Automatic pool cleaning device, control method and computer storage medium

Abstract

A control method of an automatic pool cleaning device (20), the automatic pool cleaning device (20) comprising a driving device (201), the control method comprising: controlling the driving device (201) to drive the automatic pool cleaning device (20) to move and clean on a water surface at a first power; whether the automatic pool cleaning device (20) meets a preset steering condition or not is judged, if yes, the driving device (201) is controlled to drive the automatic pool cleaning device (20) to steer at second power, and the second power is smaller than the first power.

Description

Technical Field

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

[0002] With the increasing demand for clean water environments, surface cleaning robots are gaining widespread use. These robots typically rely on dual propellers for propulsion and steering. Frequent steering operations consume significant amounts of energy during cleaning tasks, yet their batteries have limited capacity, making endurance a key factor limiting their efficiency and scope of application. Existing steering control methods for surface cleaning robots mostly utilize conventional dual-motor drive strategies, which fail to effectively optimize power consumption during steering, resulting in low energy efficiency and an inability to meet the needs of long-term, large-area water cleaning operations. 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 includes a driving device, and the control method includes: controlling the driving device to drive the automatic pool cleaning device to move and clean the water surface at a first power; judging whether the automatic pool cleaning device meets a preset steering condition, and if so, controlling the driving device to drive the automatic pool cleaning device to turn at a second power, wherein the second power is less than the first power.

[0004] Furthermore, the preset turning condition includes at least one of the following conditions: the collision sensor of the automatic pool cleaning device detects a collision; the distance sensor of the automatic pool cleaning device measures that the distance between the automatic pool cleaning device and the obstacle reaches a preset distance threshold; the power of the automatic pool cleaning device reaches a preset power threshold.

[0005] Furthermore, the driving device includes a first propeller assembly located on the first side and a second propeller assembly located on the second side, and controlling the driving device to drive the automatic pool cleaning device to turn with a second power, wherein the second power is less than the first power, includes: reducing the power of the first propeller assembly or the second propeller assembly.

[0006] Further, the power of the first propeller assembly or the second propeller assembly is reduced to 0.

[0007] Furthermore, the automatic pool cleaning device further includes a first distance sensor located on the first side and a second distance sensor located on the second side, and reducing the power of the first propeller assembly or the second propeller assembly includes:

[0008] When the first distance sensor measures that the distance between the automatic pool cleaning device and the obstacle reaches a preset distance threshold, the power of the first propeller assembly is controlled to be reduced, and the second propeller assembly is controlled to rotate in the opposite direction; or when the second distance sensor measures that the distance between the automatic pool cleaning device and the obstacle reaches a preset distance threshold, the power of the second propeller assembly is controlled to be reduced, and the first propeller assembly is controlled to rotate in the opposite direction.

[0009] Furthermore, when the first distance sensor measures that the distance between the automatic pool cleaning device and the obstacle reaches a preset distance threshold, the first propeller assembly is controlled to stop; when the second distance sensor measures that the distance between the automatic pool cleaning device and the obstacle reaches a preset distance threshold, the second propeller assembly is controlled to stop.

[0010] Furthermore, when the automatic pool cleaning device completes the turning, the control method further includes: adjusting the power of the driving device from the second power to the first power.

[0011] Furthermore, when the automatic pool cleaning device includes a distance sensor, the distance sensor includes at least one of the following: a laser radar, an infrared ranging sensor, an ultrasonic sensor, and a ToF sensor.

[0012] The present application also provides an automatic pool cleaning device, wherein the automatic pool cleaning device is used to perform any of the above methods.

[0013] Furthermore, the automatic pool cleaning device includes a power monitoring module, which is used to monitor power changes of the driving device.

[0014] The present application also provides a non-volatile computer storage medium, wherein the storage medium stores a computer program, and when the computer program is executed by a processor, any of the above methods is implemented.

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

[0016] The control method of the automatic pool cleaning device provided in the present application can reduce the motor power of the automatic pool cleaning device during the steering process, optimize power consumption, and improve energy utilization, thereby enabling the automatic pool cleaning device to obtain a longer battery life and thus be able to clean a larger area. BRIEF DESCRIPTION OF THE DRAWINGS

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

[0018] Figure 1 A flow chart showing a control method of the automatic pool cleaning device of the present application is shown;

[0019] Figure 2 A schematic diagram showing the automatic pool cleaning device of the present application located in a pool is shown.

