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

Abstract

The invention provides a control method of an automatic pool cleaning device, the automatic pool cleaning device and a storage medium. The control method comprises the steps that the automatic pool cleaning device is controlled to walk in a pool; in the walking process of the automatic pool cleaning device, whether the communication module receives a remote control instruction or not is detected; under the condition that the remote control instruction is received, the automatic pool cleaning device is controlled to execute a remote control cleaning mode according to the remote control instruction; and under the condition that the remote control instruction is not received within the first preset duration and the cleaning operation of the pool is not completed, the automatic pool cleaning device is controlled to be switched from the remote control cleaning mode to the automatic cleaning mode. According to the method, the specific area is cleaned in response to the remote control instruction, cleaning of the water pool can be continuously completed based on the cleaning condition of the water pool, and the cleaning effect of the water pool is improved.

Description

TECHNICAL FIELD

[0001] Embodiments of the present application relate to the technical field of cleaning devices, in particular to a control method of a pool automatic cleaning device, a pool automatic cleaning device and a 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] Most of the pool cleaning robots on the market have automatic moving and cleaning capabilities, but in complex environments or specific areas (such as pool dead corners and temporary dirt accumulation areas), the robot may not be able to clean automatically and needs manual intervention, which reduces the cleaning efficiency of the pool. SUMMARY

[0004] According to a first aspect of the present application, a control method of a pool automatic cleaning device is provided, wherein the pool automatic cleaning device comprises a communication module, and the control method comprises: controlling the pool automatic cleaning device to walk in a pool; detecting whether a remote control instruction is received by the communication module during the walking of the pool automatic cleaning device; in the case that the remote control instruction is received, controlling the pool automatic cleaning device to execute a remote control cleaning mode according to the remote control instruction; and in the case that no remote control instruction is received within a first predetermined time length and cleaning work of the pool is not completed, controlling the pool automatic cleaning device to switch from the remote control cleaning mode to an automatic cleaning mode.

[0005] According to the control method of the pool automatic cleaning device provided by the present application, the remote control instruction is issued by a remote control terminal, an intelligent terminal or a base station.

[0006] According to the control method of the pool automatic cleaning device provided by the present application, the remote control instruction comprises at least one of controlling the pool automatic cleaning device to move forward, move backward, turn, float up and sink.

[0007] According to the control method of the pool automatic cleaning device provided by the present application, whether the cleaning work of the pool is completed is determined by at least one of the following: whether the cleaning time of the pool automatic cleaning device is greater than a second predetermined time length; whether the power consumption of the pool automatic cleaning device is greater than a predetermined power consumption; whether the cleaned area of the pool is greater than a predetermined area; whether the water quality information of the pool reaches a preset condition; and whether the pool still includes uncleaned garbage.

[0008] According to the control method of the pool automatic cleaning device provided in the application, the cleaned area of the pool is calculated based on the cleaning path of the pool automatic cleaning device in the pool.

[0009] According to the control method of the pool automatic cleaning device provided in the application, after the pool automatic cleaning device is switched to the automatic cleaning mode, the pool automatic cleaning device is controlled to clean the pool according to the predetermined cleaning path.

[0010] According to the control method of the pool automatic cleaning device provided in the application, the pool automatic cleaning device is controlled to clean the pool according to the predetermined cleaning path, including: controlling the pool automatic cleaning device to continue cleaning the pool according to the cleaning path in the last automatic cleaning mode.

[0011] According to the control method of the pool automatic cleaning device provided in the application, the pool automatic cleaning device is controlled to continue cleaning the pool according to the cleaning path in the last automatic cleaning mode, including: controlling the pool automatic cleaning device to continue cleaning the pool according to the cleaning path in the last automatic cleaning mode from the interrupt position in the last automatic cleaning mode or the current position of the pool automatic cleaning device.

[0012] According to the control method of the pool automatic cleaning device provided in the application, the control method further includes: feeding the state information of the pool automatic cleaning device and the cleaning information of the pool to the intelligent terminal, so as to display the state information and the cleaning information on the interactive interface of the intelligent terminal, the state information includes the remaining power of the pool automatic cleaning device, the dirt degree of the garbage basket and the current cleaning mode, and the cleaning information includes the cleaning progress of the pool and the water quality data.

