Control method of automatic pool cleaning device, automatic pool cleaning device and computer storage medium

Abstract

The invention provides a control method of an automatic pool cleaning device, the automatic pool cleaning device and a computer storage medium. The control method comprises the steps that the automatic pool cleaning device is controlled to move along the pool wall at the pool bottom by a first edge distance; in the process that the automatic pool cleaning device moves along the pool wall, the posture of the automatic pool cleaning device is monitored; and adjusting the edge distance of the automatic pool cleaning device based on the posture of the automatic pool cleaning device. According to the method, the edge distance of the automatic pool cleaning device can be adjusted according to the posture of the automatic pool cleaning device, so that the situation that the motion state of the automatic pool cleaning device is abnormal is reduced, and the automatic pool cleaning device can smoothly conduct follow-up cleaning work.

Description

TECHNICAL FIELD

[0001] Embodiments of the present application relate to the technical field of cleaning devices, and particularly relate to a control method of a pool automatic cleaning device, a pool automatic cleaning device, and a computer storage medium. BACKGROUND

[0002] With the development of computer technology, robot technology has also developed rapidly. At present, underwater robots are increasingly widely used in various fields and can assist people in working in water, including underwater cleaning, underwater exploration, underwater sightseeing, etc.

[0003] A robot for cleaning a pool, such as a pool automatic cleaning device, when needing to clean an area close to the pool wall on the pool bottom, often controls the robot to move along the pool wall edge on the pool bottom. However, the pool bottom of some pools can have a special shape, such as a bowl-shaped pool bottom, which has an arc at the connection between the pool bottom and the pool wall, making the pool bowl-shaped. For a pool with a special-shaped pool bottom, if the conventional pool edge distance is used for edge moving, the robot can have an abnormal motion state, thereby affecting the subsequent cleaning work of the robot. SUMMARY

[0004] According to an aspect of the present application, a control method of a pool automatic cleaning device is provided, which includes: controlling the pool automatic cleaning device to move along a pool wall on a pool bottom at a first edge distance; monitoring a posture of the pool automatic cleaning device in a process in which the pool automatic cleaning device moves along the pool wall; and adjusting an edge distance of the pool automatic cleaning device based on the posture of the pool automatic cleaning device.

[0005] According to the control method of the pool automatic cleaning device provided by the present application, the posture of the pool automatic cleaning device includes a roll angle, and the adjusting the edge distance of the pool automatic cleaning device based on the posture of the pool automatic cleaning device includes: in a case where a duration in which the roll angle of the pool automatic cleaning device is greater than a first predetermined roll angle is greater than a first predetermined duration, increasing the edge distance at which the pool automatic cleaning device moves along the pool wall.

[0006] According to the control method of the pool automatic cleaning device provided by the present application, if the roll angle is always less than a second predetermined roll angle within the first predetermined duration, the increasing the edge distance at which the pool automatic cleaning device moves along the pool wall includes: controlling the pool automatic cleaning device to move to a second edge distance away from the pool wall in a direction away from the pool wall; and controlling the pool automatic cleaning device to move along the pool wall at the second edge distance, wherein the second predetermined roll angle is greater than the first predetermined roll angle, and the second edge distance is greater than the first edge distance.

[0007] According to the control method of the pool automatic cleaning device provided in the application, if the rolling angle is greater than the second predetermined rolling angle within the first predetermined time length, the increasing the edge distance of the pool automatic cleaning device moving along the pool wall comprises: controlling the pool automatic cleaning device to rotate a first predetermined rotation angle away from the pool wall, and moving to a third edge distance away from the pool wall in the rotated direction; and controlling the pool automatic cleaning device to move along the pool wall at the third edge distance, wherein the third edge distance is greater than the second edge distance.

[0008] According to the control method of the pool automatic cleaning device provided in the application, the moving to a third edge distance away from the pool wall in the rotated direction comprises: after moving for a second predetermined time length or moving a first specified distance in the rotated direction, controlling the pool automatic cleaning device to rotate a second predetermined rotation angle towards the pool wall, and moving to a third edge distance away from the pool wall in the rotated direction.

[0009] According to the control method of the pool automatic cleaning device provided in the application, during the moving for a second predetermined time length or moving a first specified distance in the rotated direction, the control method further comprises: detecting whether at least one side of the pool automatic cleaning device is suspended by a downward-looking sensor, and if not, controlling the pool automatic cleaning device to rotate the second predetermined rotation angle towards the pool wall, and moving to the third edge distance away from the pool wall in the rotated direction.

