Pool cleaning equipment control method and device, 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 and device, pool cleaning equipment and a storage medium. The rolling brush mechanism is used for rolling to execute pool cleaning operation, and the rolling brush mechanism is arranged on one side of the forward direction of the pool cleaning equipment; the method comprises the steps that the rotating speed of the rolling brush mechanism is increased, so that an angle is formed between the pose of the pool cleaning equipment and the bottom wall of a pool; the pool cleaning equipment is driven to advance so that the pool cleaning equipment can be attached to the side wall of a pool; and the pool cleaning equipment is driven to operate along the side wall of the pool. The rotating speed is increased by independently controlling the rolling brush mechanism located on one side of the advancing direction of the pool cleaning equipment, upward raising torque is generated on one side of the advancing direction of the pool cleaning equipment, and therefore an angle is formed between the posture of the pool cleaning equipment and the bottom wall of a pool, the pool cleaning equipment can be attached to the side wall of the pool, and the function of crawling along the side wall of the pool is achieved.

Description

Technical Field

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

[0002] In addition to retrieving floating objects and scrubbing the pool bottom with a roller brush, existing pool cleaning robots typically also clean the pool walls. Therefore, they need to be able to climb the pool walls. However, because the pool walls are typically perpendicular to the bottom and the friction caused by the pool water is low, pool cleaning robots often struggle to overcome gravity through the friction of tracks or tires, resulting in a low success rate. Improving the wall-climbing capabilities of pool robots has become an urgent issue. Summary of the Invention

[0003] The main purpose of this application is to provide a pool cleaning equipment control method, device, pool cleaning equipment and storage medium, aiming to improve the ability of a pool robot to crawl along the side wall of a pool.

[0004] In a first aspect, the present application provides a method for controlling a pool cleaning device, wherein the pool cleaning device includes a roller brush mechanism; the roller brush mechanism is configured to roll to perform a pool cleaning operation, and the roller brush mechanism is disposed on one side of a forward direction of the pool cleaning device; the method comprising:

[0005] Increasing the rotational speed of the roller brush mechanism so that the position of the pool cleaning device forms an angle with the bottom wall of the pool;

[0006] driving the pool cleaning device forward so that the pool cleaning device adheres to the side wall of the pool;

[0007] The pool cleaning device is driven to run along the side wall of the pool.

[0008] In a second aspect, the present application further provides a pool cleaning device control device, the pool cleaning device control device comprising:

[0009] A roller brush control module, configured to increase the rotational speed of the roller brush mechanism so that the position of the pool cleaning device forms an angle with the bottom wall of the pool;

[0010] The driving module is used to drive the pool cleaning device forward so that the pool cleaning device is attached to the side wall of the pool, and is used to drive the pool cleaning device to run along the side wall of the pool.

[0011] In a third aspect, the present application also provides a pool cleaning device, which includes a roller brush mechanism; the roller brush mechanism is used to roll to perform pool cleaning operations, and the roller brush mechanism is arranged on one side of the forward direction 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.

[0012] In a fourth 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 above-mentioned method for controlling a pool cleaning device is implemented.

[0013] The present application provides a control method and device for a pool cleaning device, a pool cleaning device, and a storage medium. The pool cleaning device includes a roller brush mechanism; the roller brush mechanism is used to roll to perform pool cleaning operations, and the roller brush mechanism is arranged on one side of the forward direction of the pool cleaning device; the method increases the rotation speed of the roller brush mechanism so that the position of the pool cleaning device forms an angle with the bottom wall of the pool; drives the pool cleaning device forward so that the pool cleaning device adheres to the side wall of the pool; and drives the pool cleaning device to run along the side wall of the pool. By separately controlling the roller brush mechanism on one side of the forward direction of the pool cleaning device to increase the rotation speed, an upward lifting torque is generated on the side of the forward direction of the pool cleaning device, thereby causing the position of the pool cleaning device to form an angle with the bottom wall of the pool, enabling the device to adhere to the side wall of the pool, and realizing the function of crawling along the side wall of the pool. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] 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.

