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 cleaning device for the water pool is used for cleaning the water pool, the water pool comprises a pool bottom, a pool wall and a transition area between the pool bottom and the pool wall, a sensor is arranged on the side portion of the automatic cleaning device for the water pool, and the orientation of the sensor can be adjusted. The control method comprises the steps that the automatic pool cleaning device is controlled to move along the pool wall in the transition area; when the automatic pool cleaning device moves in the transition area, the side portion of the automatic pool cleaning device faces the pool wall, and detection is conducted in the direction of the pool wall through the sensor; and whether the pool wall is detected or not is judged, if the pool wall is detected, the automatic pool cleaning device is controlled to move along the pool wall for cleaning according to the current orientation of the sensor, and then the cleaning efficiency of the automatic pool cleaning device is improved.

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 increasing popularity of swimming pools and significant advances in robotics, more and more consumers are turning to automated pool cleaning robots for their cleaning tasks. These robots typically rely on infrared sensors to detect the pool walls. However, when faced with curved bottoms or sloped pool structures, traditional infrared sensors struggle to accurately detect the curved contours, preventing the robot from following the intended cleaning path and thus reducing cleaning efficiency. Therefore, a new approach is urgently needed to ensure that pool cleaning robots can complete their cleaning tasks efficiently and comprehensively. 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, wherein the pool includes a pool bottom, a pool wall, and a transition area between the pool bottom and the pool wall, wherein a sensor is provided on a side of the automatic pool cleaning device, and the orientation of the sensor is adjustable. The control method comprises: controlling the automatic pool cleaning device to move along the pool wall in the transition area; while the automatic pool cleaning device is moving in the transition area, the side of the automatic pool cleaning device is directed toward the pool wall, and the sensor is used to detect in the direction of the pool wall; and determining whether the pool wall is detected, wherein if the pool wall is detected, the automatic pool cleaning device is controlled to move along the pool wall for cleaning according to the current orientation of the sensor.

[0004] Furthermore, the control method further includes: if the pool wall is not detected, adjusting the orientation of the sensor and detecting in the direction of the pool wall through the sensor, and repeating the judgment step.

[0005] Furthermore, if the pool wall is still not detected after adjusting the direction of the sensor, the control method also includes: controlling the automatic pool cleaning device to move a first predetermined distance toward the pool wall, with the side of the automatic pool cleaning device facing the pool wall; and repeating the judgment step.

[0006] Furthermore, the automatic pool cleaning device is controlled to move along the pool wall for cleaning according to the current orientation of the sensor, including: according to the current orientation of the sensor and the current reading of the sensor, the automatic pool cleaning device is controlled to move away from or close to the pool wall, and then the automatic pool cleaning device is controlled to move along the pool wall for cleaning.

[0007] Furthermore, the detecting in the direction of the pool wall includes: performing multiple detections in the direction of the pool wall at predetermined time intervals.

[0008] Furthermore, the automatic pool cleaning device also includes an inertial measurement unit. Before controlling the automatic pool cleaning device to move along the pool wall at the pool bottom, the control method includes: controlling the automatic pool cleaning device to move toward the pool wall; determining through the inertial measurement unit that the automatic pool cleaning device has reached the transition area; and controlling the automatic pool cleaning device to retreat a second predetermined distance, and then turning so that the side of the automatic pool cleaning device faces the pool wall.

[0009] Furthermore, the automatic pool cleaning device includes a motor and an adjustment bracket, at least a portion of the sensor is connected to the adjustment bracket, and the motor can drive the adjustment bracket to move, thereby adjusting the orientation of the sensor.

[0010] Furthermore, the transition area includes at least one of the following situations: an arc area, a slope area or a slope area.

[0011] Furthermore, the determining whether the pool wall is detected includes: during each detection during the multiple detection periods, the reading of the sensor is the same or within a predetermined reading threshold range.

[0012] The present application also discloses an automatic pool cleaning device, which can execute the control method described in any embodiment of the present application.