[0010] According to the control method of the pool automatic cleaning device provided in the application, the attitude comprises a pitch angle, and the adjusting the edge distance of the pool automatic cleaning device based on the attitude of the pool automatic cleaning device comprises: in the case that it is detected that there is an obstacle in front of the pool automatic cleaning device, if the duration that the pitch angle of the pool automatic cleaning device is greater than a first predetermined pitch angle is greater than a third predetermined time length, the edge distance of the pool automatic cleaning device moving along the pool wall is increased.

[0011] According to the control method of the pool automatic cleaning device provided in the application, the attitude includes a pitch angle, and the adjusting the edge distance of the pool automatic cleaning device based on the attitude of the pool automatic cleaning device includes: in a case where it is detected that there is an obstacle in front of the pool automatic cleaning device, if a duration, during which the pitch angle of the pool automatic cleaning device is greater than a first predetermined pitch angle, meets a third predetermined duration, and a variation of a slope of a pool bottom on which the pool automatic cleaning device is located within a specified duration is greater than a predetermined slope, the edge distance of the pool automatic cleaning device moving along the pool wall is increased.

[0012] According to the control method of the pool automatic cleaning device provided in the application, the attitude includes a pitch angle, and the adjusting the edge distance of the pool automatic cleaning device based on the attitude of the pool automatic cleaning device includes: in a case where it is detected that there is an obstacle in front of the pool automatic cleaning device, if a duration, during which the pitch angle of the pool automatic cleaning device is greater than a first predetermined pitch angle, meets a third predetermined duration, and a variation of a slope of a pool bottom on which the pool automatic cleaning device is located within a specified duration is greater than a predetermined slope, the edge distance of the pool automatic cleaning device moving along the pool wall is increased.

[0013] According to the control method of the pool automatic cleaning device provided in the application, the adjusting the edge distance of the pool automatic cleaning device based on the attitude of the pool automatic cleaning device includes: in a case where it is detected that there is an obstacle in front of the pool automatic cleaning device, if a duration, during which the pitch angle of the pool automatic cleaning device is greater than a first predetermined pitch angle, meets a third predetermined duration, and a variation of a slope of a pool bottom on which the pool automatic cleaning device is located within a specified duration is greater than a predetermined slope, the edge distance of the pool automatic cleaning device moving along the pool wall is increased.

[0014] According to a second aspect of the present application, a pool automatic cleaning device is provided, wherein the pool automatic cleaning device is capable of performing the control method according to any one of the above.

[0015] According to a third aspect of the present application, a computer storage medium is provided, wherein the storage medium stores a computer program, and the computer program is executed by a processor to implement the method according to any one of the above.

[0016] The embodiments described in the application have the following beneficial effects:

[0017] The control method of the pool automatic cleaning device provided by the application controls the pool automatic cleaning device to move along the pool wall at a first edge distance close to the pool wall at the pool bottom, so that the pool automatic cleaning device can accurately move along the edge. During the movement of the pool automatic cleaning device along the pool wall, the posture of the pool automatic cleaning device is monitored to determine the shape of the pool wall currently occupied by the pool automatic cleaning device according to the posture of the pool automatic cleaning device, and then the edge distance of the pool automatic cleaning device is adjusted to adapt the edge movement of the pool automatic cleaning device to different pool wall shapes, reduce the occurrence of abnormal movement state of the pool automatic cleaning device, and enable the pool automatic cleaning device to smoothly perform subsequent cleaning work. BRIEF DESCRIPTION OF DRAWINGS

[0018] In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, the following will briefly introduce the drawings needed to be used in the description of the embodiments. The drawings in the following description are only exemplary embodiments of the present disclosure.

[0019] Figure 1 A flowchart of the control method of the pool automatic cleaning device provided by the application is shown;

[0020] Figure 2 A scene diagram of the pool automatic cleaning device provided by the application when cleaning along the edge is shown;

[0021] Figure 3 A scene diagram of the pool automatic cleaning device provided by the application when cleaning along the edge is shown;

[0022] Figure 4 A scene diagram of the pool automatic cleaning device provided by the application when cleaning along the edge is shown. DETAILED DESCRIPTION

[0023] In order to make the purpose, technical solutions and advantages of the present application clearer, the technical solutions in the present application will be described clearly and completely in the following combined with the drawings in the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor are within the scope of protection of the present application.