[0015] Figure 1 A flow chart of a control method for a pool cleaning device provided in one embodiment of the present application;

[0016] Figure 2 A schematic structural diagram of a pool cleaning device provided in one embodiment of the present application;

[0017] Figure 3 A flow chart of a control method for a pool cleaning device provided in one embodiment of the present application;

[0018] Figure 4A schematic diagram of a use scenario of a pool cleaning device control method provided in one embodiment of the present application;

[0019] Figure 5 A flow chart of a control method for a pool cleaning device provided in one embodiment of the present application;

[0020] Figure 6 A schematic diagram of a pool cleaning device provided in one embodiment of the present application running along the side wall of a pool;

[0021] Figure 7 A flow chart of a control method for a pool cleaning device provided in one embodiment of the present application;

[0022] Figure 8 A schematic diagram of a side wall of a pool provided in one embodiment of the present application;

[0023] Figure 9 This is a schematic diagram of a pool cleaning equipment control device provided in one embodiment of the present application. DETAILED DESCRIPTION

[0024] 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.

[0025] 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.

[0026] Embodiments of the present application provide a pool cleaning equipment control method, device, pool cleaning equipment, and storage medium.

[0027] 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.

[0028] Please refer to Figure 1 , Figure 1 The present invention provides a flow chart of a method for controlling a pool cleaning device according to an embodiment of the present invention. The method can be used in a pool cleaning device to improve the ability of a pool robot to crawl along the sidewall of a pool.

[0029] Please refer to Figure 2 , Figure 2This is a schematic structural diagram of a pool cleaning device provided in one embodiment of the present application.

[0030] like Figure 2 As shown, the pool cleaning device includes a roller brush mechanism 10; the roller brush mechanism 10 is used to roll to perform the pool cleaning operation, and the roller brush mechanism 10 is arranged on one side of the forward direction of the pool cleaning device.

[0031] For example, the pool cleaning device is suitable for swimming pools, spa pools, warm water pools and other pools that can store water. It is mainly used to crawl and automatically clean the bottom of the pool, the underwater pool wall, the water line and other parts of the pool.

[0032] Exemplarily, the roller brush mechanism 10 is a rotatable cylindrical component with bristles on its surface. When the pool cleaning device moves along the bottom wall or side wall of the pool, the bristles of the roller brush mechanism 10 can come into contact and rub against the bottom wall or side wall of the pool to scrub the bottom wall or side wall of the pool, thereby cleaning the pool wall. Specifically, the roller brush mechanism 10 may include a roller and a brush body mounted on the roller, wherein the brush body includes but is not limited to a soft rubber roller brush, a bristle roller brush, a water-absorbing sponge roller brush, etc. This makes it convenient to select a suitable roller brush of different materials for use with the roller according to the specific conditions such as the pool wall material and the type of dirt. On the other hand, when the brush body is severely worn, it is convenient for the user to replace the brush body with a new one to improve the cleaning effect.

[0033] Exemplarily, the pool cleaning device further includes a movable wheel assembly 20 for converting the power of the motor into mobility for the pool cleaning device, enabling movement along the bottom wall, side walls, or water of the pool. Specifically, the movable wheel assembly 20 may comprise tires, tracks, or the like. For example, the movable wheel assembly 20 may comprise a left wheel and a right wheel, respectively, disposed on the left and right sides of the pool cleaning device's forward direction.

[0034] like Figure 1 As shown, the control method of the pool cleaning device includes steps S101 to S103.

[0035] Step S101: Increase the rotation speed of the roller brush mechanism 10 so that the position of the pool cleaning device forms an angle with the bottom wall of the pool.

[0036] For example, the side wall and the bottom wall of the pool usually have a large angle, such as 90°, that is, the side wall of the pool is perpendicular to the bottom wall, making it difficult for the pool cleaning device that can run smoothly on the bottom wall through the wheel set to climb up the side wall of the pool to scrub and clean the side wall of the pool. The pool cleaning device control method provided in the embodiment of the present application controls the roller brush mechanism 10 provided on the side of the forward direction of the pool cleaning device to increase the rotation speed, so that an upward lifting torque is generated on the side of the forward direction of the pool cleaning device, thereby raising the front end of the pool cleaning device relative to the rear end, forming a certain angle with the bottom wall of the pool, thereby reducing the angle between the pool cleaning device and the side wall of the pool, which is conducive to the pool cleaning device adhering to the side wall of the pool. It can be understood that the bottom wall of the pool can be a horizontal plane, a plane with a certain inclination angle, or a curved surface with a certain curvature.