[0013] According to the second aspect of the application, a pool automatic cleaning device is provided, which can execute the control method as described in any of the above.

[0014] According to the third aspect of the application, a non-volatile computer storage medium is provided, in which a computer program is stored, and the computer program is executed by a processor to realize the control method as described in any of the above.

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

[0016] Upon receiving a remote control command, the robot can be controlled to execute the remote cleaning mode according to the command. If no remote control command is received within a predetermined time and the cleaning of the pool is not completed, the robot can be controlled to switch from the remote cleaning mode to the automatic cleaning mode to continue cleaning the pool. This method responds to the remote control command and cleans a specific area without requiring manual cleaning by the user. Furthermore, even when the user no longer controls the robot, it can continue cleaning the pool based on its cleanliness, without interrupting the cleaning work of the pool robot due to remote control commands. This improves the robot's intelligence level and enhances the user experience. Attached Figure Description

[0017] To more clearly illustrate the technical solutions of the embodiments of this application, 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 application.

[0018] Figure 1 This is a flowchart illustrating the control method of the automatic water tank cleaning device provided in this application; and

[0019] Figure 2 This is a schematic diagram of the interactive interface of the smart terminal provided in this application. Detailed Implementation

[0020] To make the objectives, technical solutions, and advantages of this application clearer, the technical solutions of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0021] This application provides a control method for an automatic pool cleaning device. It is understood that the automatic pool cleaning device is capable of cleaning a pool, such as a pool-shaped structure, which can be a swimming pool, water storage tank, spa pool, water tank, or water reservoir. The automatic pool cleaning device can be a device such as an automatic cleaning system 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.

[0022] Unless otherwise specified, the following description will use a robot as an example of the automatic pool cleaning device and a swimming pool as an example of a pool or pool-shaped structure. Unless otherwise specified, the terms "pool bottom," "pool surface," and "pool bottom" all refer to the bottom surface of the swimming pool.

[0023] The control method 100 of the automatic cleaning device for the water tank will be described in detail below with reference to the accompanying drawings.

[0024] Figure 1 This is a flowchart illustrating the control method 100 of the automatic water tank cleaning device provided in this application. Figure 1 As shown, the control method 100 includes steps 101 to 103. Steps 101 to 103 will be described in detail below.

[0025] Step 101: Control the automatic cleaning device of the water tank to move in the water tank.

[0026] Specifically, when robots perform cleaning operations in swimming pools, they can include cleaning the pool bottom, surface, and walls. Automatic pool cleaning devices typically also include a trash basket, a water pump, and paddles. The casing has an outlet and an inlet opposite the trash basket's inlet. As the machine moves across the pool bottom, walls, or surface, the water pump draws water from the pool through the inlet and inlet into the trash basket. After being filtered by the trash basket, the water is discharged from the outlet. Trash in the pool is filtered into the trash basket, thus cleaning the pool.

[0027] Based on the robot's ability to clean different areas, controlling the robot's movement in the pool can include controlling the robot to move on the water surface, pool bottom, or pool walls. The robot's movement in the pool can be controlled by controlling its drive mechanism. During its movement in the pool, the robot can clean the pool. The robot's walking speed and cleaning intensity can be dynamically adjusted according to the actual situation to achieve better cleaning results.

[0028] Step 102: During the movement of the automatic water cleaning device, the system detects whether the communication module receives a remote control command. The communication module supports protocols such as Wi-Fi, Bluetooth, underwater acoustic communication, optical communication, UWB, or LoRa. The remote control command can be issued by a remote control terminal (such as a robot-specific remote controller), a smart terminal (such as a mobile phone or tablet), or a base station (such as a charging base station). For example, the remote control command can be issued by the user operating the remote control terminal, or by the smart terminal after the user operates an APP (Application Program). Alternatively, the remote control command can be issued by the user controlling the base station after operating the APP on the smart terminal, or by the user controlling the base station by manipulating buttons on the base station. Through the communication module, the robot can achieve one-way or two-way communication with the remote control terminal, smart terminal, or base station to receive remote control commands.