[0013] The present application also discloses a 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.

[0014] The embodiments described in this application have the following beneficial effects:

[0015] The present application provides a sensor with adjustable direction on the side of the automatic pool cleaning device. When the automatic pool cleaning device performs edge cleaning operations in a transition area (such as a curved bottom or a pool wall with an inclined surface), the side of the automatic pool cleaning device is directed toward the pool wall and the sensor is used to detect in the direction of the pool wall, thereby accurately determining whether the pool wall is detected. If it is determined that the pool wall is detected, the automatic pool cleaning device is controlled to move along the pool wall for cleaning according to the current direction of the sensor, thereby ensuring that the automatic pool cleaning device can perform edge cleaning operations according to a predetermined path, thereby improving the cleaning efficiency of the automatic pool cleaning device. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] 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.

[0017] Figure 1 A schematic structural diagram of an automatic pool cleaning device according to an embodiment of the present application is shown;

[0018] Figure 2 A partial structural diagram of an automatic pool cleaning device according to an embodiment of the present application is shown;

[0019] Figure 3 A flow chart showing a method for controlling an automatic pool cleaning device according to an embodiment of the present application is shown.

[0020] Description of the drawings: 100 - automatic pool cleaning device, 101 - sensor, 102 - adjustment bracket. DETAILED DESCRIPTION

[0021] 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.

[0022] This application provides a control method for an automatic pool cleaning device, an automatic pool cleaning device employing the control method, and a computer storage medium. The automatic pool cleaning device of this application is used to clean a pool, the pool comprising a bottom, a wall, and a transition region between the bottom and the wall. The pool is, for example, a pool-shaped structure. The pool-shaped structure may be a swimming pool, a reservoir, a spa pool, a water storage tank, a water storage tank, or the like. The automatic pool cleaning device may be a device such as an automatic cleaning device or a pool cleaning robot, capable of cleaning the pool-shaped structure. This application does not limit the specific embodiment of the automatic pool cleaning device or the pool-shaped structure, as long as the principles of this application are implemented. Hereinafter, unless otherwise specified, the robot will be used as an example of the automatic pool cleaning device, and a swimming pool will be used as an example of a pool or pool-shaped structure. Hereinafter, unless otherwise specified, the terms "pool bottom," "pool bottom," and "pool bottom" all refer to the bottom surface of a swimming pool.

[0023] First, combine Figure 1 and Figure 2 The automatic pool cleaning device 100 of the present application is described in detail.

[0024] Figure 1 A schematic structural diagram of an automatic pool cleaning device 100 according to an embodiment of the present application is shown. Figure 2 FIG. 1 shows a schematic diagram of the structure of the sensor and the adjustment bracket of the automatic pool cleaning device 100 according to an embodiment of the present application. Figure 1 As shown, the automatic pool cleaning device 100 includes: a main body, a sensor 101 and a controller.

[0025] The main body is the core structural part of the robot, used to carry and integrate other functional components. It provides mechanical support and mounting interfaces to ensure the stable installation of various components. The main body can also integrate cleaning functions such as sewage suction, filtration, and water circulation.

[0026] The sensor 101 may be, for example, a distance measuring sensor, such as an infrared sensor, a laser sensor, an ultrasonic sensor, a phased array ultrasonic sensor, an image sensor, etc. The sensor 101 needs to be waterproof and anti-interference, and be able to operate stably in complex underwater environments, so as to accurately detect the position of the pool wall. The sensor 101 may be arranged on the side of the main body, for example, Figure 1 As shown in , the sensors 101 can also be respectively arranged on the left and right sides of the main body. The orientation of the sensor 101 is adjustable. The automatic pool cleaning device 100 can move in the transition area between the bottom and the wall of the pool (such as a curved pool bottom or a sloped pool bottom, etc.), and during the movement of the automatic pool cleaning device 100 in the transition area, the sensor 101 can detect the pool wall by adjusting the orientation. It is understandable that, in addition to the side portions of the robot's fuselage, the side portions of the main body can also include the side portions of the robot's head and the side portions of the robot's tail. The sensors 101 can also be arranged on the head and tail of the robot to detect the direction indicated by the robot's head and the direction indicated by the tail.