[0024] The application provides a control method of an automatic pool cleaning device. The automatic pool cleaning device in the application can clean a pool. The pool is for example a pool-shaped building. The pool-shaped building can be a swimming pool, a water storage pool, a water therapy pool, a water storage tank, a water storage groove, etc. The automatic pool cleaning device can be a device such as an automatic cleaning device, a pool cleaning robot, etc. that can clean a pool-shaped building. The application does not limit the specific presentation of the automatic pool cleaning device and the pool-shaped building as long as the principle of the application can be realized.

[0025] Hereinafter, if not specifically stated, the robot will be described as an example of the automatic pool cleaning device, and the swimming pool will be described as an example of the pool or the pool-shaped building. Hereinafter, if not specifically stated, the terms "pool bottom", "swimming pool bottom surface", and "swimming pool bottom" all refer to the pool bottom surface of the swimming pool.

[0026] The control method 100 of the automatic pool cleaning device of the application will be described in detail below in combination with the accompanying drawings.

[0027] Figure 1 The flowchart of the control method of the automatic pool cleaning device provided by the application is shown. As shown in Figure 1 The control method comprises:

[0028] Step 101: controlling the automatic pool cleaning device to move along the pool wall at a first edge distance on the pool bottom.

[0029] For example, when the robot cleans the pool, it can include various cleaning modes, such as pool bottom cleaning mode, pool wall cleaning mode, and water surface random mode, and the pool bottom cleaning mode can further include pool bottom edge cleaning mode. In the pool bottom edge cleaning mode, the robot can move along the pool wall at a first edge distance on the pool bottom. In order to ensure that the garbage near the pool wall can be effectively cleaned, the robot usually needs to be controlled as close to the pool wall as possible, but the robot can collide or rub against the pool wall if it is too close to the pool wall. Therefore, the first edge distance can be the limit distance at which the robot can normally clean along the edge, i.e. the first edge distance can be the limit edge distance of the robot. The size of the limit edge distance can be related to the size of the robot, for example: it can be 3-10 cm.

[0030] It can be understood that in the process of controlling the robot to move along the pool wall, the position of the pool wall can be detected by the sensor built in the robot, and then the movement path of the robot can be adjusted to keep the robot at a set first edge distance from the pool wall. In this process, the movement speed and cleaning strength of the robot can also be dynamically adjusted according to the actual situation to achieve better cleaning effect.

[0031] Step 102, monitoring the posture of the pool automatic cleaning device during the movement of the pool automatic cleaning device along the pool wall.

[0032] Specifically, the posture of the robot is monitored during the movement of the robot along the pool wall, and the posture of the robot may, for example, include one or more of the posture data of the robot, such as the pitch angle, yaw angle and roll angle of the robot. Wherein the above-mentioned posture data may, for example, be obtained by a device such as a gyroscope or an inertial measurement unit (IMU), which is not specifically limited in the present application as long as the posture of the robot can be detected.

[0033] Step 103, adjusting the edge distance of the pool automatic cleaning device based on the posture of the pool automatic cleaning device.

[0034] It can be understood that during the movement of the robot along the pool wall, the posture of the robot will usually change when encountering obstacles or special pool bottom (such as bowl-shaped pool bottom). If the robot is still controlled to move along the pool wall at the first edge distance for cleaning at this time, the robot may be trapped, skid and other difficult to smoothly carry out subsequent cleaning work. Based on this, during the movement of the robot along the pool wall, whether the robot is currently located in a special pool wall can be determined according to the posture of the robot, so as to dynamically adjust the edge distance of the robot, ensure that the robot can adapt to different terrains, and maintain stable edge cleaning effect in complex pool environment, while optimizing the energy consumption and operation efficiency of the robot.

[0035] The control method of the pool automatic cleaning device provided by the present application controls the pool automatic cleaning device to move along the pool wall at a first edge distance close to the pool wall, so that the pool automatic cleaning device can accurately clean along the edge. During the movement of the pool automatic cleaning device along the pool wall, the posture of the pool automatic cleaning device is further monitored to determine the shape of the pool wall where the pool automatic cleaning device is currently located according to the posture of the pool automatic cleaning device, and then the edge distance of the pool automatic cleaning device is adjusted to adapt the edge movement of the pool automatic cleaning device to different pool wall shapes, reduce the occurrence of abnormal movement state of the pool automatic cleaning device, and enable the pool automatic cleaning device to smoothly carry out subsequent cleaning work.

