Automatic pool cleaning device, control method thereof and computer storage medium

Abstract

The invention provides an automatic pool cleaning device, a control method and a computer storage medium, the automatic pool cleaning device is used for cleaning a pool, the automatic pool cleaning device comprises a sensor, and the control method comprises the steps that smudginess information of a to-be-cleaned area is collected through the sensor; the smudginess degree of the to-be-cleaned area is judged according to the collected smudginess information; and executing corresponding operation on the to-be-cleaned area according to a judgment result of the smudginess degree of the to-be-cleaned area. According to the application, the smudginess information of the to-be-cleaned area is collected through the sensor, the smudginess degree of the to-be-cleaned area is judged according to the smudginess information of the to-be-cleaned area, and the corresponding operation is performed on the to-be-cleaned area according to the judgment result of the smudginess degree, so that the effective and intelligent judgment, selection and execution of the proper cleaning strategy by the automatic cleaning device for the pool are realized; the cleaning efficiency is improved.

Description

Technical Field

[0001] This application relates to the field of cleaning device technology, and in particular to an automatic water tank cleaning device, its control method, and a computer storage medium. Background Technology

[0002] When operating underwater, automatic pool cleaning devices primarily rely on sensors to plan and issue control commands for cleaning tasks. However, they are generally limited to basic cleaning, lacking intelligent task planning. Consequently, after activation, these devices cannot select appropriate cleaning strategies and must begin the entire cleaning process from scratch, resulting in wasted time and low cleaning efficiency. Therefore, enabling automatic pool cleaning devices to intelligently identify, select, and execute suitable cleaning strategies is a pressing issue that needs to be addressed. Summary of the Invention

[0003] The technical problem to be solved by this application is to address the shortcomings of the prior art by providing a control method for an automatic water tank cleaning device. This method collects dirt information of the area to be cleaned, determines the degree of dirt based on the dirt information, and performs corresponding operations on the area to be cleaned based on the determination of the degree of dirt, thereby realizing the intelligent judgment, selection and execution of appropriate cleaning strategies by the automatic water tank cleaning device.

[0004] According to another aspect of this disclosure, an automatic water tank cleaning device applying the above-described control method is provided.

[0005] According to another aspect of this disclosure, a non-volatile computer storage medium is provided for implementing the above-described control method.

[0006] In one aspect of this application, a control method for an automatic water tank cleaning device is provided for cleaning a water tank. The automatic water tank cleaning device includes sensors, wherein the control method includes:

[0007] The sensor collects information on the dirt and grime in the area to be cleaned.

[0008] The degree of dirtiness in the area to be cleaned is determined based on the collected dirt information;

[0009] Based on the assessment of the degree of dirtiness in the area to be cleaned, corresponding operations are performed on the area to be cleaned.

[0010] Furthermore, performing corresponding operations on the area to be cleaned includes:

[0011] If it is determined that the area to be cleaned is a heavily soiled area, the automatic cleaning device of the pool is controlled to repeatedly clean the area to be cleaned.

[0012] Furthermore, controlling the automatic cleaning device of the pool to repeatedly clean the area to be cleaned includes: controlling the automatic cleaning device of the pool to perform a first preset number of cleaning operations on the area to be cleaned according to a preset path.

[0013] Furthermore, the corresponding operations performed on the area to be cleaned include:

[0014] If it is determined that the area to be cleaned is a lightly soiled area, the automatic cleaning device of the pool is controlled to perform a second preset number of cleaning operations on the area to be cleaned, wherein the first preset number of cleaning operations is greater than the second preset number of cleaning operations.

[0015] Furthermore, the degree of dirtiness of the area to be cleaned is determined based on the collected dirt information, including:

[0016] The collected dirt information is input into a pre-trained model to obtain a judgment result on the degree of dirt in the area to be cleaned.

[0017] Furthermore, during the corresponding operation performed on the area to be cleaned, the control method further includes:

[0018] The automatic pool cleaning device sends cleaning data to the user, and the data is used to prompt the user about the corresponding operations performed by the automatic pool cleaning device.

[0019] Furthermore, in the heavily polluted area, the concentration or density of pollutants exceeds a first threshold; in the lightly polluted area, the concentration or density of pollutants is below a second threshold, wherein the second threshold is less than or equal to the first threshold.

[0020] Furthermore, the sensor includes at least one of the following: a camera, a TOF sensor, a laser sensor, or an ultrasonic sensor.