[0027] The controller is used to perform operations such as judgment, control, and adjustment based on the sensing information of the sensor 101.

[0028] Furthermore, the automatic pool cleaning device 100 may further include a motor (not shown) and an adjustment bracket 102, at least a portion of the sensor 101 is connected to the adjustment bracket 102, and the motor can drive the adjustment bracket 102 to move, thereby adjusting the orientation of the sensor 101. For example, Figure 2 FIG. 1 shows a schematic structural diagram of the sensor 101 and the adjustment bracket 102 of the automatic pool cleaning device 100. Figure 2As shown in , the automatic pool cleaning device 100 may include a motor and an adjustment bracket 102, and at least a portion of the sensor 101 is connected to the adjustment bracket 102. The adjustment bracket 102 is driven by the motor to move, and the adjustment bracket 102 moves to adjust the direction of the sensor 101. For example, the sensor 101 can be adjusted in a direction perpendicular to the horizontal plane by the drive of the motor, so that the robot can still detect the pool wall when encountering a curved pool bottom or a sloped pool bottom. In addition to adjusting the direction perpendicular to the horizontal plane, the adjustment bracket 102 can also adjust the direction of the sensor 101 in the horizontal direction so that the sensor 101 can form a conical detection field angle in the direction it detects as a whole. Thus, during the movement of the robot in the transition area, the detection field angle of the sensor 101 can be appropriately adjusted in three dimensions as the terrain of the transition area changes, the pitch attitude and roll attitude of the fuselage change, etc., so that the pool wall is accurately detected (this will be described in detail below). It is understandable that in other embodiments, the sensor 101 may also be a sensor with a direction adjustment function. During the sensing process, the sensor may adjust its own direction according to the sensing result or according to control (such as a received control signal, etc.).

[0029] The following combination Figure 3 The control method 300 of the automatic pool cleaning device of the present application is described in detail. Figure 3 FIG. 3 is a flow chart showing a control method 300 of an automatic pool cleaning device according to an embodiment of the present application. Figure 3 As shown, the control method 300 includes: in step S301, controlling the automatic pool cleaning device to move along the pool wall in the transition area; in step S302, while the automatic pool cleaning device is moving in the transition area, the side of the automatic pool cleaning device is facing the pool wall, and detecting in the direction of the pool wall through the sensor; and, in step S303, determining whether the pool wall is detected, wherein if the pool wall is detected, in step S304, controlling the automatic pool cleaning device to move along the pool wall for cleaning according to the current direction of the sensor.

[0030] The following will be combined Figure 3 Steps S301 to S304 in the control method 300 are described.

[0031] In step S301, the automatic pool cleaning device is controlled to move along the pool wall in the transition area.

[0032] For example, the robot control system can be used to control the robot to move along the pool wall in the transition area. During the movement of the robot, the robot uses the cleaning mechanism to clean, adsorb, and filter dirt on the pool wall or bottom to achieve the purpose of cleaning.

[0033] 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, an image sensor, etc. The perception module is used to monitor the water flow in the pool, the distribution of dirt, and the movement state of the robot 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 according to 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 speed and direction of the motor according to the control command to control the movement speed and movement path of the robot. The cleaning mechanism (for example, a water pump, a sewage suction port, a belt conveyor, a rotating brush, etc.) can clean, adsorb, and filter dirt during the movement of the robot.

[0034] It should be noted that the above description of the robot moving along the pool wall in the transition area is only exemplary. Those skilled in the art can set the robot to move along the pool wall in the transition area according to actual conditions, as long as the technical principles of this application can be implemented.