[0036] Specifically, the posture of the robot may include the roll angle of the robot, Figure 2 One of the scene schematic diagrams of the pool automatic cleaning device provided by the present application during edge cleaning is shown as follows, Figure 2As shown, in the case of a non-conventional pool bottom, such as a pool with a "bowl-shaped" pool bottom, or a pool with an arc-shaped connection between the pool bottom and the pool wall, when the robot moves along the pool wall at a first edge distance close to the pool wall, the arc-shaped connection causes the side of the robot close to the pool wall to be higher than the side of the robot away from the pool wall, so that the robot assumes an inclined posture, that is, the robot has a large rolling angle. In this case, the walking mechanism of the robot can not be in full contact with the pool bottom. If the robot is still controlled to move along the pool wall at the first edge distance close to the pool wall in this case, the robot can be in an abnormal state of motion (for example, the robot rolls over, slips, slides, etc.), which affects the subsequent cleaning work of the robot.

[0037] It can be understood that, under the action of other obstacles on the pool bottom (for example, a protrusion caused by uneven pool bottom tiles, or a drain or a ground lamp arranged on the pool bottom), the robot can also have a certain rolling angle during movement. However, the degree of change in the posture of the robot under the action of the above-mentioned obstacles can be small, and the posture of the robot will recover after the robot passes over the obstacle, that is, the main body of the robot will quickly recover to a near-horizontal or horizontal state. To avoid the interference of the rolling angle change caused by the above-mentioned obstacles, a first predetermined rolling angle and a first predetermined time length are set. In the case where the rolling angle of the robot is greater than the first predetermined rolling angle for a duration greater than the first predetermined time length, it indicates that the robot has a large rolling angle for a long time, and in this case, the robot has a high probability of encountering an arc-shaped pool corner. At this time, the edge distance of the robot moving along the pool wall can be increased, so that the robot can quickly improve the posture of the left and right tilting and smoothly perform the subsequent cleaning work. The size of the first predetermined rolling angle can be determined according to the size of the robot, for example, it can be 12-15 degrees, and the first predetermined time length can be determined according to the walking speed of the robot, for example, it can be set to 2-5 seconds.

[0038] If the rolling angle is always less than a second predetermined rolling angle within the first predetermined time length, the increasing the edge distance of the pool cleaning device moving along the pool wall includes: controlling the pool cleaning device to move away from the pool wall to a second edge distance away from the pool wall; and controlling the pool cleaning device to move along the pool wall at the second edge distance, wherein the second predetermined rolling angle is greater than the first predetermined rolling angle, and the second edge distance is greater than the first edge distance.

[0039] It can be understood that the size of the curvature of the arc-shaped connection area between the pool bottom and the pool wall has a greater impact on the movement of the robot. In the case of a large curvature, the robot can be "hanging" on the arc corner, and it is more difficult for the robot to directly increase the along-side distance by side shifting. If the curvature is not large, the robot can be directly controlled to increase the along-side distance by side shifting. The present embodiment sets different movement strategies for large and small curvatures. The size of the curvature of the current position of the robot is distinguished by a second predetermined rolling angle, which is greater than the first predetermined rolling angle. Within the first predetermined time, if the rolling angle of the robot is always less than the second predetermined rolling angle, it indicates that the curvature of the current position of the robot is not large. In this case, the robot can be directly controlled to move away from the pool wall to a position opposite the pool wall at a second along-side distance, and further controlled to move along the pool wall at the second along-side distance. The second along-side distance is greater than the first along-side distance, which increases the along-side distance of the robot moving along the pool wall, so that the robot can move on the horizontal pool bottom to restore the normal movement posture and ensure the stability of the robot movement. The movement of the robot away from the pool wall can be achieved by the speed difference between the left and right wheels, for example. The second predetermined rolling angle can be determined according to the size of the robot, for example, which can be 20-22 degrees. The specific size of the second along-side distance can be determined according to the size of the robot and the form of the connection between the pool bottom and the pool wall, for example, which can be 18-25 cm.

[0040] It can be understood that within the first predetermined time, if the rolling angle of the robot is greater than the second predetermined rolling angle, it indicates that the curvature of the current position of the robot is large. At this time, the robot is inclined more seriously, and it is more difficult to directly control the robot to switch to a larger along-side distance by side shifting. Therefore, the robot needs to be first controlled to rotate away from the pool wall by a first predetermined rotation angle, and then moved to a position away from the pool wall at a third along-side distance in the direction after rotation, and further controlled to continue moving along the pool wall at the third along-side distance. When the rolling angle of the robot is greater than the second predetermined rolling angle, it indicates that the curvature of the position of the robot at the arc-shaped connection between the pool bottom and the pool wall is large. In this case, the robot needs to move along the pool wall at a larger along-side distance to avoid the arc corner where the pool wall meets the pool bottom. Therefore, the third along-side distance is greater than the second along-side distance. The specific size of the third along-side distance can be determined according to the size of the robot and the form of the connection between the pool bottom and the pool wall, for example, which can be 30-35 cm.

