Automatic pool cleaning device, control method and computer storage medium

Abstract

A control method of an automatic pool cleaning device (20), the automatic pool cleaning device (20) comprising a water pump (201), a driving device (202) and a buoyancy adjusting assembly (203), the control method comprising: controlling the automatic pool cleaning device (20) to move at the pool bottom; closing the water pump (201) under the condition that whether the automatic pool cleaning device (20) meets the preset condition or not; the buoyancy borne by the automatic pool cleaning device (20) is increased through the buoyancy adjusting assembly (203); after a preset time period, whether the automatic pool cleaning device (20) floats to the water surface or not is judged, if not, the automatic pool cleaning device (20) is controlled to move towards the pool wall, so that at least part of the driving device (202) makes contact with the pool wall, and the automatic pool cleaning device (20) is controlled by the driving device (202) to move to the water surface along the pool wall.

Description

Technical Field

[0001] This application relates to the technical field of automatic water tank cleaning devices, and more particularly to an automatic water tank cleaning device, control method, and computer storage medium. Background Technology

[0002] With the increasing prevalence of pools, cleaning them has become a crucial aspect of their use. Currently, pool cleaning robots can only return to the surface from the bottom of the pool by climbing walls and continuously running water pumps. This method requires the robot's drive unit to operate continuously, resulting in significant energy consumption. Summary of the Invention

[0003] This application addresses the shortcomings of the prior art by providing a control method for an automatic pool cleaning device. The automatic pool cleaning device includes a water pump, a drive unit, and a buoyancy adjustment component. The control method includes: controlling the automatic pool cleaning device to move at the bottom of the pool; turning off the water pump when the automatic pool cleaning device meets predetermined conditions; increasing the buoyancy of the automatic pool cleaning device through the buoyancy adjustment component; after a predetermined time, determining whether the automatic pool cleaning device has floated to the surface; if not, controlling the automatic pool cleaning device to move towards the pool wall so that at least part of the drive unit contacts the pool wall, and controlling the automatic pool cleaning device to move along the pool wall to the surface through the drive unit.

[0004] This application also provides a non-volatile computer storage medium storing a computer program that, when executed by a processor, implements the method described in any one of the above descriptions.

[0005] This application also provides an automatic water tank cleaning device, which is capable of performing any of the methods described above.

[0006] The embodiments described in this application have the following beneficial effects:

[0007] The control method for the automatic water tank cleaning device provided in this application facilitates the automatic water tank cleaning device to move from the bottom of the tank to the surface of the water, while saving energy consumption during this process and improving the working efficiency of the automatic water tank cleaning device. Attached Figure Description

[0008] 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.

[0009] Figure 1 A flowchart is shown for the control method of the automatic water tank cleaning device of this application;

[0010] Figure 2 A schematic diagram of the automatic water tank cleaning device of this application floating up after the drive unit and water pump are turned off is shown;

[0011] Figure 3 A schematic diagram showing part of the drive mechanism of the automatic water tank cleaning device of this application floats upwards after contacting the tank wall; and

[0012] Figure 4 A schematic diagram is shown of the automatic water tank cleaning device of this application floating upwards after all the drive units come into contact with the tank wall.

[0013] Label Explanation

[0014] 20. Automatic cleaning device for water tank; 201. Water pump; 202. Drive device; 203. Buoyancy adjustment component; 204. Water outlet. Detailed Implementation

[0015] The embodiments of this disclosure will now be described with reference to the accompanying drawings. The described embodiments are merely some, not all, of the embodiments described herein. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the protection scope of this application. It should be noted that, unless otherwise specified, the embodiments and features described herein can be combined with each other.

[0016] This application provides a control method for an automatic pool cleaning device 20, the automatic pool cleaning device 20 using this control method, and a computer storage medium. The automatic pool cleaning device 20 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 pool, a storage pool, a spa pool, a water tank, a water reservoir, etc. The automatic pool cleaning device 20 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 20 or the pool-shaped structure, as long as the principle of this application is achieved. In the following description, unless otherwise specified, a robot 20 will be used as an example of the automatic pool cleaning device 20, and a pool will be used as an example of a pool or a 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 pool.