[0035] Furthermore, the transition area may include at least one of the following: an arc area, a slope area or a slope area.

[0036] For example, a pool may have various transition regions between the bottom and the wall. For example, the transition region may be an arc-shaped region (also called a "bowl-shaped region") between the bottom and the wall. A sloped transition may also be formed between the bottom and the wall, and the transition region may be this sloped region. A surface with a certain inclination angle may also be formed between the bottom and the wall, and the transition region may be this sloped region.

[0037] Next, the process proceeds to step S302. In step S302, while the automatic pool cleaning device is moving in the transition area, the side of the device is oriented toward the pool wall, and the sensor detects the direction of the pool wall. Then, the process proceeds to step S303. In step S303, it is determined whether the automatic pool cleaning device has detected the pool wall.

[0038] For example, while the robot is moving in the curved area between the pool bottom and the pool wall, it can point its side toward the pool wall and, through a sensor mounted on the side of the robot (e.g., an infrared sensor), transmit a detection signal (e.g., an infrared signal) toward the pool wall and receive the reflected detection signal. Based on the reflected detection signal, it can be determined whether the pool wall has been detected. During the robot's movement in the transition area, the direction pointed by the robot's head is parallel or substantially parallel to the direction in which the pool wall extends (e.g., the direction pointed by the robot's head is parallel or substantially parallel to the direction in which the pool wall extends to the right). The robot's side is facing the pool wall, and the sensor is located on the side of the robot (e.g., the sensor is located on the left side of the robot). The sensor can transmit a laser signal toward the pool wall and receive the reflected laser signal, thereby detecting the pool wall. It will be appreciated that the detection signal emitted toward the pool wall varies depending on the type of sensor. For example, if the sensor is an infrared sensor, an infrared signal can be emitted toward the pool wall; if the sensor is a laser ranging sensor, a laser signal can be emitted toward the pool wall.

[0039] For example, the sensor transmits a detection signal toward the pool wall in a default orientation (e.g., horizontal). If the reflected detection signal meets a predetermined condition for detecting the pool wall, the robot has detected the pool wall and terminates detection. The predetermined condition for detecting the pool wall can be set based on the strength of the detection signal and the reflection time. For example, the predetermined condition could be that the strength of the reflected detection signal falls below a predetermined value or that the reflection time is abnormal.

[0040] For example, the sensor transmits a detection signal toward the pool wall in a default orientation (e.g., horizontal). If the reflected detection signal does not meet the predetermined conditions, indicating that the robot has not detected the pool wall, the robot can then perform multiple detections in the direction of the pool wall. This will be explained in detail below with reference to specific examples.

[0041] It should be noted that the orientation is the angle between the direction in which the sensor emits the detection signal and a reference direction (e.g., horizontal or vertical). By adjusting the orientation, the sensor's detection direction can be changed. Adjusting the orientation can be accomplished by the motor and adjustment bracket described above.

[0042] Exemplarily, the detecting in the direction of the pool wall includes: performing multiple detections in the direction of the pool wall at predetermined time intervals.

[0043] For example, the predetermined time interval can be 3 seconds. In other words, a detection signal can be emitted toward the pool wall and a reflected signal can be received every 3 seconds, thereby ensuring the regularity and accuracy of the detection process. It is also possible to perform multiple detections toward the pool wall. For example, a detection can be performed toward the pool wall once every 3 seconds. If the pool wall is detected in a certain detection, that is, the reflected detection signal meets the predetermined condition, it means that the robot has detected the pool wall and terminates the detection. It is also possible to detect toward the pool wall once every 3 seconds, and repeat such a detection action multiple times (for example, 5 times), and if the pool wall is detected each time, it means that the robot has detected the pool wall, thereby improving the accuracy of the detection.

[0044] If the pool wall is detected in step S303, the process proceeds to step S304, in which the automatic pool cleaning device is controlled to move along the pool wall for cleaning according to the current orientation of the sensor.