[0021] This application also discloses an automatic water tank cleaning device, wherein the automatic water tank cleaning device is capable of performing the control method described in any embodiment of this application.

[0022] This application also discloses a non-volatile computer storage medium storing a computer program that, when executed by a processor, implements the methods described in any embodiment of this application.

[0023] The embodiments described in this application have the following beneficial effects:

[0024] This application collects dirt information of the area to be cleaned through sensors, judges the degree of dirt in the area to be cleaned based on the dirt information, and performs corresponding operations on the area to be cleaned based on the judgment result. This realizes the effective intelligent identification, selection and execution of appropriate cleaning strategies by the automatic pool cleaning device, thereby improving cleaning efficiency. Attached Figure Description

[0025] To more clearly illustrate the technical solutions of the embodiments of this disclosure, the accompanying drawings used in the description of the embodiments will be briefly introduced below. The accompanying drawings in the following description are merely exemplary embodiments of this disclosure.

[0026] Figure 1 This is a flowchart illustrating a control method for an automatic water tank cleaning device according to an embodiment of this application; and

[0027] Figure 2 This is a flowchart illustrating the control method of an automatic water tank cleaning device according to an embodiment of this application, in which different cleaning methods are performed based on the degree of dirtiness. Detailed Implementation

[0028] The technical solutions in this application will be clearly and completely described below. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of the embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of this application. It should be noted that, unless otherwise specified, the embodiments and features in the embodiments of this application can be combined with each other.

[0029] This application provides a control method for an automatic pool cleaning device, an automatic pool cleaning device using this control method, and a non-volatile computer storage medium. The automatic pool cleaning device of this application is capable of cleaning a pool. The pool is, for example, a pool-shaped structure. The pool-shaped structure can be a swimming pool, a water storage tank, a spa pool, a water tank, a water storage trough, etc. The automatic pool cleaning device can be a device such as an automatic cleaning device or a pool cleaning robot, capable of cleaning the pool-shaped structure. This application does not limit the specific presentation of the automatic pool cleaning device or the pool-shaped structure, as long as the principle of this application is achieved. In the following description, unless otherwise specified, a robot will be used as an example of the automatic pool cleaning device, and a swimming pool will be used as an example of a pool or pool-shaped structure. In the following description, unless otherwise specified, the terms "pool bottom," "pool bottom surface," and "pool base" all refer to the bottom surface of the swimming pool, and the terms "pool wall," "pool wall," and "pool pool side" all refer to the side of the swimming pool.

[0030] The automatic pool cleaning device offers multiple cleaning modes, including pool bottom cleaning, pool wall cleaning, and water surface cleaning, depending on the cleaning location and method. During cleaning, the device plans a path based on its location, the shape of the area to be cleaned, the location and degree of dirt, and then cleans according to that path.

[0031] The control method 100 of the automatic water tank cleaning device of this application will be described in detail below with reference to the accompanying drawings. Figure 1 A flowchart of a control method 100 for an automatic pool cleaning device according to an embodiment of this application is shown. The control method is used to clean a pool. The automatic pool cleaning device includes sensors. The control method 100 includes: in step S101, collecting dirt information of an area to be cleaned using the sensors; in step S102, determining the degree of dirt in the area to be cleaned based on the collected dirt information; and in step S103, performing corresponding operations on the area to be cleaned based on the determination of the degree of dirt. Steps S101 to S103 are described below.

[0032] In step S101, the sensor collects information on the dirt in the area to be cleaned.

[0033] In step S102, the degree of dirtiness of the area to be cleaned is determined based on the collected dirt information.

[0034] The automatic pool cleaning device is equipped with sensors. When the device is cleaning the pool, the sensors collect data on the surrounding environment, specifically the area to be cleaned, to obtain information about the level of dirt. Based on this data, the device determines the degree of dirt in the area. In this way, the sensor-collected dirt information enables the device to intelligently select a cleaning strategy based on the level of dirt.