[0029] Remote control commands can include one or more commands to control the robot to perform specific movements, such as at least one of forward, backward, turning, surfacing, and sinking. The forward distance, backward distance, and turning angle and direction can be determined according to the specific remote control command. For example, the robot may move forward until the forward command stops, or backward to the position where the backward command stops. Alternatively, it may move forward, backward, or turn according to predetermined remote control rules. For instance, upon receiving a forward or backward command, the robot may move forward or backward a predetermined distance in the current orientation and then stop. Upon receiving a turning command, the robot may rotate a predetermined angle. Furthermore, surfacing in remote control commands refers to controlling the robot to rise from underwater to the surface by increasing its buoyancy or decreasing its weight (e.g., surfacing until it breaks the surface) to clean the water surface or facilitate user retrieval. Sinking refers to controlling the robot to sink from the water surface or into the pool to the bottom by decreasing its buoyancy or increasing its weight (e.g., sinking to the bottom) to clean the underwater environment. The buoyancy can be achieved by the machine floating on its own or by floating through the pool wall; the specific method is not limited in the embodiments described in this specification.

[0030] It is understood that the foregoing description of the method of sending remote control commands and the content of the remote control commands are merely exemplary. Those skilled in the art can set the method of sending remote control commands and the content of the remote control commands based on experience. This embodiment does not make any specific limitations here.

[0031] Step 103: Upon receiving a remote control command, control the automatic water tank cleaning device to execute the remote control cleaning mode according to the remote control command.

[0032] Specifically, swimming pools often have complex environments or specific areas, such as dead corners, pool ladders, or temporary debris accumulation areas (like areas with concentrated fallen leaves). To meet users' cleaning needs for these specific areas, users can control a robot to perform targeted cleaning by issuing remote control commands. Understandably, when receiving a remote control command, if the robot is in sleep mode, it can directly execute the remote control cleaning mode according to the command; if the robot is in automatic cleaning mode, it needs to stop the automatic cleaning mode and execute the remote control cleaning mode according to the command. Understandably, in remote control cleaning mode, the robot does not perform autonomous cleaning but instead executes corresponding actions based on the received remote control commands.

[0033] Step 104: If no remote control command is received within the first predetermined time period and the cleaning operation of the pool is not completed, control the automatic cleaning device of the pool to switch from remote control cleaning mode to automatic cleaning mode.

[0034] Specifically, if no remote control command is received within the first predetermined time period, it indicates that the user will no longer actively control the robot. In other words, the user has completed the desired remote control action, meaning the user's directional cleaning needs have been met, and the robot's remote control cleaning mode can be stopped at this point. The first predetermined time period can be preset according to the user's operating habits or can be set by the user. For example, the first predetermined time period can be 1 minute, 3 minutes, 5 minutes, or 10 minutes, etc., and this embodiment does not impose a specific limitation.

[0035] If no remote control command is received within the first predetermined time period, it can be further determined whether the pool cleaning operation is complete. If the pool cleaning operation is complete, there is no need to control the robot to continue cleaning the pool. At this time, the robot can be controlled to stop the remote control cleaning mode and further controlled to enter standby mode or return to the base station. If the pool cleaning operation is not complete, that is, if the current cleaning status of the pool does not meet the requirements, and the pool needs to be cleaned further, the robot can be controlled to switch from remote control cleaning mode to automatic cleaning mode, and the robot can continue cleaning the pool based on the cleaning method in automatic cleaning mode. After the cleaning operation is completed, the robot can be controlled to enter standby mode or return to the base station. The automatic cleaning mode can be understood as the machine cleaning the pool by itself according to predetermined rules. The specific rules can be determined according to actual needs, such as: cleaning the pool bottom in a "bow" shape, cleaning the pool walls in a "Y" shape, cleaning the water surface in a directional or random pattern, etc.

[0036] Specifically, the completion of pool cleaning can be determined based on the robot's cleaning time. The longer the robot's cleaning time, the larger the area covered. Therefore, if the robot's cleaning time exceeds a second predetermined time, the pool cleaning can be considered complete. The second predetermined time is related to the pool's size and / or the robot's cleaning efficiency, and is not specifically limited in this embodiment.