[0017] This application provides a control method 100 for an automatic water tank cleaning device 20. Figure 1 A flowchart of control method 100 is shown. Figure 2 A schematic diagram of the automatic water tank cleaning device of this application floating up after the drive unit and water pump are turned off is shown. Figure 3A schematic diagram is shown of part of the drive unit of the automatic water tank cleaning device of this application floating up after contacting the tank wall. Figure 4 This diagram illustrates the automatic pool cleaning device of this application floating upwards after all its drive mechanisms contact the pool wall. The automatic pool cleaning device 20 may be equipped with a controller, which may contain control circuitry such as a microprocessor, digital signal processor (DSP), or microcontroller. The controller may be used to execute control method 100.

[0018] The automatic water tank cleaning device 20 includes a water pump 201, a drive device 202, and a buoyancy adjustment component 203. For example... Figures 2-4 As shown, the water pump 201 can be installed, for example, in the front, middle, or rear part of the automatic water tank cleaning device 20. The water pump 20 draws water from the tank into a dustbin, and the filtered water flows out from the outlet 204. The outlet 204 can be configured as follows: Figures 2-4 As shown, located at the top of the robot body, when water pump 20 draws water and flows out from outlet 204, the sprayed water can exert a reaction force on the bottom of the machine, increasing the friction between the bottom of the machine and the contact surface, thereby providing the robot 20 with the power to move. Water pump 201 changes the angle of the water spray, thus changing the robot 20's movement path and heading angle. The water pump 201 described above is merely exemplary; the position and number of water pumps can be set according to actual conditions, as long as the technical principles of this application are achieved.

[0019] The drive unit 202 may include, for example, tracks, drive wheels (such as...) Figures 2-4 (As shown), blades or rollers. Tracks and / or drive wheels can be arranged on both sides of the robot 20, for example. The rotation of the tracks and / or drive wheels causes the automatic pool cleaning device 20 to move forward or rotate against the friction of the pool bottom or pool wall. The robot 20 can change its heading angle by the difference in wheel speed between the two tracks and / or the two drive wheels, thereby turning the robot 20. Blades can be arranged on both sides of the rear of the robot 20 or on both sides of the body. The reaction force generated by the rotation of the blades pushing the water flow can provide power for the robot 20 to move, and the difference in the rotational speed of the blades on both sides of the robot 20 can change the direction of the robot 20.

[0020] The buoyancy adjustment component 203 can be located, for example, inside or at the rear of the robot 20. The buoyancy adjustment component 203 can increase the buoyancy experienced by the robot 20 when it is immersed in a liquid. Specifically, based on Archimedes' principle, the buoyancy force on an object immersed in a liquid is equal to the weight of the liquid displaced by the object. Therefore, the buoyancy adjustment component 203 of the automatic pool cleaning device 20 can increase the volume of liquid displaced by the automatic pool cleaning device 20, thereby increasing the buoyancy experienced by the automatic pool cleaning device 20. By increasing the buoyancy experienced by the automatic pool cleaning device, it is easier for the automatic pool cleaning device to perform a floating action, thereby saving the power of the automatic pool cleaning device and improving its working efficiency.

[0021] For example, the buoyancy adjustment component 203 may include a high-pressure gas storage chamber, a buoyancy adjustment chamber, and a suction device. Increasing the buoyancy of the automatic water tank cleaning device 20 by the buoyancy adjustment component 203 may include: filling the buoyancy adjustment chamber with gas from the high-pressure gas storage chamber through the suction device, thereby increasing the buoyancy of the automatic water tank cleaning device 20 by increasing the volume of the buoyancy adjustment chamber.