[0037] The moving wheel assembly 20 and the roller brush mechanism 10 can be independently controlled. That is, the roller brush mechanism 10 can be driven by a power source different from that of the moving wheel assembly, so that the speed adjustment of the roller brush mechanism 10 can be independent of that of the moving wheel assembly. Specifically, the roller brush mechanism 10 can be driven by a first motor, and the moving wheel assembly 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 roller brush mechanism 10 and the moving wheel assembly 20, the speed of the same power source can also be distributed between the roller brush mechanism 10 and the moving wheel assembly 20 through a differential, so that the roller brush mechanism 10 and the moving wheel assembly 20 have different speeds.

[0038] Exemplarily, when the pool cleaning device is running on the bottom wall of the pool, the roller brush mechanism 10 and the moving wheel group 20 have the same or similar rotational speeds. By increasing the rotational speed of the roller brush mechanism 10, the first rotational speed of the roller brush mechanism 10 is greater than the second rotational speed of the moving wheel group 20.

[0039] 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.

[0040] like Figure 3 As shown, in some embodiments, the pool cleaning device includes a moving wheel set 20, which is used to drive the pool cleaning device forward, and the moving wheel set 20 and the roller brush mechanism 10 are independently controlled;

[0041] Step S101 increases the rotation speed of the roller brush mechanism 10, including:

[0042] Step S1011: driving the moving wheel assembly 20 to move the pool cleaning device to a target position;

[0043] Step S1012: When it is detected that the pool cleaning device has moved to the target position, the speed of the moving wheel assembly 20 is controlled and the rotation speed of the roller brush mechanism 10 is increased.

[0044] Exemplarily, the roller brush mechanism 10 and the movable wheel group 20 are independently controlled by different motors, thereby avoiding mutual influence between the roller brush mechanism 10 and the movable wheel group 20, reducing the degree of coupling between the various parts of the pool cleaning device, and improving the control flexibility of the pool cleaning device.

[0045] It is understood that step S101 is based on the premise that the pool cleaning device moves along the bottom wall of the pool to a position close to the side wall of the pool. Therefore, it is possible to determine whether to start executing the control method for the pool cleaning device provided in the embodiment of the present application by detecting whether the pool cleaning device has moved to the target position close to the side wall of the pool.

[0046] For example, when a wall-climbing instruction is received, the pool cleaning device can be driven to move to the target position so that the control method for the pool cleaning device provided in the embodiment of the present application can be started at the target position; or, when the pool cleaning device is executing a preset operation process, the pool cleaning device can be driven to move, and when it is detected that the pool cleaning device has moved to the target position, the control method for the pool cleaning device provided in the embodiment of the present application can be started.

[0047] like Figure 2 As shown, in some embodiments, the pool cleaning device is further provided with a first distance sensor 101, which increases the rotation speed of the roller brush mechanism 10 when detecting that the pool cleaning device moves to the target position, while maintaining the movement of the pool cleaning device, including:

[0048] When the first distance sensor 101 detects that the distance between the pool cleaning device and the side wall of the pool is less than a preset distance threshold, it is determined that the pool cleaning device has moved to the target position.

[0049] Exemplarily, the distance sensor can be used to detect whether the pool cleaning device has moved to the target position. Wherein, the first distance sensor 101 can be set on one side of the forward direction of the pool cleaning device to detect the distance between the front end of the pool cleaning device and the side wall of the pool.

[0050] It is understood that the target location is a location near the sidewall of the pool. Specifically, the distance between the target location and the sidewall of the pool can be set to a preset distance threshold. When the first distance sensor 101 detects that the distance between the pool cleaning device and the sidewall of the pool is less than the preset distance threshold, the pool cleaning device is determined to have moved to the target location. For example, the preset distance threshold can be 0.5 meters. When the first distance sensor 101 detects that the distance between the pool cleaning device and the sidewall of the pool is less than 0.5 meters, the pool cleaning device is determined to have moved to the target location. Of course, this is not limited to this. The preset distance threshold can be set according to actual needs and is not limited here.