[0037] The completion of pool cleaning can also be determined by the robot's power consumption. Higher power consumption indicates a longer cleaning time and a larger area covered. Therefore, if the robot's power consumption exceeds a predetermined power consumption, the pool cleaning can be considered complete. The predetermined power consumption is related to the pool's size and / or the robot's power consumption per unit area cleaned; this embodiment does not specify a particular value.

[0038] The completion of pool cleaning can also be determined based on the cleaned area. A larger cleaned area indicates a higher degree of completion. Therefore, if the cleaned area exceeds a predetermined area, the cleaning can be considered complete. The predetermined area is related to the pool's area; for example, if the cleaned area exceeds 90% of the pool's total area, the cleaning is considered complete, and the predetermined area can be 90% of the pool's area. The cleaned area can be calculated based on the cleaning path of the automatic pool cleaning device. Specifically, the cleaning path of the robot during its movement in the pool can be obtained. This path can be obtained, for example, through sensors (such as an IMU or optical flow meter) and SLAM algorithms. After obtaining the robot's cleaning path, the area cleaned by the robot can be calculated, which is the cleaned area of ​​the pool. The method of obtaining the cleaning path described above is merely exemplary; other methods can also be used, and this embodiment does not impose specific limitations.

[0039] The completion of pool cleaning can also be determined based on the pool's water quality information. The cleaner the pool, the better the water quality. Therefore, if the pool's water quality meets preset conditions, it can be determined that the pool cleaning is complete. These preset conditions can be based on hygiene standards or set by the user; this embodiment does not impose specific limitations on them.

[0040] You can also determine whether the pool cleaning is complete by checking for uncleaned trash in the pool. If the pool cleaning is complete, it will usually not contain any uncleaned trash. Therefore, if there is no uncleaned trash in the pool, it can be determined that the cleaning work is finished.

[0041] The above describes various methods for determining whether pool cleaning is complete. Of course, two or more of these methods can be combined. When using multiple methods to determine completion, the conclusion can be reached by considering some or all of the results from each method. For example, if all results indicate that cleaning is complete, then the pool cleaning is considered complete. As another example, if at least two results indicate that cleaning is complete, then the pool cleaning is considered complete.

[0042] It is understood that the aforementioned method for determining whether the pool cleaning operation has been completed is merely exemplary. Those skilled in the art can set their own methods based on experience, and this embodiment does not impose any specific limitations on them.

[0043] This control method can control the robot to execute the remote cleaning mode according to the remote control command when it receives a remote control command. If no remote control command is received within a predetermined time and the cleaning of the pool is not completed, the robot can switch from the remote cleaning mode to the automatic cleaning mode to continue cleaning the pool. This method responds to the user's remote control command to clean a specific area, and can automatically continue cleaning the pool based on its cleanliness when the user no longer controls the robot. This improves the robot's intelligence level and enhances the user experience.

[0044] Furthermore, after the automatic cleaning device for the water tank switches to automatic cleaning mode, the device is controlled to clean the water tank according to a predetermined cleaning path.

[0045] Specifically, as described above, after the robot switches to automatic cleaning mode, it can be controlled to clean the pool automatically according to a predetermined cleaning path. The predetermined cleaning path is pre-determined and does not necessarily require the robot to pre-plan a movement trajectory and store the corresponding information in its memory. In this field, a predetermined cleaning path can be a set of established movement rules. The robot can obtain its cleaning path using a path planning algorithm; it can also obtain its cleaning path through updating and iterating historical paths; the robot's cleaning path can also be provided or set by the user; or it can be pre-stored in the robot's memory. For example, a predetermined cleaning path can be a "bow" shaped path, a "U" shaped path, a "U" shaped path, or other paths. The above description of how to obtain the robot's predetermined cleaning path is merely exemplary. Those skilled in the art can select the robot's predetermined cleaning path according to actual circumstances, as long as it achieves the technical principles of this application.