[0020] Description of labels

[0021] 20. Automatic pool cleaning device; 201. Driving device; 202. Distance sensor. DETAILED DESCRIPTION

[0022] The embodiments of the present disclosure are described below in conjunction with the accompanying drawings. The described embodiments are only part of the embodiments of this application, rather than all the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application. It should be noted that the embodiments in this application and the features in the embodiments can be combined with each other unless there is a conflict.

[0023] The present application provides a control method for an automatic pool cleaning device 20, an automatic pool cleaning device 20 using the control method, and a computer storage medium. The automatic pool cleaning device 20 of the present application is capable of cleaning a pool. 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 tank, a water storage tank, or the like. The automatic pool cleaning device 20 may be a device such as an automatic cleaning device or a pool cleaning robot, capable of cleaning a pool-shaped structure. The present application does not limit the specific presentation of the automatic pool cleaning device 20 or the pool-shaped structure, as long as the principles of the present application can be implemented. Hereinafter, unless otherwise specified, the robot will be used as an example of the automatic pool cleaning device 20, and the swimming pool will be used as an example of a pool or a 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.

[0024] In view of the above-mentioned shortcomings of the prior art, the present application provides a control method 100 of an automatic pool cleaning device 20. Figure 1 and Figure 2 The control method 100 of the automatic pool cleaning device 20 is described in detail. Figure 1 1 is a flow chart showing a control method 100 of the automatic pool cleaning device 20 of the present application. Figure 2A schematic diagram of the automatic pool cleaning device 20 of the present application located in a pool is shown. The automatic pool cleaning device 20 includes a driving device 201. The control method 100 includes: step S101, controlling the driving device 201 to drive the automatic pool cleaning device 20 at a first power to move and clean the water surface; step S102, determining whether the automatic pool cleaning device 20 meets a preset turning condition. If so, the process proceeds to step S103, controlling the driving device 201 to drive the automatic pool cleaning device 20 at a second power to turn, wherein the second power is less than the first power.

[0025] The automatic pool cleaning device 20 includes a driving device 201, which may be a propeller, a water pump, a paddle wheel, or other components. The number of the driving device 201 may be one or more. Figure 2 As shown, the driving device 201 can be two propellers, which are respectively arranged on the left and right sides of the tail of the automatic pool cleaning device 20. For example, the automatic pool cleaning device 20 can adjust one or more of the moving path, heading angle or moving speed of the automatic pool cleaning device 20 by changing the speed difference between the two propellers, or changing the drainage direction of the water pump. The above description is not an exhaustive enumeration of the driving device 201, and those skilled in the art can make a selection according to actual circumstances. It should be noted that, unless otherwise specified below, the terms "propeller" and "propeller assembly" have the same or similar connotations and are both represented as an example of the driving device 201.

[0026] In step S101, the driving device 201 is controlled to drive the automatic pool cleaning device 20 to move and clean on the water surface with a first power. In other words, the driving device 201 of the automatic pool cleaning device 20 is driven by the first power when the automatic pool cleaning device 20 is moving and cleaning. The movement can be random movement, or movement along a planned path (such as a "bow-shaped" path), or other forms of movement, as long as the technical principles of the present application can be achieved. During the movement, the automatic pool cleaning device 20 can be powered and adjusted in direction by devices such as propellers, tracks, water pumps, dial wheels, and drive wheels on the fuselage. The first power can be the rated power of the driving device 201, or it can be the predetermined power of the driving device 201, as long as the technical principles of the present application can be achieved.

[0027] Next, the process proceeds to step S102. In step S102, it is determined whether the automatic pool cleaning device 20 meets a preset turning condition. When the automatic pool cleaning device 20 meets the preset turning condition, the process proceeds to step S103.

[0028] The preset turning condition may, for example, include at least one of the following conditions: the collision sensor of the automatic pool cleaning device 20 detects a collision; the distance sensor 202 of the automatic pool cleaning device 20 measures that the distance between the automatic pool cleaning device 20 and the obstacle reaches a preset distance threshold; the power of the automatic pool cleaning device 20 reaches a preset power threshold.