[0035] The dirt information includes multimodal data, which can be image data, such as images of the area to be cleaned taken by a camera. These images include visual features of the dirt, such as shape, color, and texture. By identifying specific characteristics of the dirt through images, such as the rough texture of sediment, algae, scale, or moss, or foreign objects, information such as the type of dirt, area coordinates, coverage area, and percentage can be determined. The dirt information can also include physical quantity data. For example, a Time-of-Flight (TOF) sensor emits specialized light that shines on the area to be cleaned. When the light encounters dirt or the bottom / wall of the pool, it reflects off. The TOF sensor receives the reflected light and records the time difference between emission and reception, thus obtaining information such as the distance, thickness, and height of the dirt. Alternatively, a laser sensor controls a laser beam to scan the area to be cleaned laterally or longitudinally. When the laser encounters dirt or the bottom / wall of the pool, it reflects off. The laser sensor receives the reflected light and records the laser angle and time of flight, obtaining information such as the outline, size, concentration of particulate matter, and coordinates of the dirt. For example, by emitting ultrasonic waves through an ultrasonic sensor, the sound waves are reflected when they encounter the bottom of the pool, the pool wall, dirt or obstacles. Based on the time difference between the emission and reception of the reflection, as well as the number of reflected signals per unit time, the amount of solid impurities reflected, and the amplitude of the echo signal (the echo amplitude of sludge is lower than that of hard dirt), information such as the material hardness of the dirt, the distance value of the dirt, and the detection density of impurities in the dirt can be obtained.

[0036] The types and principles of the sensors will be described in detail below, and will not be repeated here.

[0037] It should be understood that the above is merely an example of dirt information, and this application does not limit the specific dirt information, as long as it can achieve the technical principles of this application.

[0038] It should be noted that the quality of dirt information directly affects the accuracy of dirt level judgment. Therefore, the raw data collected by the sensor can be standardized first to eliminate noise and interference.

[0039] After the sensors of the automatic pool cleaning device collect dirt information about the area to be cleaned, it needs to determine the degree of dirtiness based on this information. For example, based on preset thresholds and logical rules, the degree of dirtiness can be determined directly through a combination of features in the dirt information. This could include setting thresholds for the percentage of dirty area, dirt thickness, the presence of localized hard dirt, or large areas of stubborn dirt. Alternatively, machine learning methods can be used to determine the degree of dirtiness. For instance, the collected dirt information can be input into a pre-trained model, and the model can calculate the degree of dirtiness for the area to be cleaned. This method is suitable for scenarios with various and complex types of dirt.

[0040] In one example, determining the degree of dirtiness of the area to be cleaned based on the collected dirt information includes: inputting the collected dirt information into a pre-trained model to obtain a determination result of the degree of dirtiness of the area to be cleaned.

[0041] Taking the determination of the degree of dirt in the area to be cleaned using a pre-trained model as an example, the model learns the mapping relationship between "dirt information - degree of dirt" through data learning, and completes the model architecture design and training process optimization to obtain the pre-trained model. After the dirt information is standardized to remove interference, image preprocessing and physical quantity preprocessing are performed to eliminate abnormal data and improve the model's adaptability to the scene. Then, the data is input into the pre-trained model, such as a single-modal model or a multi-modal fusion model. The pre-trained model performs model inference and outputs results. The output result can directly indicate whether the area is lightly or heavily soiled. The automatic pool cleaning device selectively cleans the area to be cleaned based on the output judgment result. Finally, the automatic pool cleaning device may also include a rear sensor. After the automatic pool cleaning device completes cleaning, the rear sensor verifies the cleaning effect, and the model is fine-tuned based on the "judgment result - actual effect" data to improve the model's judgment accuracy.

[0042] It should be understood that the above exemplifies the method for judging the degree of dirt in the area to be cleaned, and specifically illustrates an example of obtaining the degree of dirt in the area to be cleaned through a pre-trained model. These exemplary descriptions are not a limited enumeration of the pre-trained model and the method for judging the degree of dirt in the area to be cleaned. Those skilled in the art can make settings according to actual needs, as long as the technical principles of this application can be realized.

[0043] Next, proceed to step S103. In step S103, based on the judgment result of the degree of dirt in the area to be cleaned, perform corresponding operations on the area to be cleaned.

[0044] After obtaining the degree of dirtiness of the area to be cleaned through steps S101 and S102, the automatic cleaning device of the pool can be controlled to perform corresponding operations on the area to be cleaned. These corresponding operations include, for example, implementing a corresponding cleaning strategy for the area to be cleaned. Since the degree of dirtiness varies in different areas, the corresponding cleaning strategies also differ. The following will describe these corresponding operations in detail with specific examples. It should be noted that, unless otherwise specified, the terms "dirt" and "dirtiness" have the same meaning in this application, referring to contaminants in the pool such as branches, leaves, sludge, algae, plastic particles, and insects.