[0022] The high-pressure gas storage chamber (not shown) can be a sealed chamber, pre-stored with high-pressure gas. In this case, the stored gas has a small volume and high pressure. When the robot 20 needs to switch from underwater to surface mode, the pressure of the stored gas can be adjusted. For example, the high-pressure gas in the high-pressure gas storage chamber can be released into a variable-volume chamber outside the high-pressure gas storage chamber (e.g., a buoyancy adjustment chamber made of flexible material described below). This increases the size of the variable-volume chamber, thereby increasing the robot's drainage volume and the buoyancy it experiences. In other words, the gas stored in the high-pressure gas storage chamber serves as a buoyancy source. When the robot 20 needs to surface, the high-pressure gas is released, increasing the buoyancy of the robot 20 and causing it to expel internal water, thus achieving buoyancy. Therefore, the robot 20 does not need to replenish gas from the air; it can directly control its buoyancy in the water and avoids the robot 20 inhaling foreign objects or water during gas replenishment.

[0023] At least a portion of the buoyancy adjustment chamber (not shown) is made of a flexible material, including but not limited to: thermoplastic elastomer (TPE), silicone rubber, polyurethane, shape memory polymer (SMP), shape memory alloy (SMA), magnetorheological fluid (MRF), composite materials, etc. The flexible material allows for adjustable volume of the buoyancy adjustment chamber. The buoyancy adjustment chamber can, for example, be located at the rear of the automatic pool cleaning device 20. For instance, the buoyancy adjustment chamber is an airbag or similar structure that can adjust the buoyancy of the robot 20 by changing its own volume. In other words, the buoyancy adjustment chamber can change its volume by inflating or deflating, thereby changing the drainage volume and adjusting buoyancy. The buoyancy adjustment chamber can also be located in other positions on the robot 20, such as the head, sides, or top of the robot 20, as long as the technical principles of this application are implemented.

[0024] A suction device (not shown) can, for example, connect a high-pressure gas storage chamber and a buoyancy regulating chamber via a pipe. For instance, the suction device transports high-pressure gas stored in the high-pressure gas storage chamber to the buoyancy regulating chamber through the pipe. As high-pressure gas is injected, the volume of the buoyancy regulating chamber gradually increases, and the volume of water discharged increases accordingly. According to Archimedes' principle, the buoyancy force on the robot 20 also increases, enabling the robot 20 to float or adjust to a specific buoyancy state.

[0025] The arrangement and specific form of the buoyancy adjustment component 203 can be selected according to the actual situation, and this application does not limit it.

[0026] The control method includes: in step S101, controlling the automatic cleaning device 20 of the pool to move at the bottom of the pool; in step S102, when the automatic cleaning device 20 of the pool meets a predetermined condition, turning off the water pump 201; in step S103, increasing the buoyancy of the automatic cleaning device 20 of the pool through the buoyancy adjustment component 203; in step S104, after a predetermined time, determining whether the automatic cleaning device 20 of the pool has floated to the surface of the water, if not, proceeding to step S105, controlling the automatic cleaning device 20 of the pool to move towards the pool wall so that at least part of the drive device 202 contacts the pool wall, and controlling the automatic cleaning device 20 of the pool to move along the pool wall to the surface of the water through the drive device 202.

[0027] First, proceed to step S101, where the automatic pool cleaning device 20 is controlled to move at the bottom of the pool. This movement may include the automatic pool cleaning device 20 moving and cleaning while positioned at the bottom of the pool. The movement can be random or along a planned path (e.g., a "bow-shaped" path). During this movement, the automatic pool cleaning device 20 can be powered and its direction adjusted by devices such as the drive unit 202 and water pump 201 mounted on its body.

[0028] Next, proceed to step S102, where the water pump 201 is turned off if the automatic cleaning device 20 of the pool meets predetermined conditions. Predetermined conditions may include, for example, the need for the automatic cleaning device 20 to float to the surface. For instance, if the automatic cleaning device 20 needs to float to the surface, the water pump 201 on the automatic cleaning device 20 is turned off. The water pump typically sprays water upwards or diagonally upwards towards the robot 20. If the water pump remains operational, the reaction force generated by the water spray will exert a downward force on the robot 20, thus hindering its floating. Therefore, turning off the water pump facilitates the robot's floating when it needs to float.