[0051] Step S102: driving the pool cleaning device forward so that the pool cleaning device adheres to the side wall of the pool.

[0052] Please refer to Figure 4 , Figure 4 A schematic diagram of a usage scenario of a pool cleaning equipment control method provided in one embodiment of the present application.

[0053] like Figure 4 As shown, before executing step S101, the pool cleaning device runs on the bottom wall of the pool via the various moving wheel groups 20; after executing step S101, the front end of the pool cleaning device generates an upward lifting torque, and the front wheels are lifted so that the pool cleaning device forms an angle with the bottom wall of the pool. During this process, the front wheels of the pool cleaning device touch the side wall of the pool; as the moving wheel group 20 drives the pool cleaning device to continue moving forward, the rear wheels of the pool cleaning device also touch the side wall of the pool, so that the pool cleaning device is attached to the side wall of the pool. The speed of the moving wheel group 20 during this process can be maintained at the speed when running on the bottom wall, or it can be appropriately accelerated or decelerated. This application does not impose specific restrictions on this, as long as the pool cleaning device can smoothly climb up the side wall of the pool.

[0054] For example, a posture sensor for detecting posture can be set on the pool cleaning equipment to obtain the posture of the pool cleaning machine equipment, thereby determining the orientation of the pool cleaning machine equipment in three-dimensional space, so that when the posture of the pool cleaning machine equipment is at a certain angle (for example, 90°), it can be determined that the pool cleaning equipment is successfully attached to the side wall of the pool.

[0055] Step S103: driving the pool cleaning device to run along the side wall of the pool.

[0056] Illustratively, after the pool cleaning device is attached to the side wall of the pool, the pool cleaning device is driven to run along the side wall of the pool, so that the pool cleaning device can climb along the side wall of the pool and clean the side wall of the pool through the friction of the roller brush mechanism 10.

[0057] Please refer to Figure 5 , Figure 5 A flow chart of a control method for a pool cleaning device provided in one embodiment of the present application;

[0058] In some embodiments, step S103 of driving the pool cleaning device to move along the sidewall of the pool includes:

[0059] Step S201: Control the pool cleaning device to move along the side wall of the pool to a preset height at a first angle, wherein the angle between the first angle and the bottom wall of the pool is less than 90°;

[0060] Step S202: Control the pool cleaning device to move along the side wall of the pool to the height of the waterline at a second angle, wherein the second angle is perpendicular to the bottom wall of the pool;

[0061] Step S203: Control the pool cleaning device to move along the side wall of the pool toward the pool bottom at a third angle, where the angle between the third angle and the pool bottom wall is greater than 90°.

[0062] Please refer to Figure 6 , Figure 6 This is a schematic diagram of a pool cleaning device provided in one embodiment of the present application running along the side wall of a pool.

[0063] For example, the waterline represents the boundary between the pool water level and the pool sidewall. The waterline is prone to accumulating stains, algae, and mineral deposits due to the buoyancy of the pool water. Furthermore, the waterline is in contact with air. If not cleaned promptly, it will gradually harden, forming stubborn stains that are difficult to remove. Therefore, the waterline is a key location for pool cleaning equipment. In the process of controlling the pool cleaning equipment provided in the embodiments of the present application to drive the pool cleaning equipment along the pool sidewall, the pool cleaning equipment can be controlled to move from the bottom of the pool sidewall to the waterline height, clean the waterline position, and then return to the bottom of the pool sidewall to crawl back to the waterline height, changing the position for cleaning the waterline. By reciprocating between the bottom of the pool sidewall and the waterline height, multiple locations at the waterline height can be cleaned.

[0064] like Figure 6 As shown, during the reciprocating motion between the bottom of the side wall and the waterline height, the pool cleaning device forms a certain angle with the bottom wall of the pool, so that the pool cleaning device can move to the waterline height at different water outlet positions and change the position for cleaning the waterline.