[0045] For example, if the pool wall is detected in step S303, the orientation of the sensor when the robot detects the pool wall is used as the current orientation, and the robot is controlled to move along the pool wall and clean along the edge. The current orientation is the angle between the direction in which the sensor emits the detection signal when the pool wall is successfully detected and a reference direction (such as the horizontal direction or the vertical direction). In step S304, while controlling the automatic pool cleaning device to move along the pool wall for cleaning, the sensor can be made to maintain the current orientation, for example. In other words, while the automatic pool cleaning device moves along the pool wall for cleaning, it adjusts its own driving direction or driving path while maintaining the sensor's orientation at the current orientation.

[0046] If the pool wall is not detected in step S303, the orientation of the sensor is adjusted and detection is performed in the direction of the pool wall by the sensor, and the determination step in step S303 is repeated.

[0047] For example, if the pool wall is not detected in step S303, the sensor's orientation is adjusted and detection continues in the direction of the pool wall. For example, after adjusting the sensor vertically by a predetermined angle, detection signals are continuously transmitted in the direction of the pool wall. If the pool wall is detected, detection is terminated and the process proceeds to step S304. If the sensor still does not detect the pool wall after adjusting the sensor vertically by a predetermined angle, the sensor's orientation can be adjusted again and detection is repeated one or more times in the direction of the pool wall. The principle of the automatic pool cleaning device using sensors and detection signals to detect the pool wall has been described above and will not be repeated here.

[0048] The sensor orientation can be adjusted, for example, by rotating the sensor upward 10 degrees in the vertical direction (i.e., perpendicular to the horizontal plane) and performing one or more detections. If the pool wall is still not detected, the sensor can be rotated upward another 10 degrees in the vertical direction and then performing one or more detections. Alternatively, the sensor can be rotated downward 10 degrees in the vertical direction and then performing one or more detections toward the pool wall. If the pool wall is still not detected, the sensor can be rotated downward 20 degrees in the vertical direction and then performing one or more detections. By adjusting the sensor orientation multiple times, the accuracy of detecting the pool wall can be improved.

[0049] For example, when the robot moves at the bottom of an arc, its body may undergo posture changes such as pitch or roll due to the undulations of the terrain. If only the vertical orientation of the sensor is adjusted, the pool wall may still not be detected. In this case, the sensor can be adjusted horizontally to the left or right, or vertically up or down, so that the sensor can detect within a conical three-dimensional detection field of view, thereby ensuring that the robot always accurately locates the pool wall in a complex three-dimensional space.

[0050] It is understandable that the above description of the direction and the number of detections is merely exemplary, and those skilled in the art may set the direction and the number of detections according to actual conditions, as long as the technical principles of the present application can be implemented.

[0051] In step S303, if the pool wall is still not detected after adjusting the direction of the sensor, the control method may also include: controlling the automatic pool cleaning device to move a first predetermined distance toward the pool wall, with the side of the automatic pool cleaning device facing the pool wall and repeating the judgment step.

[0052] For example, after adjusting the sensor's orientation multiple times and performing one or more detections, if the pool wall is still not detected, this indicates that the distance between the robot and the pool wall is beyond the sensor's detection range. In this case, the robot can be controlled to move a first predetermined distance toward the pool wall, with its side facing the pool wall. The detection step described in step S302 and the determination step described in step S303 can be performed. The aforementioned steps of "moving toward the pool wall," "directing the robot's side toward the pool wall," "detecting," and "determining" can be repeated multiple times until the pool wall is detected. It will be appreciated that the first predetermined distance can be set based on the robot's size, its speed, the sensor's detection range, and the shape and size of the pool. The first predetermined distance can be a fixed value, such as 10 cm or 5 cm. Controlling the robot to move the first predetermined distance toward the pool wall ensures that, if the pool wall is not detected, the robot moves a certain distance closer to the pool wall and thus enters the sensor's detection range.