[0029] The predetermined conditions may include one or more of the following: the power of the automatic water tank cleaning device 20 is lower than a predetermined power threshold; the automatic water tank cleaning device 20 malfunctions; the current operation of the automatic water tank cleaning device 20 ends; the automatic water tank cleaning device 20 receives a recall command; or the dirt collection level of the trash can of the automatic water tank cleaning device 20 reaches a predetermined level.

[0030] For example, if the current battery level of robot 20 is lower than a predetermined battery threshold, it means that the remaining battery power of robot 20 is insufficient to support robot 20 to continue cleaning operations. Therefore, robot 20 needs to return to the surface of the water to wait for the user to retrieve it and recharge it, or robot 20 can float to the surface and travel to the base station on its own. Therefore, robot 20 needs to reserve some battery power to move from its current position to the surface of the water.

[0031] For example, if robot 20 malfunctions and is unable to perform normal cleaning operations, it needs to return to the surface. After returning to the surface, robot 20 awaits retrieval by the user, who can then inspect and repair it. Malfunctions of robot 20 may include one or more of the following: sensor malfunction, water pump malfunction, robot getting stuck, drive unit malfunction, etc.

[0032] For example, if the current task of robot 20 has been completed, robot 20 can return to the surface or float to the surface and then proceed to the base station on its own. After returning to the surface, robot 20 can wait for new task instructions or wait to be retrieved by the user and have its trash basket emptied.

[0033] For example, robot 20 can receive a recall instruction that requires robot 20 to return to the surface of the water and wait for new instructions or to be retrieved by the user. The recall instruction can include an immediate recall instruction or a timed recall instruction.

[0034] For example, if the dirt collection in the trash can inside robot 20 reaches a predetermined level, affecting normal cleaning operations, robot 20 can return to the water surface and wait for the user to clean the trash can of the automatic pool cleaning device 20.

[0035] If at least one of the above conditions is met, the automatic water tank cleaning device 20 shuts off the water pump 201.

[0036] Next, proceeding to step S103, the buoyancy of the automatic cleaning device 20 is increased by the buoyancy adjustment component 203. After the robot 20 shuts off the water pump 201, the buoyancy adjustment component 203 is controlled to increase its own volume as described above to increase the buoyancy of the robot 20. The specific implementation method and principle have been described in detail above and will not be repeated here. For example, the buoyancy adjustment component 203 can make the buoyancy of the robot 20 greater than the weight of the robot 20 when it is not performing cleaning operations. However, because the robot 20 has performed cleaning operations for a period of time, a certain amount of dirt has been collected inside the robot 20, which increases the weight of the robot 20. Therefore, after step S103, although the buoyancy of the robot 20 has increased, the buoyancy of the robot 20 may still be less than its weight.

[0037] The magnitude of the buoyancy adjusted by the buoyancy adjustment component 203 can be set by those skilled in the art according to the actual situation, and this application does not impose any restrictions on this.

[0038] Next, proceed to step S104. After a predetermined time, determine whether the automatic cleaning device 20 of the pool has floated to the surface of the water. If it has not floated to the surface of the water, proceed to step S105.

[0039] For example, robot 20 is equipped with sensors capable of detecting the positional relationship between its body and the water (described in detail below). Ideally, after the buoyancy adjustment component 203 increases the buoyancy of robot 20, since the buoyancy is greater than the robot 20's own weight, robot 20 can float to the surface solely on buoyancy without performing complex wall-climbing maneuvers. However, as mentioned above, after robot 20 has been cleaning at the bottom of the pool for a period of time, the trash basket inside the body has accumulated a large amount of dirt, increasing the robot 20's weight. This causes the buoyancy increased by the buoyancy adjustment component 203 to still be less than the robot 20's current weight, preventing robot 20 from floating to the surface solely on buoyancy. Therefore, if robot 20 has not floated to the surface after a predetermined period, step S105 is entered.

[0040] The preset duration can be set by those skilled in the art according to the actual situation, as long as it can achieve the technical principle of this application, and this application does not limit it in this regard.