[0041] Specifically, the robot can be controlled to move to a position at the third edge distance from the pool wall in the rotated direction by the following steps: first, controlling the robot to move in the rotated direction for a second predetermined time length or a first specified distance, then controlling the robot to rotate in the direction of the pool wall by a second predetermined rotation angle to change the orientation of the robot, and then controlling the robot to move to a position at the third edge distance from the pool wall in the rotated direction, so as to subsequently control the robot to move along the pool wall at the third edge distance. That is, first, the robot is controlled to move to a relatively far distance from the pool wall in the direction away from the pool wall, and then the robot is controlled to move in the direction of the pool wall, so as to adjust the edge distance of the robot to the third edge distance, thereby achieving accurate control of the edge distance of the robot. The second predetermined time length can be set based on the speed of the robot and the size of the robot, and the second predetermined time length can be 5 seconds, for example. The first specified distance can be related to the size of the robot and the structure of the pool. For example, in the case where the roll angle of the robot is greater than the second predetermined roll angle, based on the size of the robot, it is determined how far the robot can travel to get away from the special terrain (such as an arc-shaped connection), and then the first specified distance can be set according to the distance traveled.

[0042] For example, the robot can be controlled to rotate 45 degrees away from the pool wall, and then controlled to move in the rotated direction for 5 seconds or 45 centimeters. Further, after controlling the robot to move for 5 seconds or 45 centimeters, the robot is controlled to rotate 60 degrees in the direction of the pool wall, and then controlled to move to a position at a distance of 30 centimeters from the pool wall in the rotated direction, and then controlled to move along the pool wall at an edge distance of 30 centimeters.

[0043] Specifically, during the process of controlling the robot to move in the rotated direction for a second predetermined time length or a first specified distance, the down-looking sensor can also be used to detect whether the robot is in a state of at least one side being suspended. If it is, it means that most of the body of the robot is still located at the special terrain (such as an arc-shaped connection). If not, it means that the robot has or will get away from the special terrain (such as an arc-shaped connection), and the robot is in a horizontal or near-horizontal state. In this case, the robot can be directly controlled to rotate in the direction of the pool wall by a second predetermined rotation angle to change the orientation of the robot, and then controlled to move to a position at the third edge distance from the pool wall in the rotated direction, so as to subsequently control the robot to move along the pool wall at the third edge distance.

[0044] It can be understood that, during the process of controlling the robot to move in the rotated direction for a second predetermined time length or a first specified distance, the down-looking sensor can be used to determine whether the robot has left the special terrain in time, so as to adjust the movement strategy of the robot in time, save the energy consumption of the robot, and improve the edge efficiency of the robot.

[0045] Specifically, the pose of the robot can further include a pitch angle, Figure 3 Fig. 2 shows a schematic diagram of a scenario of the pool cleaning robot moving along the pool wall according to an embodiment of the present application. Figure 3 As shown in Fig. 2, the pool bottom is a regular pool bottom, for example, a pool with a flat pool bottom. In this case, the robot can timely recognize the pool wall in front of it during the movement along the pool wall, and the robot will continue to move along the pool wall. The robot will not be in an abnormal state (for example, the robot will not slip) and will not affect the subsequent cleaning work of the robot. Figure 3 As shown in Fig. 3, the pool bottom is an irregular pool bottom, for example, a pool with a "bowl-shaped" pool bottom. In this case, the pool bottom is connected to the pool wall at an arc-shaped connection. During the movement along the pool wall, if there is an arc corner in front of the robot, the robot can not timely recognize that the front is the pool wall, and the robot will continue to move forward, causing the head of the robot to move to the arc-shaped connection, and the head of the robot will be tilted, so that the pitch angle of the robot is greater than zero. If the robot is still controlled to move along the pool wall at the first along-wall distance close to the pool wall in this case, the robot can be in an abnormal state (for example, the robot will slip), which will affect the subsequent cleaning work of the robot.