[0029] For example, while the automatic pool cleaning device 20 is performing a cleaning operation, a collision sensor disposed on the body of the automatic pool cleaning device 20 detects that the automatic pool cleaning device 20 has collided with an obstacle, and the automatic pool cleaning device 20 then turns so that the automatic pool cleaning device 20 moves in a direction away from the obstacle. The collision sensor can be disposed at a predetermined position on the body of the automatic pool cleaning device 20, or can be disposed around the body of the automatic pool cleaning device 20. The collision sensor can be, for example, a mechanical microswitch sensor, a pressure film sensor, or a Hall effect sensor. For example, if the right side of the body of the automatic pool cleaning device 20, with its head as the reference (the head corresponds to the forward direction of the automatic pool cleaning device 20), collides with an obstacle, the head of the automatic pool cleaning device 20 can turn toward the left side of the body.

[0030] For example, Figure 2 As shown, the automatic pool cleaning device 20 is provided with a distance sensor 202 (described in detail below). The distance sensor 202 measures that the distance between the automatic pool cleaning device 20 and an obstacle (e.g., a pool wall) reaches a preset distance threshold. In order to avoid the automatic pool cleaning device 20 colliding with the obstacle and thus damaging the body, the automatic pool cleaning device 20 can turn toward the side where there is no obstacle (e.g., the side where the distance sensor 202 does not recognize the obstacle), or can turn toward any side where the distance between the automatic pool cleaning device 20 and the obstacle is greater than the preset distance threshold (e.g., the side where the distance sensor 202 does not recognize the obstacle). Figure 2 The left side or right side of the automatic cleaning device 20 of the middle water pool), the steering direction is set by those skilled in the art and is not limited in this application.

[0031] For example, when the power level of the automatic pool cleaning device 20 reaches a preset power threshold, the automatic pool cleaning device 20 needs to turn and move toward the charging base station or the pool bank. For example, if the preset power threshold is 10% of the rated capacity of the battery in the automatic pool cleaning device 20, if the power level of the automatic pool cleaning device 20 is less than 10% of the rated capacity of the battery, it indicates that the remaining power of the automatic pool cleaning device 20 is insufficient and needs to be charged. Therefore, the automatic pool cleaning device 20 can turn and move toward the charging base station or the pool bank (i.e., the bank where the charging base station is located) to find the charging base station and charge. In some embodiments, when the power level of the automatic pool cleaning device 20 reaches a preset power threshold, the automatic pool cleaning device 20 needs to use a more power-saving steering mode. For example, if the preset power threshold is 60% of the rated capacity of the battery in the automatic pool cleaning device 20, when the power level of the automatic pool cleaning device 20 is less than 60%, in order to ensure that the preset cleaning mode can be completed, the automatic pool cleaning device 20 is controlled to use a second power when steering to reduce power consumption during steering. In other embodiments, the power threshold of the automatic pool cleaning device 20 may be 100%, that is, all steering of the cleaning device is performed using the second power, which can greatly reduce steering power loss and improve endurance.

[0032] The above description of the turning conditions is only exemplary. In actual situations, any situation where the automatic pool cleaning device 20 needs to turn falls within the scope of protection of this application.

[0033] In step S103, the driving device 201 is controlled to drive the automatic pool cleaning device 20 to turn at a second power, wherein the second power is less than the first power.

[0034] Reference Figure 2 The drive device 201 can, for example, be arranged on both sides of the tail of the robot. In one scenario, the robot can change its heading angle by using the power difference between the drive devices 201 on both sides, thereby causing the robot to turn. For example, the heading angle can be changed by using the speed difference between the propellers on both sides of the robot. For another example, the heading angle of the robot can be changed by using the power difference between the water pumps on both sides of the robot. The above description of the drive device 201 is not an exhaustive list. The drive device 201 can be configured according to actual conditions, as long as the technical principles of the present application can be implemented.

[0035] Specifically, by reducing the power of the drive device 201 on one side of the automatic pool cleaning device 20, the thrust of the drive devices 201 on both sides of the automatic pool cleaning device 20 is asymmetric, generating a rotational torque to achieve the purpose of turning described above. For example, when the automatic pool cleaning device 20 is moving, in the forward direction of the automatic pool cleaning device 20, the power of the drive device 201 on the right side of the automatic pool cleaning device 20 is reduced, while the power of the drive device 201 on the left side of the automatic pool cleaning device 20 remains unchanged, and the automatic pool cleaning device 20 turns right.