[0041] For example, in step S104, the automatic cleaning device 20 of the pool can be determined to have floated to the surface of the water by the detection results of the downward-looking sensor, water pressure sensor, water outlet detection sensor or image sensor.

[0042] The downward-facing sensor can be installed, for example, on the bottom of the robot 20. For instance, the downward-facing sensor can be used to detect the bottom of a pool. If the robot 20 has risen to the surface, the downward-facing sensor will be unable to detect the bottom because it is too far away (i.e., the downward-facing sensor has no reading or the reading is abnormal). Therefore, the distance between the robot and the bottom of the pool can be determined using the downward-facing sensor.

[0043] The pressure sensor can be installed inside the robot 20, for example. The deeper the water, the greater the reading of the pressure sensor. Therefore, when the reading of the pressure sensor is less than a predetermined pressure threshold, the controller determines that the robot 20 floats to the surface.

[0044] Water detection sensors can, for example, utilize the difference in conductivity between water and air to determine the state of robot 20. For instance, two metal electrodes can be placed on the top of robot 20. When the top of robot 20 is in the air, the resistance between the electrodes tends to infinity, the circuit is broken, and the controller determines that robot 20 has floated to the water surface.

[0045] An image sensor can be installed, for example, on the top of the robot 20, to determine whether the robot 20 is floating on the water surface based on the captured environmental images. An image sensor can also be installed, for example, on the bottom of the robot 20, to acquire depth information from the captured images to determine whether the robot 20 is floating on the water surface.

[0046] The methods by which the aforementioned sensors determine whether the robot 20 is floating on the water are not exhaustive. Any solution that can implement the technical principles of this application falls within the protection scope of this application.

[0047] When the water pump 201 is turned off, the machine's drive unit 202 can remain on. In step S105, the automatic pool cleaning device 20 is controlled to move towards the pool wall, so that at least part of the drive unit 202 contacts the pool wall, thereby increasing the upward force of the machine. The automatic pool cleaning device 20 is controlled by the drive unit 202 to move along the pool wall to the water surface. For example, the robot 20 can rely on a pre-built pool map containing the location of the pool wall, or the robot 20 can be equipped with an image acquisition component to acquire images of the surrounding environment and locate the pool wall. After the robot 20 locates the pool wall, the robot 20 moves towards the pool wall using the drive unit 202 until at least part of the drive unit 202 contacts the pool wall.

[0048] In one situation, such as Figure 3As shown, the front part of the drive unit 202 (corresponding to the forward direction of the robot 20) contacts the pool wall. During operation, the drive unit 202 exerts a downward force on the pool wall, while the pool wall exerts an upward reaction force on the drive unit 202. The upward buoyancy of the robot 200 combined with this reaction force exceeds the current weight of the robot 200, causing the robot 20 to float to the surface. Therefore, the robot 20 obtains an upward force through the relative movement between the drive unit 202 and the pool wall. This upward force, together with buoyancy, causes the robot 20 to move upward.

[0049] In another case, such as Figure 4 As shown, the entire drive unit 202 is in contact with the pool wall, enabling the drive unit 202 to provide the robot with a greater [effort / performance] during its relative movement with the pool wall. Figure 3 The scenario shown involves a larger upward force, which, together with buoyancy, makes it easier for the robot 20 to move upward. Therefore, the drive unit 202 does not need to drive the robot 20 with a large amount of power to make the robot 20 climb from the pool wall to the water surface, saving energy and improving the robot's working efficiency.

[0050] Regardless of whether the gravity of robot 20 changes, the above control method can enable robot 20 to float on the water surface with low energy consumption.

[0051] The drive device 202 includes a roller brush and a walking mechanism. When the automatic cleaning device 20 moves along the pool wall, the roller brush contacts the pool wall.

[0052] The drive unit 202 may include, for example, a roller brush, which may be positioned at the front of the robot 20. The primary function of the roller brush is to clean the pool, such as... Figure 3 As shown, when the front of the machine abuts against the pool wall, the rotating brush interacts with the pool bottom or pool wall, thereby providing a certain amount of power to the robot 20.

