side walls, or water of the pool. Specifically, the first wheel assembly 10 and the second wheel assembly 20 can be tires, tracks, etc. Specifically, when the first wheel assembly 10 and the second wheel assembly 20 are tires, the first wheel assembly 10 and the second wheel assembly 20 each include two tires to ensure the balance of the first wheel assembly 10 and the second wheel assembly 20 when moving along the bottom wall or side walls of the pool. Of course, this is not limited to this. The number of tires in the first wheel assembly 10 and the second wheel assembly 20 can also be more or less, and this is not limited here.

[0086] Exemplarily, the first wheel set 10 and the second wheel set 20 can be respectively arranged on the left and right sides of the forward direction of the pool cleaning device. For example, the first wheel set 10 is the left wheel of the pool cleaning device, and the second wheel set 20 is the right wheel of the pool cleaning device.

[0087] Exemplarily, the roller brush mechanism 30 is a rotatable cylindrical component covered with bristles. As the pool cleaning device moves along the bottom or side walls of the pool, the bristles of the roller brush mechanism 30 can contact and rub against the bottom or side walls of the pool, thereby scrubbing the bottom or side walls and cleaning the pool walls. Of course, this is not limited to this. The roller brush mechanism 30 can also have other functions. For example, the roller brush mechanism 30 can be driven by a separate motor, and the speed of the roller brush mechanism can be increased when the pool cleaning device needs to raise its head. This will not be discussed in detail here.

[0088] The memory may include a storage medium and an internal memory. The storage medium may store an operating system and a computer program. The computer program includes program instructions. When the program instructions are executed, the processor may execute any one of the control methods for the pool cleaning device.

[0089] The processor is used to provide computing and control capabilities and support the operation of the entire computer equipment.

[0090] The internal memory provides an environment for the operation of the computer program in the storage medium. When the computer program is executed by the processor, the processor can execute any control method of the pool cleaning device.

[0091] This network interface is used for network communication, such as sending assigned tasks.

[0092] It should be understood that the processor may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or any conventional processor, etc.

[0093] An embodiment of the present application also provides a computer-readable storage medium, on which a computer program is stored. The computer program includes program instructions. The method implemented when the program instructions are executed can refer to the various embodiments of the control method of the pool cleaning device of the present application.

[0094] The computer-readable storage medium may be an internal storage unit of the computer device in the aforementioned embodiment, such as a hard disk or memory of the computer device. The computer-readable storage medium may also be an external storage device of the computer device, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash memory card, etc. equipped on the computer device.

[0095] It should be understood that the terms used in this specification are only for the purpose of describing specific embodiments and are not intended to limit the present application. As used in this specification and the appended claims, the singular forms "a", "an", and "the" are intended to include the plural forms unless the context clearly indicates otherwise.

[0096] It should be noted that, in this article, the terms "comprises", "includes" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or system that includes a series of elements includes not only those elements, but also includes other elements not explicitly listed, or also includes elements that are inherent to such process, method, article or system.

[0097] The serial numbers of the embodiments of the present application are for description only and do not represent the advantages or disadvantages of the embodiments. The above description is only a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed in this application, and these modifications or replacements should be included in the scope of protection of this application. Therefore, the scope of protection of this application should be based on the scope of protection of the claims.

Claims

1. A method for controlling a pool cleaning device, characterized in that: The pool cleaning device includes a first wheel group and a second wheel group, wherein the first wheel group and the second wheel group are respectively arranged along different sides of the forward direction of the pool cleaning device and are used to drive the pool cleaning device to operate. The method includes: controlling the first wheel assembly to operate at a first speed and controlling the second wheel assembly to operate at a second speed, wherein the first speed is different from the second speed so as to tilt the forward direction of the pool cleaning device; In the case that the forward direction of the pool cleaning device is tilted, the pool cleaning device is controlled to move along the water level line of the pool.