[0036] In another scenario, the power of the drive devices 201 on both sides of the automatic pool cleaning device 20 is reduced. If the drive devices 201 are propellers, for example, the propeller on one side of the automatic pool cleaning device 20 is rotated in opposite directions, thereby generating a rotational torque about the center of gravity of the automatic pool cleaning device 20. For example, in the forward direction of the automatic pool cleaning device 20, the propeller on the left side of the automatic pool cleaning device 20 maintains forward rotation, while the propeller on the right side is rotated in reverse, so that the automatic pool cleaning device 20 turns right.

[0037] In another scenario, the power of the drive device 201 on one side of the automatic pool cleaning device 20 is reduced. If the drive device 201 is, for example, a propeller, the direction of the propeller on the other side of the automatic pool cleaning device 20 is changed, so that the thrust directions of the two sides of the automatic pool cleaning device 20 are opposite, thereby generating a rotational torque about the center of gravity of the automatic pool cleaning device 20. For example, when the automatic pool cleaning device 20 moves, the power of the propeller on the left side of the automatic pool cleaning device 20 is reduced, while the power of the propeller on the right side of the automatic pool cleaning device 20 remains unchanged but its rotation direction is reversed (i.e., the propeller sprays water in the direction of the automatic pool cleaning device 20), and the automatic pool cleaning device 20 turns right.

[0038] In some embodiments, when the driving device 201 of the automatic pool cleaning device 20 includes a pod-type propeller assembly or a vector nozzle, the driving device 201 can be located in the middle of the rear side of the automatic pool cleaning device 20, and the direction of the water flow force can be changed by rotating the pod-type propeller assembly or the vector nozzle, thereby achieving steering.

[0039] Controlling the driving device 201 to drive the automatic pool cleaning device 20 to turn at a second power that is less than the first power can optimize power consumption, save energy, and extend the service life of the automatic pool cleaning device 20. The second power can be set by those skilled in the art according to actual conditions, and this application does not limit it.

[0040] The above description of the manner in which the automatic pool cleaning device 20 drives the steering with the second power is merely exemplary and not exhaustive. Other situations in actual applications are also within the scope of protection of this application.

[0041] The driving device 201 may, for example, include a first propeller assembly located on a first side and a second propeller assembly located on a second side. Controlling the driving device 201 to drive the automatic pool cleaning device 20 to turn at a second power, wherein the second power is less than the first power, includes: reducing the power of the first propeller assembly or the second propeller assembly.

[0042] like Figure 2 As shown, in one scenario, the driving device 201 is a propeller assembly respectively provided on both sides of the tail of the automatic pool cleaning device 20, the left side of the automatic pool cleaning device 20 is the first side, and is provided with a first propeller assembly, and the right side of the automatic pool cleaning device 20 is the second side, and is provided with a second propeller assembly. The method of controlling the driving device 201 to drive the automatic pool cleaning device 20 to turn with a second power has been described in detail above and will not be repeated here. Since the second power is less than the first power, controlling the driving device 201 to drive the automatic pool cleaning device 20 to turn with a second power can be achieved by reducing the power of one of the propeller assemblies (for example, the power of the first propeller assembly or the second propeller assembly) and maintaining the power of the other propeller assembly. Reducing the power of only one side of the propeller assembly can ensure that the automatic pool cleaning device 20 turns faster and turns smaller while reducing energy consumption in the automatic pool cleaning device 20, thereby reducing the occurrence of steering errors and collisions with obstacles and reducing the area of ​​the missed sweep area.

[0043] The above description of the first side and the second side is only exemplary. This application does not limit the specific positions of the first side and the second side of the automatic pool cleaning device 20 in actual applications, as long as the technical principles of this application can be implemented.

[0044] The power of the first propeller assembly or the second propeller assembly is reduced to zero.

[0045] Specifically, when the automatic pool cleaning device 20 needs to turn, the power of the first propeller assembly or the second propeller assembly can be reduced to 0, that is, the first propeller assembly or the second propeller assembly can be shut down, and only the propeller assembly on one side can be used for work. This achieves asymmetric thrust on both sides of the automatic pool cleaning device 20, generates a rotational torque, and thus enables the automatic pool cleaning device 20 to turn. The steering method of reducing the power of the first propeller assembly or the second propeller assembly to 0 has a better energy-saving effect.