[0046] It can be understood that under the action of the obstacle on the pool bottom (for example, a protrusion caused by uneven paving of the pool bottom, or a drain or a ground lamp arranged on the pool bottom), the robot can also generate a certain pitch angle during the movement. However, the degree of change of the pose of the robot under the action of the obstacle can be small, and the pose of the robot will recover after the robot passes over the obstacle, that is, the main body of the robot will quickly recover to a near-horizontal or horizontal state. To avoid the interference of the above-mentioned obstacle causing the change of the roll angle, the first predetermined pitch angle and the third predetermined time length are set. If it is detected that there is an obstacle in front of the robot, it means that there can be a pool wall in front of the robot. If the pitch angle of the robot is greater than the first predetermined pitch angle for a duration that satisfies the third predetermined time length (for example, 2s-5s), it means that the connection between the pool wall in front and the pool bottom is a special terrain (for example, an arc-shaped connection), and the along-wall distance of the robot moving along the pool wall needs to be increased to make the robot leave the arc corner area to smoothly perform the subsequent cleaning work. The first predetermined pitch angle can be determined according to the size of the robot (for example, the first predetermined pitch angle can be 12 degrees-15 degrees).

[0047] Figure 4 Fig. 4 shows a schematic diagram of a scenario of the pool cleaning robot moving along the pool wall according to an embodiment of the present application. Figure 4As shown, in the case that there is a long slope at the bottom of the pool, when the robot moves up along the long slope to the top end of the slope, the robot also detects that there is an obstacle in front of the robot, and the duration that the pitch angle of the robot is greater than the first predetermined pitch angle also meets the third predetermined duration, but this case is caused by the long slope, and there is no need to adjust the edge distance of the robot moving along the pool wall. For this case, the slope of the pool bottom during the movement of the robot can be monitored. It can be understood that when the robot moves on the long slope, the slope during the movement is generally constant, and the slope at the arc region where the pool bottom connects with the pool wall is obviously different from the slope of the horizontal pool bottom, and when the robot moves from the pool bottom to the arc corner, the change of the slope of the pool bottom can be obviously monitored. That is, when it is determined that the duration that the pitch angle of the robot is greater than the first predetermined pitch angle meets the third predetermined duration, and the change of the slope of the pool bottom within a specified duration is greater than a predetermined slope (for example, 8-10 degrees), it can be considered that the robot moves to the arc corner where the pool wall connects with the pool bottom, and it is necessary to increase the edge distance of the robot moving along the pool wall.

[0048] For example, during the movement of the robot, the slope value of the position where the robot is located can be recorded, when it is detected that there is an obstacle in front of the robot, the robot obtains the slope value 10 seconds ago, if the difference between the current slope value and the slope value 10 seconds ago is greater than 8.5 degrees, it can be considered that the robot is not on the long slope, and the pitch angle of the robot can be monitored, when the pitch angle is greater than 15 degrees and lasts for 2 seconds, the robot can be controlled to increase the edge distance. If the difference between the current slope value and the slope value 10 seconds ago is less than 8.5 degrees, it is considered that the robot is on the long slope, and the robot can be controlled to continue the original cleaning strategy, such as executing the obstacle avoidance strategy. It should be considered that the head or body of the robot is not necessarily parallel to the slope, and the slope can be calculated based on the pitch angle and the roll angle of the robot, such as: slope=(sqrt(roll*roll+pitch*pitch)), wherein roll represents the roll angle of the robot, and pitch represents the pitch angle of the robot.

[0049] Based on the above discussion of the change of the pitch angle of the robot during the movement along the pool wall, it can be understood that due to the failure of the sensor or the setting of the sensing range of the sensor or other reasons, the pool wall in front of the robot may not be sensed in time, i.e., the robot fails to detect the existence of the obstacle in front of the robot, so the robot continues to move forward, and the robot climbs up the pool wall from the pool bottom, at this time, the robot triggers the action of climbing up the wall to escape from the pool, after climbing down the wall, the robot still cannot sense the obstacle in front of the robot, and the robot still climbs up the pool wall, and so on. In view of this situation, the number of times of climbing up the wall of the robot can be determined according to the change of the pitch angle of the robot, if the number of times of climbing up the wall of the robot is greater than a predetermined number of times threshold (for example, the predetermined number of times threshold can be 3 times or more) within a fifth predetermined time length (for example, 60s), it indicates that there is an arc in front of the robot, and the distance of the robot along the pool wall needs to be increased to avoid the arc.