[0045] Specifically, based on the judgment result of the degree of dirt in the area to be cleaned, the distribution and location of areas such as heavily soiled and lightly soiled areas can be obtained. Therefore, the automatic sink cleaning device can select an appropriate cleaning strategy based on the judgment result, such as whether to perform a full cleaning or partial cleaning of the area, or whether to perform light or heavy cleaning. This enables the automatic sink cleaning device to achieve intelligent cleaning, instead of having to start the entire cleaning task from scratch after initiating the cleaning task for the area to be cleaned. This improves cleaning efficiency and saves cleaning time, thereby extending the battery life of the automatic sink cleaning device.

[0046] The following is combined with Figure 2 The following is an exemplary description of the corresponding operation performed on the area to be cleaned in step S103. Figure 2 The flowchart illustrates a control method for an automatic pool cleaning device according to an embodiment of this application, which performs intelligent cleaning of the area to be cleaned. In other words, Figure 2 The specific steps for performing the corresponding operation on the area to be cleaned are illustrated exemplarily. For example... Figure 2 As shown, step S103 may include steps S1031 and S1032. For example... Figure 2 As shown, if it is determined in a previous step (e.g., step S103) that the area to be cleaned is a heavily soiled area or that a heavily soiled area exists, then proceed to step S1031; if it is determined that the area to be cleaned is a lightly soiled area, then proceed to step S1032.

[0047] In step S1031, the automatic pool cleaning device is controlled to repeatedly clean the area to be cleaned. Specifically, if the area to be cleaned is determined to be heavily soiled or contains heavily soiled areas, the heavily soiled areas need to be repeatedly cleaned to ensure that the dirt in the heavily soiled areas is thoroughly removed. The cleaning path of the automatic pool cleaning device for the heavily soiled areas can be, for example, a bow-shaped path, a Z-shaped path, or other cleaning paths set according to the actual scenario. For example, the automatic pool cleaning device can use a bow-shaped path to repeatedly clean the heavily soiled areas.

[0048] In one example, such as Figure 2 As shown, in step S1031, controlling the automatic cleaning device of the pool to repeatedly clean the area to be cleaned includes: controlling the automatic cleaning device of the pool to perform a first preset number of cleaning operations on the area to be cleaned according to a preset path.

[0049] For example, the automatic cleaning device can be controlled to clean the heavily soiled area a first preset number of times according to a preset path. The first preset number of times can be two, three, or even more. That is, when the area is determined to be heavily soiled, it is cleaned repeatedly. For example, the heavily soiled area can be cleaned once from left to right using a zigzag cleaning path, and then once from right to left, and so on, to ensure that the heavily soiled area is thoroughly cleaned. It should be noted that in some cases, the first preset number of times can also be once. For example, if the automatic cleaning device for the sink has strong cleaning capabilities, even one cleaning of the heavily soiled area can achieve a thorough cleaning effect. Therefore, in this case, the automatic cleaning device for the sink can clean the heavily soiled area only once.

[0050] In step S1032, the automatic cleaning device for the pool can be controlled to perform a second preset number of cleaning operations on the area to be cleaned, wherein the second preset number of cleaning operations is less than the first preset number of cleaning operations.

[0051] When the area to be cleaned is determined to be lightly soiled (i.e., a lightly soiled area), the automatic sink cleaning device does not need to spend too much time in the lightly soiled area and can clean it fewer times. For example, if the area is determined to be lightly soiled, it can be cleaned only once, or even not at all. Even if the lightly soiled area needs to be cleaned repeatedly, the number of times it is cleaned is less than the number of times it is cleaned in a heavily soiled area, thereby saving the power of the automatic sink cleaning device and saving cleaning time.

[0052] It should be understood that this application does not specifically limit the preset path, the first preset number of times, or the second preset number of times. Those skilled in the art can set these according to actual needs, as long as they can achieve the technical principles of this application.

[0053] In one example, during the corresponding operation performed on the area to be cleaned, the control method further includes: controlling the automatic pool cleaning device to send cleaning data to the user, the data being used to prompt the user about the corresponding operation performed by the automatic pool cleaning device.