[0046] The automatic pool cleaning device 20 further includes a first distance sensor located on the first side and a second distance sensor located on the second side, and reducing the power of the first propeller assembly or the second propeller assembly includes:

[0047] The first distance sensor measures that the distance between the automatic pool cleaning device 20 and the obstacle reaches a preset distance threshold, controls the power of the first propeller assembly to be reduced, and controls the second propeller assembly to rotate in the opposite direction; or the second distance sensor measures that the distance between the automatic pool cleaning device 20 and the obstacle reaches a preset distance threshold, controls the power of the second propeller assembly to be reduced, and controls the first propeller assembly to rotate in the opposite direction.

[0048] In order to prevent the automatic pool cleaning device 20 from colliding with obstacles, a first distance sensor and a second distance sensor can be respectively provided on the first side and the second side of the automatic pool cleaning device 20. The first propeller assembly is controlled to operate by the data detected by the first distance sensor, and the second propeller assembly is controlled to operate by the data detected by the second distance sensor.

[0049] In one scenario, the first distance sensor measures that the distance between the first side of the automatic pool cleaning device 20 and the obstacle reaches a predetermined distance threshold (for example, less than or equal to the predetermined distance threshold). At this time, the automatic pool cleaning device 20 should turn toward the second side to avoid collision with the obstacle. Therefore, the automatic pool cleaning device 20 can first control the power of the first propeller assembly to reduce and rotate the second propeller assembly in the opposite direction, thereby increasing the steering torque brought by the propeller assemblies on both sides, so that the automatic pool cleaning device 20 turns toward the second side and away from the obstacle on the first side.

[0050] In another situation, the second distance sensor measures that the distance between the second side of the automatic pool cleaning device 20 and the obstacle reaches a predetermined distance threshold (for example, less than or equal to the predetermined distance threshold). At this time, the automatic pool cleaning device 20 should turn toward the first side to avoid collision with the obstacle. Therefore, the automatic pool cleaning device 20 can first control the power of the second propeller assembly to reduce and rotate the first propeller assembly in the opposite direction, thereby increasing the steering torque brought by the propeller assemblies on both sides, so that the automatic pool cleaning device 20 turns toward the first side and away from the obstacle on the second side.

[0051] The above-mentioned predetermined distance threshold can be set according to the second power of the automatic pool cleaning device 20. This application does not limit the predetermined distance threshold, as long as the automatic pool cleaning device 20 can achieve the effect of avoiding obstacles in time.

[0052] Furthermore, when the first distance sensor measures that the distance between the automatic pool cleaning device 20 and the obstacle reaches a preset distance threshold, the first propeller assembly is controlled to stop; when the second distance sensor measures that the distance between the automatic pool cleaning device 20 and the obstacle reaches a preset distance threshold, the second propeller assembly is controlled to stop.

[0053] In the control method of the automatic pool cleaning device 20 described above, the first distance sensor measures that the distance between the first side of the automatic pool cleaning device 20 and the obstacle reaches a predetermined distance threshold (for example, less than or equal to the predetermined distance threshold). At this time, the automatic pool cleaning device 20 should turn toward the second side. Therefore, the automatic pool cleaning device 20 can first reduce the power of the first propeller assembly (for example, the power of the first propeller assembly can be reduced to 0, so that the first propeller assembly stops rotating), and the second propeller assembly is reversed, thereby achieving the automatic pool cleaning device 20 turning toward the second side. The specific steering method has been described in detail above and will not be repeated here.

[0054] When the second distance sensor measures that the distance between the second side of the automatic pool cleaning device 20 and the obstacle reaches a predetermined distance threshold, the automatic pool cleaning device 20 should turn toward the first side. Therefore, the automatic pool cleaning device 20 can first reduce the power of the second propeller assembly (for example, the power of the second propeller assembly can be reduced to 0, so that the second propeller assembly stops rotating), and the first propeller assembly is reversed, thereby enabling the automatic pool cleaning device 20 to turn toward the first side. The specific steering method is described in detail above and will not be repeated here.

[0055] The above-mentioned steering method of controlling the first propeller assembly or the second propeller assembly to stop has a better energy-saving effect.

[0056] When the automatic pool cleaning device 20 completes the turning, the control method further includes: adjusting the power of the driving device 201 from the second power to the first power.