[0065] Specifically, the pool cleaning device moves along the side wall of the pool at a first angle of less than 90 degrees to a preset height. After reaching the preset height, the horizontal position of the pool cleaning device corresponds to the horizontal position of the water outlet position. At this time, the pool cleaning device can be straightened and continue to climb in the vertical direction until it reaches the waterline height. After cleaning at the waterline height, it turns around and moves along the side wall of the pool toward the pool bottom at a third angle greater than 90 degrees. In this way, when the pool cleaning device turns around again and moves to the waterline height, it can discharge water at different positions, thereby cleaning multiple positions on the waterline.

[0066] In some embodiments, the pool cleaning device is further provided with a second distance sensor, which controls the pool cleaning device to move along the side wall of the pool at a second angle to the waterline height, including:

[0067] When the second distance sensor detects that the pool cleaning device moves along the first angle to a preset height, the pool cleaning device is controlled to move along the side wall of the pool at a second angle to the waterline height;

[0068] Controlling the pool cleaning device to move along the side wall of the pool toward the pool bottom at a third angle includes:

[0069] When the second distance sensor detects that the pool cleaning device has moved to the waterline height, the pool cleaning device is controlled to move along the side wall of the pool toward the pool bottom at a third angle.

[0070] Exemplarily, the pool cleaning device is further provided with a second distance sensor for detecting the height of the pool cleaning device. Specifically, the height of the pool cleaning device can be determined by detecting the distance between the front end of the pool cleaning device and the water surface, i.e., the distance from the waterline; the height of the pool cleaning device can also be determined by detecting the distance between the rear end of the pool cleaning device and the bottom wall of the pool, without limitation.

[0071] For example, a second distance sensor is used to detect whether the pool cleaning device has reached the waterline height or a preset height in the vertical direction, thereby determining how to adjust the posture of the pool cleaning device according to the height of the pool cleaning device in the vertical direction, thereby improving the accuracy of the movement of the pool cleaning device.

[0072] Please refer to Figure 7 , Figure 7 A schematic flow chart of a control method for a pool cleaning device provided in one embodiment of the present application.

[0073] like Figure 7 As shown, in some embodiments, the pool cleaning device is further provided with an acceleration sensor, and step S103 drives the pool cleaning device to run along the side wall of the pool, including:

[0074] Step S301: Acquire acceleration information detected by the acceleration sensor;

[0075] Step S302: When the acceleration information is in a normal state, the pool cleaning device is driven to run along the side wall of the pool;

[0076] Step S303: When the acceleration information suddenly changes, the pool cleaning device is driven to stop running along the side wall of the pool or change the running direction.

[0077] 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.

[0078] Please refer to Figure 8 , Figure 8 A schematic diagram of a pool side wall provided in accordance with an embodiment of the present application.

[0079] like Figure 8As 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.

[0080] 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.

[0081] 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 stop the movement of the pool cleaning device to avoid damage that may be caused by continued movement; or the operating direction of the pool cleaning device is changed to avoid the obstacle.

[0082] In some embodiments, the pool cleaning device includes a pump body 30 for sucking liquid to control the suction force of the pool cleaning device relative to the pool wall; increasing the rotation speed of the roller brush mechanism 10 includes:

[0083] Increase the speed of the roller brush mechanism 10 and reduce the power of the pump body 30; and / or

[0084] Drives pool cleaning equipment along the side of the pool, including:

[0085] Drive the pool cleaning equipment along the side wall of the pool and increase the power of the pump body 30.

[0086] like Figure 2 Shown, the pool cleaning device also includes a pump body 30, and the pump body 30 can provide the suction force that is adsorbed on the pool bottom wall or side wall for the pool cleaning device by sucking in liquid. In addition, the liquid that the pump body 30 discharges can also provide downward pressure for the pool cleaning device.

[0087] It can be understood that when the rotation speed of the roller brush mechanism 10 is increased, the pool cleaning device needs to be transferred from the bottom wall of the pool to the side wall of the pool. In this process, the power of the pump body 30 is reduced to reduce the suction force of the pump body 30 on the bottom wall of the pool, which is conducive to the detachment of the pool cleaning device from the bottom wall of the pool.

[0088] In the process of driving the pool cleaning device to run along the side wall of the pool, it can be understood that the pool cleaning device is already attached to the side wall of the pool. In order to improve the success rate of wall climbing and prevent the pool cleaning device from detaching from or falling off the side wall of the pool, it is necessary to increase the suction force of the pump body 30 on the bottom wall of the pool, thereby improving the stability of the pool cleaning device running along the side wall of the pool.