[0046] Understandably, the robot cleans the pool according to a predetermined cleaning path, can identify obstacles and automatically avoid them to ensure the smooth progress of the cleaning operation, and can also identify dirt and perform targeted cleaning to clean specific types of dirt.

[0047] The process of controlling the automatic pool cleaning device to clean the pool according to a predetermined cleaning path includes: controlling the automatic pool cleaning device to continue cleaning the pool according to the cleaning path of the previous automatic cleaning mode. That is, the predetermined cleaning path can be the robot's cleaning path in the previous automatic cleaning mode, which is the automatic cleaning mode most recently activated before or after receiving a remote control command. If the pool cleaning is not completed, the cleaning can continue according to the cleaning path of the previous automatic cleaning mode to complete the pool cleaning operation. For example, when receiving a remote control command, the machine cleans the pool bottom in a "bow" shape. When the user stops remotely controlling the machine, the machine switches to automatic cleaning mode and continues cleaning the pool bottom in a "bow" shape.

[0048] Specifically, when controlling the robot to continue cleaning the pool according to the cleaning path of the previous automatic cleaning mode, you can first control the robot to move to the interrupted position of the previous automatic cleaning mode and continue cleaning from that position. This can minimize the areas cleaned repeatedly or missed in the two automatic cleaning modes. When moving to the interrupted position, you can move from an uncleaned area to the interrupted position or move to the interrupted position using the shortest distance. You can also control the robot to continue cleaning from the current position until the pool cleaning is completed. Alternatively, you can decide whether to continue cleaning from the interrupted position or the current position based on the distance between the current position and the interrupted position of the previous automatic cleaning mode. For example, if the distance between the interrupted position and the current position is far, you can continue cleaning from the current position; if the distance is short, you can move from the current position to the interrupted position and continue cleaning. Of course, you can also control the robot to first move to the uncleaned areas of the pool and clean those uncleaned areas using the cleaning path of the previous automatic cleaning mode.

[0049] It is understood that the above-described cleaning methods for continuing to clean the pool are merely exemplary. Those skilled in the art can choose the method of continuing to clean according to the actual situation, as long as it can achieve the technical principles of this application.

[0050] Furthermore, the control method may also include: feeding back the status information of the automatic water tank cleaning device and the cleaning information of the water tank to a smart terminal, so as to display the status information and the cleaning information on the interactive interface of the smart terminal. Figure 2 This is a schematic diagram of the interactive interface of the smart terminal provided in this application. For example... Figure 2As shown, the status information includes: the remaining power of the automatic cleaning device for the water tank, the degree of dirtiness of the trash can, and the current cleaning mode. The cleaning information includes the cleaning progress of the water tank and water quality data.

[0051] By feeding back the robot's status information and the pool's cleaning status to the smart terminal and displaying it on the terminal's interface, users can promptly obtain information about the robot's status and the pool's cleanliness. This allows users to remotely control the robot to perform corresponding operations based on the robot's status and / or the pool's cleanliness. For example, based on the robot's status feedback, if the user learns that the robot's battery is low, they can remotely control the robot to return to the base station for charging. As another example, based on the robot's status feedback, if the user learns that the trash can's level of dirt has reached a predetermined level, they can clean the robot's trash can. Furthermore, based on the pool's cleaning data feedback, if the user learns that the pool's water quality does not meet requirements, they can control the robot to clean the pool again.

[0052] According to a second aspect of this application, an automatic water tank cleaning device is also provided. The automatic water tank cleaning device is capable of performing the control methods described above with reference to the various embodiments. A description of the control methods performed by the automatic water tank cleaning device according to the various embodiments is omitted here. The principles and schemes of the control methods are described above in conjunction with the various embodiments and accompanying drawings, and will not be repeated here.

[0053] According to a third aspect of this application, a non-volatile computer storage medium is also provided, wherein a computer program is stored in the storage medium, and when the computer program is executed by a processor, it implements the control method for the automatic water tank cleaning device provided in the above embodiments. The method includes: controlling the automatic water tank cleaning device to move in a water tank; detecting whether the communication module receives a remote control command during the movement of the automatic water tank cleaning device; if a remote control command is received, controlling the automatic water tank cleaning device to execute a remote control cleaning mode according to the remote control command; if no remote control command is received within a first predetermined time period and the cleaning operation of the water tank is not completed, controlling the automatic water tank cleaning device to switch from the remote control cleaning mode to an automatic cleaning mode. The principle and scheme of the control method are described above in conjunction with the various embodiments and accompanying drawings, and will not be repeated here.