[0054] Specifically, during the operation of the area to be cleaned, the automatic sink cleaning device sends cleaning data to the user. For example, it can send data on the degree of dirt in the area to be cleaned, the current cleaning method used for different levels of dirt, and historical cleaning data. This data is used to inform the user of the corresponding operations performed by the automatic sink cleaning device, facilitating the user's understanding of the sink cleaning process and other information.

[0055] In one example, in the heavily polluted area, the concentration or density of the pollutant exceeds a first threshold; in the lightly polluted area, the concentration or density of the pollutant is below a second threshold, wherein the second threshold is less than or equal to the first threshold.

[0056] According to the dirt information collected in step S101, the dirt information includes information such as the concentration and density of dirt. When judging the degree of dirt, if the concentration or density of dirt exceeds the first threshold, the concentration or density of dirt is high and the degree of dirt in this area is heavily dirty. If the concentration or density of dirt is lower than the second threshold (the second threshold is less than or equal to the first threshold), the concentration or density of dirt is low and the degree of dirt in this area is lightly dirty.

[0057] It should be understood that this application does not specifically limit the first threshold and the second threshold. Those skilled in the art can set them according to the actual situation, as long as the technical principle of this application can be realized.

[0058] In one example, the sensor includes at least one of the following: a camera, a TOF sensor, a laser sensor, or an ultrasonic sensor.

[0059] A sensor (transducer / sensor) is a detection device that senses measured information, such as dirt levels in an area to be cleaned, and converts the sensed information into electrical signals or other desired forms of output, enabling the automatic sink cleaning device to detect the dirt levels in the area to be cleaned. The sensor can be any one of a camera, a Time-of-Flight (TOF) sensor, a laser sensor, or an ultrasonic sensor, or a combination of two, three, or even all four. This application does not specifically limit the number or type of sensors, as long as the technical effect of this application is achieved.

[0060] The camera utilizes optical imaging principles to form and record images. The camera may include at least one webcam for acquiring image data from the pool environment to achieve functions such as dirt information collection, path planning, and cleaning target detection. The camera may employ one or more of the following webcam types depending on actual needs: a visible light camera (RGB camera) for acquiring color images under sufficient lighting conditions; a low-light camera (such as a high-sensitivity sensor camera) suitable for image acquisition in low-light environments; an infrared camera (IR camera) combined with infrared illumination for operation in turbid water or low-visibility conditions; an underwater-specific camera with waterproof, pressure-resistant, and corrosion-resistant properties, suitable for long-term underwater operations; a 3D camera or depth camera (such as a binocular vision, structured light, or ToF camera) for acquiring three-dimensional spatial information of obstacles; a multispectral or polarization camera to enhance image recognition capabilities in specific scenarios (such as stain classification or reflection suppression); and a panoramic camera to provide a wider field of view to improve environmental perception. The cameras described above are only a limited list; other types of cameras can be used in practice, as long as they can realize the technical concept of this application.

[0061] Time-of-flight (TOF) sensors can measure distance using specific artificial light sources. They calculate the distance between a transmitter and a reflector by measuring the "time of flight" of signals such as ultrasound, microwaves, and light. Specifically, they continuously emit light pulses onto a target object, then receive the reflected light pulses, and calculate the distance by detecting the round-trip time of the light pulses. TOF sensors are characterized by high measurement accuracy and a wide measurement range. Based on their principle, TOF sensors include direct time-of-flight (dTOF) sensors and indirect time-of-flight (iTOF) sensors. A TOF sensor may include components such as an illumination unit, an optical lens, an imaging sensor, a control unit, and a computing unit; detailed descriptions of these components are omitted here.

[0062] A laser sensor can convert laser signals into other energy signals (such as electrical signals). The laser sensor emits laser signals, receives laser signals reflected from a target object, and then analyzes the target's distance, position, shape, or state based on the laser's propagation characteristics. It features strong directionality, good monochromaticity, and high brightness. The laser sensor may include components such as a laser emitter, a receiving optical system, a photosensitive element, a signal processing unit, and a control unit; detailed descriptions of these components are omitted here.

[0063] An ultrasonic sensor can convert ultrasonic signals into other energy signals (such as electrical signals). Ultrasonic waves are mechanical waves with a vibration frequency higher than 20kHz. They are characterized by high frequency, short wavelength, minimal diffraction, and, most importantly, good directionality, enabling them to propagate directionally as rays. The ultrasonic sensor can consist of one or more fixed ultrasonic array elements. By measuring the time it takes for the ultrasonic wave to travel from emission to reception, the distance is calculated, thereby detecting the presence and location of obstacles. The ultrasonic sensor may also include components such as a drive circuit and a signal processor; detailed descriptions of these components are omitted here.