[0089] The pool cleaning device control method provided in the embodiments of the present application increases the rotational speed of the roller brush mechanism to create an angle between the pool cleaning device and the pool bottom wall; drives the pool cleaning device forward so that the pool cleaning device adheres to the pool side wall; and drives the pool cleaning device to move along the pool side wall. By individually controlling the roller brush mechanism on one side of the pool cleaning device's forward direction to increase its rotational speed, an upward lifting torque is generated on that side of the forward direction of the pool cleaning device, thereby creating an angle between the pool cleaning device and the pool bottom wall, enabling the device to adhere to the pool side wall and achieve the function of crawling along the pool side wall.

[0090] See also Figure 9 , Figure 9 1 is a schematic diagram of a pool cleaning equipment control device provided in one embodiment of the present application. The pool cleaning equipment control device can be configured in a pool cleaning equipment to execute the aforementioned pool cleaning equipment control method.

[0091] like Figure 9 As shown, the pool cleaning equipment control device includes: a roller brush control module 110 and a driving module 120.

[0092] The roller brush control module 110 is used to increase the rotation speed of the roller brush mechanism so that the position of the pool cleaning device forms an angle with the bottom wall of the pool;

[0093] The driving module 120 is used to drive the pool cleaning device forward so that the pool cleaning device adheres to the side wall of the pool, and is used to drive the pool cleaning device to run along the side wall of the pool.

[0094] It should be noted that those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the above-described devices and modules and units can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0095] An embodiment of the present application also provides a pool cleaning device, which includes a roller brush mechanism 10; the roller brush mechanism 10 is used to roll to perform pool cleaning operations, and the roller brush mechanism 10 is arranged on one side of the forward direction 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.

[0096] For example, the roller brush mechanism 10 is a rotatable cylindrical component covered with bristles. When the pool cleaning device moves along the bottom wall or side wall of the pool, the bristles of the roller brush assembly 10 can contact and rub against the bottom wall or side wall of the pool, thereby scrubbing the bottom wall or side wall of the pool and achieving the function of cleaning the pool wall. Of course, this is not limited to this. The roller brush mechanism can also have other functions. For example, the roller brush mechanism 10 can be driven by a separate motor, and the rotation speed of the roller brush mechanism can be increased when the pool cleaning device needs to move up. This will not be detailed here.

[0097] Exemplary, the pool cleaning device also includes a mobile wheel group 20, and the mobile wheel group 20 may include: a first wheel group, a second wheel group, and the first wheel group and the second wheel group are respectively arranged on different sides of the forward direction of the pool cleaning device, for driving the pool cleaning device to advance. Wherein, the first wheel group and the second wheel group are mobile components of the pool cleaning device, for converting the power of the vehicle into mobility, so that the pool cleaning device can move on the pool bottom wall, sidewall or water. Specifically, the first wheel group and the second wheel group can be tires, crawler tracks, etc. Wherein, when the first wheel group and the second wheel group are tires, the first wheel group and the second wheel group respectively include 2 tires to ensure the balance of the first wheel group and the second wheel group when the pool bottom wall or the sidewall move, of course, it is not limited thereto, and the number of tires in the first wheel group and the second wheel group can also be more or less, which is not limited here.

[0098] Exemplarily, the first wheel group and the second wheel group can be respectively arranged on the left and right sides of the forward direction of the pool cleaning device, for example, the first wheel group is the left wheel of the pool cleaning device, and the second wheel group is the right wheel of the pool cleaning device.

[0099] 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.

[0100] The processor is used to provide computing and control capabilities and support the operation of the entire computer equipment.

[0101] 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.

[0102] This network interface is used for network communication, such as sending assigned tasks.

[0103] 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.

[0104] 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.

[0105] 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 equipped on the computer device, a smart memory card (SMC), a secure digital (SD) card, a flash memory card, etc.

[0106] 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.

[0107] 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.