[0054] Fourthly, this application also provides a computer program product, which includes a computer program that can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer can execute the control method for the automatic water tank cleaning device provided by the above methods. The method includes: controlling the automatic water tank cleaning device to move in the water tank; detecting whether the communication module receives a remote control command during the movement of the automatic water tank cleaning device; if a remote control command is received, controlling the automatic water tank cleaning device to execute a remote control cleaning mode according to the remote control command; if no remote control command is received within a first predetermined time period and the cleaning operation of the water tank is not completed, controlling the automatic water tank cleaning device to switch from the remote control cleaning mode to the automatic cleaning mode. The principle and scheme of the control method are described above in conjunction with various embodiments and accompanying drawings, and will not be repeated here.

[0055] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0056] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments.

[0057] 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.

[0058] 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.

[0059] 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, wherein, The automatic water tank cleaning device includes a communication module, and the control method includes: Control the automatic cleaning device of the water tank to move within the water tank; During the operation of the automatic water tank cleaning device, it is detected whether the communication module receives a remote control command. Upon receiving a remote control command, the automatic water tank cleaning device is controlled to execute the remote control cleaning mode according to the remote control command; If no remote control command is received within a first predetermined period of time and the cleaning operation of the pool is not completed, the automatic cleaning device for the pool will be controlled to switch from remote control cleaning mode to automatic cleaning mode.

2. The control method according to claim 1, wherein, The remote control command is issued by a remote control terminal, a smart terminal, or a base station.

3. The control method according to claim 1, wherein, The remote control commands include controlling at least one of the following: moving forward, backward, turning, floating up, and sinking down the automatic cleaning device of the pool.

4. The control method according to claim 1, wherein, The completion of the cleaning operation of the water tank shall be determined by at least one of the following methods: Whether the cleaning time of the automatic water tank cleaning device is greater than the second predetermined time; Does the power consumption of the automatic water tank cleaning device exceed the predetermined power consumption? Does the cleaned area of ​​the pool exceed the predetermined area? Whether the water quality information of the pool meets the preset conditions; as well as Does the pool still contain uncleaned garbage? 5. The control method according to claim 4, wherein, The cleaned area of ​​the pool is calculated based on the cleaning path of the automatic pool cleaning device in the pool.

6. According to the control method of claim 1, after the automatic cleaning device of the water tank switches to the automatic cleaning mode, the automatic cleaning device of the water tank is controlled to clean the water tank according to a predetermined cleaning path.

7. The control method according to claim 6, controlling the automatic water tank cleaning device to clean the water tank according to a predetermined cleaning path, includes: The automatic cleaning device for the water tank is controlled to continue cleaning the water tank according to the cleaning path of the previous automatic cleaning mode.

8. The control method according to claim 7, wherein controlling the automatic water tank cleaning device to continue cleaning the water tank according to the cleaning path of the previous automatic cleaning mode, includes: The automatic water tank cleaning device is controlled to start cleaning the water tank from the interrupted position of the previous automatic cleaning mode or the current position of the automatic water tank cleaning device, and continue cleaning the water tank according to the cleaning path of the previous automatic cleaning mode.

9. The control method according to claim 1, wherein, The control method further includes: The status information of the automatic water tank cleaning device and the cleaning information of the water tank are fed back to the smart terminal so that the status information and the cleaning information are displayed on the interactive interface of the smart terminal. The status information includes: the remaining power of the automatic water tank cleaning device, the degree of dirtiness of the trash can and the current cleaning mode. The cleaning information includes the cleaning progress of the water tank and water quality data.

10. An automatic water tank cleaning device, characterized in that... It is capable of performing the control method according to any one of claims 1-9.

11. A non-volatile computer storage medium storing a computer program that, when executed by a processor, implements the control method according to any one of claims 1-9.

Images