[0053] The drive unit 202 may include, for example, a walking mechanism, which may be, for example, the tracks, drive wheels, or other mechanisms of the robot 20. The tracks, drive wheels, and other mechanisms have been described in detail above and will not be repeated here.

[0054] When a portion of the drive unit 202 contacts the pool wall, for example, a roller brush can contact the pool wall to achieve the principle described above.

[0055] When the automatic cleaning device 20 moves along the pool wall, part of the walking mechanism comes into contact with the pool wall.

[0056] When a portion of the drive unit 202 contacts the pool wall, for example, it can be as follows: Figure 3 As shown, part of the walking mechanism is in contact with the pool wall, such as a part of the track contacting the pool wall, in order to achieve the principle described above.

[0057] When the automatic cleaning device 20 moves along the pool wall, the walking mechanism contacts the pool wall and is parallel to the pool wall.

[0058] When the entire drive unit 202 is in contact with the pool wall, for example, it can be as follows: Figure 4 As shown, the entire walking mechanism is in contact with the pool wall. Specifically, for example, the tracks, drive wheels, and other mechanisms of robot 20 are in complete contact with the pool wall, achieving the effect of being parallel to the pool wall.

[0059] The water pump 201 is turned on when the automatic cleaning device 20 moves along the pool wall.

[0060] When robot 20 moves along the pool wall according to the above control method, water pump 201 can be activated, for example. Specifically, water pump 201 can be activated as follows: Figures 2-4 As shown, the water pump 201 sprays water to provide positive pressure towards the pool wall for the robot 20, thereby increasing the friction between the drive device 202 and the pool wall, and increasing the power for the robot 20 to move upward along the pool wall. Furthermore, the water pump's outlet can also be located at the rear of the machine. When the machine moves upward along the pool wall, the outlet at the rear can also be opened. When the water pumped by the pump sprays out from the rear, it provides an upward reaction force to the machine, increasing its upward power and enabling it to float. The water spray outlets at the rear and back of the machine can be opened simultaneously, or only one can be opened as needed.

[0061] Those skilled in the art can control the timing of the water pump 201's activation according to actual circumstances, and this application does not impose any limitations on this.

[0062] The method further includes: when the water pump 201 is turned off when the automatic cleaning device 20 of the pool meets the predetermined conditions, the method further includes: turning off the drive device 202; when it is determined that the automatic cleaning device 20 of the pool has not floated to the surface of the water, turning on the drive device 202 and controlling the drive device 202 to drive the automatic cleaning device 20 of the pool to move toward the pool wall.

[0063] In step S102, under predetermined conditions, the water pump 201 is turned off, and the drive unit 202 is also turned off simultaneously. Ideally, such as Figure 2 As shown, the buoyancy force on robot 20 is greater than the weight of robot 20, so robot 20 can float from its original position to the water surface.

[0064] In step S104, if it is determined that the robot 20 has not floated to the surface of the water, the drive device 202 is activated, and the robot 20 enters step S105 with the power provided by the drive device 202.

[0065] The above control methods can further save energy consumption.

[0066] When the automatic pool cleaning device 20 is controlled by the drive device 202 to move along the pool wall to the water surface, the method further includes: when it is detected that at least a portion of the automatic pool cleaning device 20 is above the water surface, turning off the drive device 202 and / or the water pump 201.

[0067] In Robot 20 Figure 3 and Figure 4 During the ascent process shown, the drive device 202 is in the on state (i.e., the drive device 202 is in the working state). If the controller determines that at least a part of the robot 20 has floated on the water surface, the robot 20 has completed the ascent action. In this case, the relative movement between the drive device 202 and the pool wall is no longer needed to provide an upward force for the robot 20. Therefore, the drive device 202 can be turned off.

[0068] As described above, the water pump 201 can be turned on during the upward movement of robot 20 along the pool wall, thus facilitating the upward movement of robot 20 along the pool wall. If the controller determines that at least part of robot 20 has floated on the water surface and robot 20 has completed the upward movement, in this case, the water pump is no longer needed to provide positive pressure to the robot towards the pool wall, and therefore the water pump 201 can be turned off.