[0064] It should be noted that the sensors used should be waterproof to ensure stable operation when submerged in water for extended periods. The sensors can be positioned at the front, top, side, and / or rear of the automatic water tank cleaning device, depending on the needs, to optimize image acquisition from different directions.

[0065] This embodiment also provides an automatic water tank cleaning device, wherein the automatic water tank cleaning device is capable of executing the control method described in any embodiment.

[0066] The automatic pool cleaning device may also include a housing and components such as a water pump, handle, water inlet, drain, and controller disposed on or inside the housing. Those skilled in the art can select and configure the constituent components of the automatic pool cleaning device (e.g., components disposed on or inside the housing) according to the principles of this application, as long as the technical principles of this application are implemented.

[0067] This embodiment also discloses a non-volatile computer storage medium storing a computer program, which, when executed by a processor, implements the control method described in any embodiment.

[0068] It should be understood that, in this embodiment, the aforementioned computer storage medium may be located at at least one of the multiple network servers in a computer network. Optionally, in this embodiment, the aforementioned storage medium may include, but is not limited to, various media capable of storing program code, such as read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0069] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of those different embodiments or examples.

[0070] 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 indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "a plurality of" means two or more, unless otherwise explicitly specified.

[0071] In this application, unless otherwise stated, directional terms such as "up" and "down" are generally used in relation to the direction shown in the accompanying drawings, or in relation to the vertical, perpendicular, or gravitational direction; similarly, for ease of understanding and description, "left" and "right" are generally used in relation to the left and right shown in the accompanying drawings; "inner" and "outer" refer to the inner and outer contours of each component itself, but the above directional terms are not intended to limit this application.

[0072] The above description is merely an exemplary embodiment of this application, but the scope of protection of this application is not limited thereto. Any person skilled in the art can easily conceive of various variations or substitutions within the technical scope described in this application, and these should all be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A control method for an automatic water tank cleaning device, used for cleaning a water tank, wherein the automatic water tank cleaning device includes sensors, wherein... The control method includes: The sensor collects information on the dirt and grime in the area to be cleaned. The degree of dirtiness in the area to be cleaned is determined based on the collected dirt information; Based on the assessment of the degree of dirtiness in the area to be cleaned, corresponding operations are performed on the area to be cleaned.

2. The control method according to claim 1, wherein, The operation performed on the area to be cleaned includes: If it is determined that the area to be cleaned is a heavily soiled area, the automatic cleaning device of the pool is controlled to repeatedly clean the area to be cleaned.

3. The control method according to claim 2, wherein, The method of controlling the automatic cleaning device of the pool to repeatedly clean the area to be cleaned includes: controlling the automatic cleaning device of the pool to perform a first preset number of cleaning operations on the area to be cleaned according to a preset path.

4. The control method according to claim 3, wherein, The corresponding operations to be performed on the area to be cleaned include: If it is determined that the area to be cleaned is a lightly soiled area, the automatic cleaning device of the pool is controlled to perform a second preset number of cleaning operations on the area to be cleaned, wherein the second preset number of cleaning operations is less than the first preset number of cleaning operations.

5. The control method according to any one of claims 1-4, wherein, Determining the degree of dirtiness of the area to be cleaned based on the collected dirt information includes: The collected dirt information is input into a pre-trained model to obtain a judgment result on the degree of dirt in the area to be cleaned.

6. The control method according to any one of claims 1-4, wherein, During the corresponding operation performed on the area to be cleaned, the control method further includes: The automatic pool cleaning device sends cleaning data to the user, and the data is used to prompt the user about the corresponding operations performed by the automatic pool cleaning device.

7. The control method according to claim 2, wherein, In the heavily polluted area, the concentration or density of pollutants exceeds a first threshold; in the lightly polluted area, the concentration or density of pollutants is below a second threshold, wherein the second threshold is less than the first threshold.

8. The control method according to any one of claims 1-4, wherein, The sensor includes at least one of the following: a camera, a TOF sensor, a laser sensor, or an ultrasonic sensor.

9. An automatic water tank cleaning device, wherein, The automatic water tank cleaning device is capable of performing the control method according to any one of claims 1-8.

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

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