[0057] For example, if the distance sensor 202 does not detect an obstacle, or the automatic pool cleaning device 20 has turned to a preset angle, or the automatic pool cleaning device 20 has used the second power to work for a preset period of time, or the automatic pool cleaning device has used the second power to retreat a predetermined distance, then it is determined that the automatic pool cleaning device 20 has completed turning, and the power of the driving device 201 can be adjusted from the second power during turning to the first power when the automatic pool cleaning device 20 performs normal cleaning operations, so that the automatic pool cleaning device 20 continues to clean the pool.

[0058] The above-listed methods for determining whether the turning of the automatic pool cleaning device 20 is completed are not intended to be exhaustive. Any method that can determine whether the turning of the automatic pool cleaning device 20 is completed is within the scope of protection of this application.

[0059] When the automatic pool cleaning device 20 includes a distance sensor 202, the distance sensor 202 may include, for example, at least one of the following: a laser radar, an infrared ranging sensor, an ultrasonic sensor, and a ToF sensor.

[0060] The distance sensor 202 can be set around the body of the automatic pool cleaning device 20, or as shown in FIG. Figure 2 As shown, the distance sensor 202 can be disposed on the head of the automatic pool cleaning device 20 , for example.

[0061] The distance sensor 202 can be, for example, a laser radar. The laser radar can, for example, emit a light signal (such as a laser) in the direction of movement of the automatic pool cleaning device 20. When the light signal encounters an object (such as an obstacle in front of the automatic pool cleaning device 20), the light signal will be reflected back to the laser radar by the object. At this time, the laser radar calculates the distance between the automatic pool cleaning device 20 and the object through the time difference or phase difference from the emission to the return of the light signal. The laser radar can also measure the deflection angle of the reflected light signal. The controller of the automatic pool cleaning device 20 can convert the measured distance information and angle information into three-dimensional coordinates through the laser radar, and further generate a point cloud of the object. The controller can further analyze the position information of the obstacle in front of the automatic pool cleaning device 20 based on the collected point cloud data.

[0062] The distance sensor 202 can be, for example, an infrared ranging sensor. The infrared ranging sensor can, for example, emit modulated infrared light in the moving direction of the automatic pool cleaning device 20, and receive infrared light reflected back by the obstacle, measure the time difference or intensity change of the reflected light, and calculate the distance between the automatic pool cleaning device 20 and the obstacle in front.

[0063] Distance sensor 202 may be, for example, an ultrasonic sensor that transmits ultrasonic waves in the direction of travel of automatic pool cleaning device 20 and receives reflected echoes. Automatic pool cleaning device 20 may analyze the data collected by the ultrasonic sensor using artificial intelligence software to further generate distance information of the target object.

[0064] The distance sensor 202 can be, for example, a ToF sensor. The ToF sensor can, for example, emit a light signal in the direction of movement of the automatic pool cleaning device 20 and receive the light signal reflected back by the obstacle. The controller of the automatic pool cleaning device 20 records the time difference between the emission and reception of the light signal, and then calculates the distance between the automatic pool cleaning device 20 and the obstacle.

[0065] The present application also provides an automatic pool cleaning device 20, wherein the automatic pool cleaning device 20 is used to perform any of the above methods.

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

[0067] The automatic pool cleaning device 20 may include, for example, a power monitoring module, which may be used to monitor power changes of the driving device 201 .

[0068] The power monitoring module can, for example, collect voltage and current signals of the automatic pool cleaning device 20 , filter the collected signals to ensure signal stability, and finally calculate the power of the automatic pool cleaning device 20 .

[0069] In one scenario, the power monitoring device can, for example, monitor the power changes of the driving device 201 in real time. Specifically, the power monitoring device can monitor the power changes of the driving device 201 during steering. If the power of the driving device 201 is greater than or equal to a first power, or the power of the driving device 201 is different from a pre-set second power, the power monitoring device sends a power abnormality signal of the driving device 201 to the controller of the automatic pool cleaning device 20. After receiving the power abnormality signal, the controller of the automatic pool cleaning device 20 adjusts the power of the driving device 201 to achieve the purpose of controlling the driving device 201 to operate at low power consumption.