[0069] The above control method further reduces the energy consumption of robot 20 after it floats to the surface of the water.

[0070] The method further includes: after the automatic cleaning device 20 of the pool comes ashore, or after receiving an exhaust command, or after the automatic cleaning device 20 of the pool docks with the base station, controlling the suction device to fill the gas in the buoyancy regulating chamber into the high-pressure gas storage chamber.

[0071] For example, if robot 20 has already been retrieved by the user, or if robot 20 autonomously travels to and docks with a base station after being on the water's surface, or if the user actively sends an air release command to robot 20 via a button on the machine or a user terminal, robot 20 no longer needs the buoyancy regulating chamber to provide buoyancy. Therefore, the controller can control the suction device to refill the high-pressure gas storage chamber with the gas in the buoyancy regulating chamber, reducing the volume of the buoyancy regulating chamber or restoring it to its pre-inflated state. This facilitates robot 20's ability to sink smoothly to the bottom of the pool after re-entry and clean the pool bottom, thus preventing situations where robot 20 cannot sink due to excessive buoyancy.

[0072] The buoyancy adjustment component 203 also includes an air pressure detection device, which is used to detect the air pressure of the high-pressure air storage chamber. The method further includes: when the air pressure detection device detects that the air pressure of the high-pressure air storage chamber is lower than a preset air pressure value, controlling the automatic water tank cleaning device 20 to display an air replenishment prompt message or return the air replenishment prompt message to the user terminal.

[0073] For example, a pressure detection device can be used to monitor the pressure of the high-pressure air storage chamber in real time, enabling dynamic management of its sealing effect. This prevents malfunctions such as short circuits, sensor damage, and gas leaks caused by water or air leaks, ensuring the normal operation and reliability of the machine. Specifically, a barometer can be installed on the high-pressure air storage chamber, which can accurately measure and display the internal pressure value. During the state transition of robot 20, by observing the barometer reading, it can be determined whether there is any leakage in the high-pressure air storage chamber and its sealing parts. If the pressure value remains stable, it indicates that the sealing effect is good and there is no gas leakage; if the pressure value is lower than the preset pressure value, it indicates that there may be a leak or insufficient gas, requiring further inspection and repair of the sealing parts to ensure its sealing performance. Robot 20 can issue a replenishment prompt (e.g., a voice prompt or a corresponding prompt icon displayed on the machine's screen) or return the replenishment prompt information to the user terminal via communication means. The user can replenish the high-pressure air storage chamber in a timely manner, avoiding failure of robot 20 to float due to leakage or insufficient gas.

[0074] This application also provides a non-volatile computer storage medium storing a computer program that, when executed by a processor, implements the method described in any one of the above descriptions.

[0075] It should be understood that the non-volatile computer storage medium may be located on at least one of the multiple network servers in a computer network. Optionally, in this application, the aforementioned storage medium may include, but is not limited to, various media capable of storing program code, such as USB flash drives, read-only memory (ROM), random access memory (RAM), portable hard drives, magnetic disks, or optical disks.

[0076] This application also provides an automatic water tank cleaning device 20, which is capable of performing any of the methods described above.

[0077] The automatic pool cleaning device 20 can be, for example, a pool cleaning robot 20 or a pool sweeping robot 20. The automatic pool cleaning device 20 can execute the control program described above, which has been explained in detail above and will not be repeated here.

[0078] The control method of the automatic pool cleaning device 20 provided in this application enables the automatic pool cleaning device 20 to float from the bottom of the pool to the surface and remain on the surface, saving energy consumption. The automatic pool cleaning device 20 can float to the surface without cumbersome climbing actions, thus improving the working efficiency of the automatic pool cleaning device 20.

[0079] 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.

[0080] 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.

[0081] 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.