[0053] In step S303, the determining whether the pool wall is detected may include: during each detection during the multiple detections, the reading of the sensor is the same or within a predetermined reading threshold range.

[0054] For example, the robot can determine whether it has detected the pool wall based on multiple sensor readings. For example, if the distance data from the laser ranging sensor to the pool wall is the same each time, or if the distance data from the sensor to the pool wall each time is within a predetermined threshold, then the sensor has detected the pool wall.

[0055] In step S304, the automatic pool cleaning device is controlled to move along the pool wall for cleaning according to the current orientation of the sensor, including: according to the current orientation of the sensor and the current reading of the sensor, the automatic pool cleaning device is controlled to move away from or close to the pool wall, and then the automatic pool cleaning device is controlled to move along the pool wall for cleaning.

[0056] For example, if the current sensor reading is less than a predetermined value, indicating that the distance between the robot and the pool wall is too small, the robot is controlled to move away from the pool wall; if the current sensor reading is greater than the predetermined value, indicating that the distance between the robot and the pool wall is too large, the robot is controlled to move closer to the pool wall. Through this adjustment mechanism, the robot can maintain a predetermined distance from the pool wall, thereby avoiding collisions caused by the robot being too close to the pool wall or inadequate cleaning caused by the robot being too far away from the pool wall, thereby improving the robot's cleaning efficiency. It is understood that the predetermined value and predetermined distance mentioned above can be set according to the size of the robot, the robot's driving speed, the accuracy of the sensor, and the shape of the pool.

[0057] Furthermore, the automatic pool cleaning device may also include an inertial measurement unit. Before controlling the automatic pool cleaning device to move along the pool wall at the pool bottom, the control method includes: controlling the automatic pool cleaning device to move toward the pool wall; determining through the inertial measurement unit that the automatic pool cleaning device has reached the transition area; and controlling the automatic pool cleaning device to retreat a second predetermined distance, and then turning so that the side of the automatic pool cleaning device faces the pool wall.

[0058] For example, the robot may also include an inertial measurement unit. Before controlling the robot to move along the pool wall at the bottom of the pool, the robot is first controlled to move from the pool bottom to the junction of the pool bottom and the pool wall. During the movement of the robot from the pool bottom to the junction of the pool bottom and the pool wall, the change in the robot's pitch angle is monitored by the inertial measurement unit to determine that the robot has reached the transition area.

[0059] For example, when the robot enters an arc, the inertial measurement unit can monitor the robot's pitch angle gradually increasing, confirming that the robot has reached the arc. Another example is when the robot enters a slope or an inclined surface, the inertial measurement unit can monitor the robot's pitch angle gradually increasing. After increasing to a certain level, the angle remains constant, confirming that the robot has reached the slope or inclined surface.

[0060] After the robot reaches the transition zone, it needs to be controlled to turn so that its side faces the pool wall. However, if the robot turns directly in the transition zone, the limited space or uneven terrain in the transition zone may cause the robot to pitch, roll, or slip, resulting in understeering or steering failure. Therefore, the robot can be controlled to retreat a second predetermined distance (e.g., one fuselage length) to move the robot away from the transition zone, or to provide space for the robot to turn, ensuring that the robot can turn smoothly and turn its side toward the pool wall.

[0061] It should be noted that the inertial measurement unit usually includes an accelerometer, a gyroscope, and a magnetometer. The accelerometer is used to measure the acceleration of the robot in three-dimensional space, including the gravitational acceleration due to the earth's gravity and the inertial acceleration caused by changes in the object's motion state. 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 is performing cleaning tasks, helping to determine the robot's direction in the earth's coordinate system. Through these data, the robot's motion trajectory and position changes can be calculated.

[0062] It can be understood that the first predetermined distance and the second predetermined distance mentioned above are pre-set distances, and the first predetermined distance and the second predetermined distance 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.