2. The control method of the pool cleaning device according to claim 1, characterized in that: The step of controlling the first wheel set to run at a first speed and the second wheel set to run at a second speed so as to tilt the forward direction of the pool cleaning device comprises: controlling a first speed of the first wheel set to be lower than a second speed of the second wheel set so that the forward direction of the pool cleaning device is tilted toward the direction of the first wheel set; or, The first speed of the first wheel set is controlled to be greater than the second speed of the second wheel set, so that the forward direction of the pool cleaning device is tilted toward the direction of the second wheel set.

3. The control method of the pool cleaning device according to claim 1, characterized in that: The pool cleaning device is further provided with a roller brush mechanism. In the process of controlling the pool cleaning device to move along the water level line of the pool, the method further comprises: When the roller brush mechanism is higher than the water level, controlling the pool cleaning device to reduce a first speed of the first wheel group and a second speed of the second wheel group; When the roller brush mechanism is lower than the water level, the pool cleaning device is controlled to increase a first speed of the first wheel set and a second speed of the second wheel set.

4. The control method of the pool cleaning device according to claim 3, characterized in that: A first liquid sensor is provided on a side of the roller brush mechanism close to the first wheel assembly, and a second liquid sensor is provided on a side of the roller brush mechanism close to the second wheel assembly, wherein the first liquid sensor and the second liquid sensor generate a first signal when in contact with liquid and generate a second signal when not in contact with liquid. The method further includes: Upon receiving the first signal from the first liquid sensor and the first signal from the second liquid sensor, determining that the roller brush mechanism is below the water level; When the second signal of the first liquid sensor and the second signal of the second liquid sensor are received, it is determined that the roller brush mechanism is higher than the water level line.

5. The control method of the pool cleaning device according to claim 3, characterized in that: The pool cleaning device is provided with a third liquid sensor for detecting the relative position of the roller brush mechanism and the water level line, and the third liquid sensor is arranged in parallel with the roller brush mechanism; the third liquid sensor is used to generate different third signals according to the relative position of the roller brush mechanism and the water level line; the method further includes: The position of the roller brush mechanism relative to the water level line is determined according to the third signal.

6. The control method of a pool cleaning device according to any one of claims 1 to 5, characterized in that: The cleaning device includes an acceleration sensor, and controlling the pool cleaning device to move along the water level of the pool includes: Acquiring acceleration information detected by the acceleration sensor; When the acceleration information is in a normal state, controlling the pool cleaning device to move along the water level of the pool; When a sudden change occurs in the acceleration information, the pool cleaning device is controlled to reduce its speed or move along an obstacle avoidance route.

7. The control method of the pool cleaning device according to claim 6, characterized in that: When the acceleration information suddenly changes, controlling the pool cleaning device to reduce speed or move along an obstacle avoidance route includes: When the acceleration information suddenly changes in the first direction, reducing the first speed of the first wheel group and the second speed of the second wheel group; When the acceleration information suddenly changes in the second direction, controlling the pool cleaning device to move along an obstacle avoidance route; The first direction is perpendicular to the water level line, and the second direction is parallel to the water level line.

8. The control method of the pool cleaning device according to claim 7, characterized in that: When the acceleration information suddenly changes in the second direction, controlling the pool cleaning device to move along an obstacle avoidance route includes: When the acceleration information suddenly changes in the second direction, the pool cleaning device is controlled to move to the bottom of the pool and move a preset distance on the bottom of the pool until it bypasses the obstacle; After the pool cleaning device bypasses the obstacle, the pool cleaning device is controlled to move back to the height of the water level line and continue to move along the water level line.

9. A pool cleaning device, characterized in that: The pool cleaning device includes a first wheel group, a second wheel group, and a roller brush mechanism. The first wheel group and the second wheel group are respectively arranged on different sides of the forward direction of the pool cleaning device, and are used to drive the pool cleaning device forward. The roller brush mechanism is at least used to clean the pool wall during the movement of the pool cleaning device; the pool cleaning device also includes a processor, a memory, and a computer program stored on the memory and executable by the processor, wherein when the computer program is executed by the processor, the steps of the control method of the pool cleaning device according to any one of claims 1 to 8 are implemented.

10. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a computer program, wherein when the computer program is executed by a processor, the steps of the method for controlling a pool cleaning device according to any one of claims 1 to 8 are implemented.

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