[0082] 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 (20), the automatic water tank cleaning device (20) comprising a water pump (201), a drive device (202), and a buoyancy adjustment component (203), the control method comprising: Control the automatic cleaning device (20) of the pool to move at the bottom of the pool; When the automatic cleaning device (20) of the water tank meets the predetermined conditions, the water pump (201) is turned off; The buoyancy of the automatic pool cleaning device (20) is increased by the buoyancy adjustment component (203); After a predetermined period of time, it is determined whether the automatic cleaning device (20) of the pool has floated to the surface of the water. If not, the automatic cleaning device (20) of the pool is controlled to move toward the pool wall so that at least part of the drive device (202) contacts the pool wall. The drive device (202) controls the automatic cleaning device (20) of the pool to move along the pool wall to the surface of the water.

2. The control method according to claim 1, when the water pump (201) is turned off when the automatic cleaning device (20) of the water tank meets predetermined conditions, the method further includes: Turn off the drive device (202); When it is determined that the automatic cleaning device (20) of the pool has not floated to the surface of the water, the drive device (202) is turned on and the drive device (202) is controlled to drive the automatic cleaning device (20) of the pool to move toward the pool wall.

3. The control method according to claim 1, wherein, The drive device (202) includes a roller brush and a walking mechanism, and the roller brush contacts the pool wall when the automatic pool cleaning device (20) moves along the pool wall.

4. The control method according to claim 3, wherein, When the automatic cleaning device (20) moves along the pool wall, part of the walking mechanism comes into contact with the pool wall.

5. The control method according to claim 3, wherein, When the automatic cleaning device (20) moves along the pool wall, the walking mechanism contacts the pool wall and is parallel to the pool wall.

6. The control method according to claim 5, wherein, The water pump (201) is turned on when the automatic cleaning device (20) moves along the pool wall.

7. The control method according to claim 1, wherein, The automatic cleaning device (20) of the pool is determined to float to the surface of the water by the detection results of the downward-looking sensor, water pressure sensor, water outlet detection sensor or image sensor.

8. The control method according to any one of claims 1-7, wherein, When the automatic pool cleaning device (20) is controlled by the drive device (202) to move along the pool wall to the water surface, the method further includes: If at least a portion of the automatic pool cleaning device (20) is detected to be above the water surface, the drive device (202) and / or the water pump (201) are turned off.

9. The control method according to any one of claims 1-7, wherein the predetermined conditions include one or more of the following: The power of the automatic water tank cleaning device (20) is lower than a predetermined power threshold; The automatic cleaning device (20) for the water tank malfunctioned; The current task of the automatic water tank cleaning device (20) has ended; The automatic water tank cleaning device (20) received a recall instruction; Or the level of dirt collection in the trash basket of the automatic pool cleaning device (20) reaches a predetermined level.

10. The control method according to claim 1, wherein, The buoyancy adjustment component (203) includes: a high-pressure air storage chamber, a buoyancy adjustment chamber, and a suction device. Increasing the buoyancy of the automatic water tank cleaning device (20) through the buoyancy adjustment component (203) includes: The gas in the high-pressure gas storage chamber is filled into the buoyancy regulating chamber by the suction device, and the buoyancy of the automatic cleaning device (20) of the pool is increased by increasing the volume of the buoyancy regulating chamber.

11. The control method according to claim 10, wherein, The method further includes: After the automatic cleaning device (20) of the pool comes ashore, or after receiving an exhaust command, or after the automatic cleaning device (20) of the pool docks with the base station, the suction device is controlled to fill the gas in the buoyancy regulating chamber into the high-pressure gas storage chamber.

12. The control method according to claim 10, wherein, The buoyancy adjustment assembly (203) further includes a pressure detection device for detecting the pressure of the high-pressure gas storage chamber, and the method further includes: When the pressure detection device detects that the pressure of the high-pressure gas storage chamber is lower than the preset pressure value, it controls the automatic water tank cleaning device (20) to display a gas replenishment prompt or return the gas replenishment prompt to the user terminal.

13. A non-volatile computer storage medium storing a computer program that, when executed by a processor, implements the method of any one of claims 1-12.

14. An automatic pool cleaning device (20) capable of performing the method of any one of claims 1-12.

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