[0063] The present application provides a sensor with adjustable direction on the side of the automatic pool cleaning device. When the automatic pool cleaning device performs edge cleaning operations in a transition area (such as a curved bottom or a pool wall with an inclined surface), the side of the automatic pool cleaning device is directed toward the pool wall and the sensor is used to detect in the direction of the pool wall, thereby accurately determining whether the pool wall is detected. If it is determined that the pool wall is detected, the automatic pool cleaning device is controlled to move along the pool wall for cleaning according to the current direction of the sensor, thereby ensuring that the automatic pool cleaning device can perform edge cleaning operations according to a predetermined path, thereby improving the cleaning efficiency of the automatic pool cleaning device.

[0064] The present application also discloses an automatic pool cleaning device, which can execute the control method described in any embodiment of the present application.

[0065] The present application also discloses a 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.

[0066] 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.

[0067] 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.

[0068] 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.

[0069] 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.

[0070] 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.

[0071] 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 control method for an automatic pool cleaning device, wherein the automatic pool cleaning device is used to clean a pool, wherein the pool comprises a pool bottom, a pool wall, and a transition area between the pool bottom and the pool wall, wherein: A sensor is provided on the side of the automatic pool cleaning device, and the direction of the sensor is adjustable. The control method includes: Controlling the automatic pool cleaning device to move along the pool wall in the transition area; During the movement of the automatic pool cleaning device in the transition area, the side of the automatic pool cleaning device faces the pool wall, and the sensor detects the direction of the pool wall; and Determine whether the pool wall is detected, wherein: If the pool wall is detected, the automatic pool cleaning device is controlled to move along the pool wall for cleaning according to the current orientation of the sensor.

2. The control method according to claim 1, further comprising: If the pool wall is not detected, the direction of the sensor is adjusted and detection is performed in the direction of the pool wall by the sensor, and the determination step is repeated.

3. The control method according to claim 2, wherein: If the pool wall is still not detected after adjusting the orientation of the sensor, the control method further includes: Controlling the automatic pool cleaning device to move toward the pool wall by a first predetermined distance, with the side of the automatic pool cleaning device facing the pool wall; and Repeat the judgment step.

4. The control method according to claim 1, wherein: Controlling the automatic pool cleaning device to move along the pool wall for cleaning according to the current orientation of the sensor, comprising: According to the current orientation of the sensor and the current reading of the sensor, the automatic pool cleaning device is controlled to move away from or approach the pool wall, and then the automatic pool cleaning device is controlled to move along the pool wall for cleaning.

5. The control method according to any one of claims 1 to 4, wherein: The detecting in the direction of the pool wall includes: performing multiple detections in the direction of the pool wall at predetermined time intervals.

6. The control method according to claim 1, wherein: The automatic pool cleaning device further includes an inertial measurement unit. Before controlling the automatic pool cleaning device to move along the pool wall at the pool bottom, the control method includes: Controlling the automatic pool cleaning device to move toward the pool wall; determining, by the inertial measurement unit, that the automatic pool cleaning device has reached the transition region; and The automatic pool cleaning device is controlled to retreat a second predetermined distance, and then turned so that the side of the automatic pool cleaning device faces the pool wall.

7. The control method according to any one of claims 1 to 4, wherein: The automatic pool cleaning device includes a motor and an adjustment bracket. At least a portion of the sensor is connected to the adjustment bracket. The motor can drive the adjustment bracket to move, thereby adjusting the direction of the sensor.

8. The control method according to any one of claims 1 to 4, wherein: The transition area includes at least one of the following situations: an arc area, a slope area or a slope area.

9. The control method according to claim 5, wherein: The determining whether the pool wall is detected includes: during each detection during the multiple detection periods, the reading of the sensor is the same or within a predetermined reading threshold range.

10. An automatic pool cleaning device, capable of executing the control method according to any one of claims 1 to 9.

11. A computer storage medium storing a computer program, wherein the computer program is executed by a processor to implement the control method according to any one of claims 1 to 9.

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