[0050] In the case where it is determined based on the change of the pitch angle of the robot that the distance of the robot along the pool wall needs to be increased, the distance along the pool wall can be increased in the following manner: the robot is controlled to retreat for a fourth predetermined time length (for example, 2.5s) or retreat by a second specified distance (for example, 20cm), of course, if the pitch angle of the robot is less than a second predetermined pitch angle during the retreat of the robot, the retreat action can be ended in advance, or the pitch angle of the robot can be monitored during the retreat, and when the robot retreats to a position where the pitch angle of the robot is less than the second predetermined pitch angle, i.e., the robot is controlled to retreat to a state where the body is close to horizontal or horizontal. Since the pool wall is located in front of the robot at this time, the robot is controlled to rotate in a direction away from the pool wall by a third predetermined rotation angle (for example, 60 degrees), and then moves in the rotated direction to a position away from the pool wall by a fourth distance along the pool wall, so that the robot can be smoothly controlled to escape from the arc at the junction of the pool wall and the pool bottom, and the distance along the pool wall is smoothly increased. After the robot is controlled to rotate and move, the pool wall in front of the robot at this time is located on the side of the robot, and then the robot can be controlled to move along the pool wall by a fourth distance along the pool wall (for example, 30cm), wherein the fourth distance along the pool wall is greater than the first distance along the pool wall.

[0051] According to a second aspect of the present application, a pool automatic cleaning device is also provided. The pool automatic cleaning device can perform the control method described in the above various embodiments.

[0052] According to a third aspect of the present application, a non-transitory computer readable storage medium is also provided, which stores a computer program. The computer program is executed by a processor to implement the control method of the pool automatic cleaning device provided by the above embodiments. The method comprises: controlling the pool automatic cleaning device to move along the pool wall at a first edge distance on the pool bottom; monitoring the posture of the pool automatic cleaning device during the movement of the pool automatic cleaning device along the pool wall; and adjusting the edge distance of the pool automatic cleaning device based on the posture of the pool automatic cleaning device. The principle and scheme of the control method are described above in combination with the embodiments and the drawings, and will not be repeated here.

[0053] According to a fourth aspect of the present application, a computer program product is also provided. The computer program product comprises a computer program, which can be stored on a non-transitory computer readable storage medium. The computer program is executed by a processor to implement the control method of the pool automatic cleaning device provided by the above methods. The method comprises: controlling the pool automatic cleaning device to move along the pool wall at a first edge distance on the pool bottom; monitoring the posture of the pool automatic cleaning device during the movement of the pool automatic cleaning device along the pool wall; and adjusting the edge distance of the pool automatic cleaning device based on the posture of the pool automatic cleaning device. The principle and scheme of the control method are described above in combination with the embodiments and the drawings, and will not be repeated here.

[0054] The device embodiments described above are only schematic, and the units illustrated as separate components can or can not be physically separate, and the components illustrated as units can or can not be physical units, i.e., they can be located in one place, or distributed on multiple network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the present embodiment. Those skilled in the art can understand and implement without creative labor.

[0055] From the above description of the embodiments, those skilled in the art can clearly understand that the embodiments can be realized by means of software plus necessary universal hardware platforms, and of course, can also be realized by hardware. Based on such understanding, the above technical solutions, essentially or in terms of the contribution to the prior art, can be embodied in the form of a software product. The computer software product can be stored in a computer readable storage medium, such as a ROM / RAM, a magnetic disk, an optical disk, etc., and includes a plurality of instructions to make a computer device (which can be a personal computer, a server, or a network device, etc.) execute the methods described in the various embodiments or some parts of the embodiments.

[0056] In the description of the present specification, the description of the terms "one embodiment", "some embodiments", "an example", "a specific example", or "some examples" and the like means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. Also, the specific features, structures, materials or characteristics described can be combined in any appropriate manner in any one or more embodiments or examples. In addition, the person skilled in the art can combine and combine the different embodiments or examples described in the present specification and the features of the different embodiments or examples without contradiction and combination.

[0057] In addition, the terms "first", "second" are only for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined with "first", "second" can explicitly or implicitly include at least one of the features. In the description of the present application, the meaning of "a plurality of" is two or more, unless otherwise specifically limited.

[0058] In the present application, the orientation words such as "up, down" used without the opposite description are generally directed to the direction shown in the drawings, or to the vertical, vertical or gravity direction; Similarly, for the convenience of understanding and description, "left, right" is generally directed to the left and right of the drawings; "inner, outer" refers to the inner and outer relative to the contour of each component, but the above orientation words are not used to limit the present application.

[0059] The above is only an exemplary embodiment of the present application, but the protection scope of the present application is not limited thereto, and any person skilled in the art can easily think of various changes or replacements within the technical range disclosed in the present application, which should be covered within the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A method for controlling an automatic pool cleaner, comprising: controlling the automatic pool cleaner to move along a pool wall at a first edge distance from a pool bottom; monitoring a posture of the automatic pool cleaner while the automatic pool cleaner moves along the pool wall; adjusting the edge distance of the automatic pool cleaner based on the posture of the automatic pool cleaner.