[0108] 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 roller brush mechanism; The roller brush mechanism is used to roll to perform pool cleaning operations, and the roller brush mechanism is arranged on one side of the forward direction of the pool cleaning device; the method includes: Increasing the rotational speed of the roller brush mechanism so that the position of the pool cleaning device forms an angle with the bottom wall of the pool; driving the pool cleaning device forward so that the pool cleaning device adheres to the side wall of the pool; The pool cleaning device is driven to run along the side wall of the pool.

2. The control method of the pool cleaning device according to claim 1, characterized in that: The pool cleaning device includes a pump body, the pump body being used to draw in liquid to control the suction force of the pool cleaning device relative to the pool wall; Increasing the rotation speed of the roller brush mechanism includes: Increase the rotation speed of the roller brush mechanism and reduce the power of the pump body; and / or Driving the pool cleaning device to run along the side wall of the pool includes: The pool cleaning device is driven along the side wall of the pool and the pump power is increased.

3. The control method of the pool cleaning device according to claim 1, characterized in that: The pool cleaning device includes a moving wheel group, which is used to drive the pool cleaning device forward, and the moving wheel group and the roller brush mechanism are independently controlled; Increasing the rotation speed of the roller brush mechanism includes: driving the moving wheel assembly to move the pool cleaning device to a target position; When it is detected that the pool cleaning device moves to the target position, the speed of the moving wheel group is controlled and the rotation speed of the roller brush mechanism is increased.

4. The control method of the pool cleaning device according to claim 3, characterized in that: The pool cleaning device is further provided with a first distance sensor, which, upon detecting that the pool cleaning device has moved to a target position, increases the rotation speed of the roller brush mechanism while maintaining the movement of the pool cleaning device, including: When the first distance sensor detects that the distance between the pool cleaning device and the side wall of the pool is less than a preset distance threshold, it is determined that the pool cleaning device has moved to the target position.

5. The control method of the pool cleaning device according to claim 1, characterized in that: Driving the pool cleaning device to run along the side wall of the pool includes: Controlling the pool cleaning device to move along the side wall of the pool to a preset height at a first angle, wherein the angle between the first angle and the bottom wall of the pool is less than 90 degrees; Controlling the pool cleaning device to move along the side wall of the pool to a waterline height at a second angle, wherein the second angle is perpendicular to the bottom wall of the pool; The pool cleaning device is controlled to move along the side wall of the pool toward the pool bottom at a third angle, wherein the angle between the third angle and the pool bottom wall is greater than 90°.

6. The control method of the pool cleaning device according to claim 5, characterized in that: The pool cleaning device is further provided with a second distance sensor, and controlling the pool cleaning device to move along the side wall of the pool at a second angle to the waterline height includes: controlling the pool cleaning device to move along the sidewall of the pool at a second angle to a waterline height when the second distance sensor detects that the pool cleaning device moves along the first angle to a preset height; The controlling the pool cleaning device to move along the side wall of the pool toward the pool bottom at a third angle includes: When the second distance sensor detects that the pool cleaning device has moved to the waterline height, the pool cleaning device is controlled to move along the side wall of the pool toward the pool bottom at a third angle.

7. The control method of the pool cleaning device according to claim 1, characterized in that: The pool cleaning device is further provided with an acceleration sensor, and the method of driving the pool cleaning device to run along the side wall of the pool includes: Acquiring acceleration information detected by the acceleration sensor; When the acceleration information is in a normal state, driving the pool cleaning device to run along the side wall of the pool; When a sudden change occurs in the acceleration information, the pool cleaning device is driven to stop running along the side wall of the pool or change the running direction.

8. A control device for a pool cleaning device, characterized in that: The control device of the pool cleaning equipment includes: A roller brush control module, configured to increase the rotational speed of the roller brush mechanism so that the position of the pool cleaning device forms an angle with the bottom wall of the pool; The driving module is used to drive the pool cleaning device forward so that the pool cleaning device is attached to the side wall of the pool, and is used to drive the pool cleaning device to run along the side wall of the pool.

9. A pool cleaning device, characterized in that: The pool cleaning device includes a roller brush mechanism; the roller brush mechanism is used to roll to perform pool cleaning operations, and the roller brush mechanism is arranged on one side of the forward direction 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 7 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 7 are implemented.

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