[0070] When the sensor of the automatic pool cleaning device 20 detects that the automatic pool cleaning device 20 has successfully moved away from the obstacle, or the automatic pool cleaning device 20 has turned to a preset angle, the power monitoring module monitors the power of the driving device 201. If the power of the driving device 201 has not been restored to the first power, the power monitoring module sends a power abnormality signal to the controller. After receiving the power abnormality signal, the controller adjusts the power of the driving device 201, so that the automatic pool cleaning device 20 restores the first power to perform normal cleaning operations.

[0071] The present application also provides a non-volatile computer storage medium, wherein the storage medium stores a computer program, and when the computer program is executed by a processor, any of the above methods is implemented.

[0072] It should be understood that the non-volatile computer storage medium may be located in at least one of the multiple network servers of the computer network. Optionally, in the present application, the above-mentioned storage medium may include, but is not limited to, various media that can store 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.

[0073] The control method of the automatic pool cleaning device 20 provided in this application can reduce the motor power of the automatic pool cleaning device 20 during the steering process, optimize power consumption, and improve energy utilization, so that the automatic pool cleaning device 20 can clean a large area of ​​water for a long time.

[0074] 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 combine different embodiments or examples described in this specification, as well as features of different embodiments or examples, unless they are mutually inconsistent.

[0075] 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.

[0076] 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.

[0077] 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 (20), wherein the automatic pool cleaning device (20) comprises a driving device (201), and the control method comprises: Controlling the driving device (201) to drive the automatic pool cleaning device (20) at a first power to perform mobile cleaning on the water surface; Determine whether the automatic pool cleaning device (20) meets the preset turning conditions, If the conditions are met, the driving device (201) is controlled to drive the automatic pool cleaning device (20) to turn at a second power, wherein the second power is less than the first power.

2. The control method according to claim 1, wherein: The preset turning condition includes at least one of the following conditions: A collision sensor of the automatic pool cleaning device (20) detects a collision; The distance sensor (202) of the automatic pool cleaning device (20) measures that the distance between the automatic pool cleaning device (20) and the obstacle reaches a preset distance threshold; The power level of the automatic pool cleaning device (20) reaches a preset power threshold.

3. The control method according to claim 1, wherein: The driving device (201) comprises a first propeller assembly located on a first side and a second propeller assembly located on a second side, and controlling the driving device (201) to drive the automatic pool cleaning device (20) to turn with a second power, wherein the second power is less than the first power, comprises: reducing the power of the first propeller assembly or the second propeller assembly.

4. The control method according to claim 3, wherein: The power of the first propeller assembly or the second propeller assembly is reduced to zero.

5. The control method according to claim 3, wherein: The automatic pool cleaning device (20) further comprises a first distance sensor located on the first side and a second distance sensor located on the second side, wherein reducing the power of the first propeller assembly or the second propeller assembly comprises: The first distance sensor measures that the distance between the automatic pool cleaning device (20) and the obstacle reaches a preset distance threshold, controls the power of the first propeller assembly to be reduced, and controls the second propeller assembly to rotate in the opposite direction; or The second distance sensor measures that the distance between the automatic pool cleaning device (20) and the obstacle reaches a preset distance threshold, controls the power of the second propeller assembly to be reduced, and controls the first propeller assembly to rotate in the opposite direction.

6. The control method according to claim 5, wherein: When the first distance sensor measures that the distance between the automatic pool cleaning device (20) and the obstacle reaches a preset distance threshold, controlling the propeller assembly to stop; When the second distance sensor measures that the distance between the automatic pool cleaning device (20) and the obstacle reaches a preset distance threshold, the second propeller assembly is controlled to stop.

7. The control method according to any one of claims 1 to 6, wherein: When the automatic pool cleaning device (20) completes the turning, the control method further comprises: adjusting the power of the driving device (201) from the second power to the first power.

8. The control method according to claim 2, when the automatic pool cleaning device (20) includes a distance sensor (202), the distance sensor (202) includes at least one of the following: a laser radar, an infrared ranging sensor, an ultrasonic sensor, and a ToF sensor.

9. An automatic pool cleaning device (20), wherein: The automatic pool cleaning device (20) is used to perform the method according to any one of claims 1 to 8.

10. The automatic pool cleaning device (20) according to claim 9, wherein: The automatic pool cleaning device (20) comprises a power monitoring module, and the power monitoring module is used to monitor the power change of the driving device (201).

11. A non-volatile computer storage medium storing a computer program, wherein the computer program implements the method according to any one of claims 1 to 8 when executed by a processor.

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