2. The control method according to claim 1, wherein The posture of the automatic pool cleaner comprises a roll angle, and the adjusting the edge distance of the automatic pool cleaner based on the posture of the automatic pool cleaner comprises: increasing the edge distance of the automatic pool cleaner moving along the pool wall, if a duration that the roll angle of the automatic pool cleaner is greater than a first predetermined roll angle is longer than a first predetermined duration.

3. The control method according to claim 2, wherein If the roll angle is always less than a second predetermined roll angle during the first predetermined duration, the increasing the edge distance of the automatic pool cleaner moving along the pool wall comprises: controlling the automatic pool cleaner to move away from the pool wall to a second edge distance from the pool wall; and controlling the automatic pool cleaner to move along the pool wall at the second edge distance, wherein the second predetermined roll angle is greater than the first predetermined roll angle, and the second edge distance is greater than the first edge distance.

4. The control method according to claim 3, wherein If the roll angle is greater than the second predetermined roll angle during the first predetermined duration, the increasing the edge distance of the automatic pool cleaner moving along the pool wall comprises: controlling the automatic pool cleaner to rotate a first predetermined rotation angle away from the pool wall and move to a third edge distance from the pool wall in the rotated direction; and controlling the automatic pool cleaner to move along the pool wall at the third edge distance, wherein the third edge distance is greater than the second edge distance.

5. The control method according to claim 4, wherein The moving to the third edge distance from the pool wall in the rotated direction comprises: after moving for a second predetermined duration or moving a first specified distance in the rotated direction, controlling the automatic pool cleaner to rotate a second predetermined rotation angle toward the pool wall and move to the third edge distance from the pool wall in the rotated direction.

6. The control method according to claim 5, wherein During the moving for the second predetermined duration or moving the first specified distance in the rotated direction, the method further comprises: detecting whether the automatic pool cleaner is suspended on at least one side by a downward looking sensor, and if not, controlling the automatic pool cleaner to rotate the second predetermined rotation angle toward the pool wall and move to the third edge distance from the pool wall in the rotated direction.

7. The control method according to claim 1, wherein The posture comprises a pitch angle, and the adjusting the edge distance of the automatic pool cleaner based on the posture of the automatic pool cleaner comprises: increasing the edge distance of the automatic pool cleaner moving along the pool wall, if a duration that the pitch angle of the automatic pool cleaner is greater than a first predetermined pitch angle is longer than a third predetermined duration, if an obstacle is detected in front of the automatic pool cleaner.

8. The control method according to claim 1, wherein The attitude includes a pitch angle, and the adjusting the edge distance of the pool cleaning robot based on the attitude of the pool cleaning robot includes: In a case where it is detected that there is an obstacle in front of the pool cleaning robot, if a duration that the pitch angle of the pool cleaning robot is greater than a first predetermined pitch angle is longer than a third predetermined time, and a variation of a slope of a pool bottom on which the pool cleaning robot is located within a specified time is greater than a predetermined slope, the edge distance of the pool cleaning robot moving along the pool wall is increased.

9. The control method of claim 1, the attitude includes a pitch angle, and the adjusting the edge distance of the pool cleaning robot based on the attitude of the pool cleaning robot includes: determining a number of times that the pool cleaning robot climbs a wall within a fifth predetermined time based on a variation of the pitch angle of the pool cleaning robot, wherein if the number of times of climbing the wall within the fifth predetermined time is greater than or equal to a predetermined threshold, the edge distance of the pool cleaning robot moving along the pool wall is increased.

10. The control method according to claim 7 or 8, wherein The increasing the edge distance of the pool cleaning robot moving along the pool wall includes: controlling the pool cleaning robot to retreat for a fourth predetermined time or retreat a second specified distance or retreat to a position where the pitch angle is less than a second predetermined pitch angle, then rotate a third predetermined rotation angle in a direction away from the pool wall, and move to a fourth edge distance away from the pool wall in the rotated direction to move along the pool wall at the fourth edge distance; wherein the second predetermined pitch angle is less than the first predetermined pitch angle, and the fourth edge distance is greater than the first edge distance.

11. An automatic pool cleaning device wherein, The pool cleaning robot is capable of performing the method of any one of claims 1-10.

12. A non-volatile computer storage medium, the storage medium storing a computer program, the computer program being executed by a processor to implement the method of any one of claims 1-10.

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