Water surface cleaning robot control method and water surface cleaning robot thereof

Abstract

The present application relates to the technical field of water surface cleaning, and especially relates to a water surface cleaning robot control method and a water surface cleaning robot thereof, which comprises the following steps: step 1: setting a water surface cleaning robot, the water surface cleaning robot comprises a sliding main body, detection probes are arranged at the middle part of the front side of the sliding main body and the left and right sides of the sliding main body respectively, a camera is arranged at the middle part of the front part of the sliding main body, a first paddle wheel for collecting garbage is arranged at the front part, a collecting basket for docking the first paddle wheel is arranged at the middle part, and second paddle wheels for driving the sliding of the water surface cleaning robot are arranged at the two side positions of the rear part; the area surveying and mapping, the square core area and the edge area are divided by walking along the edge of the pool for one circle, the problem of repeated cleaning or missed scanning caused by the fixed path of the traditional equipment can be avoided, the cleaning path is more suitable for the actual shape of the water area, and the water surface cleaning robot can clean the garbage on the surface of the pool more efficiently.

Description

Technical Field

[0001] This invention relates to the field of water surface cleaning technology, and in particular to a control method for a water surface cleaning robot and the water surface cleaning robot thereof. Background Technology

[0002] With the acceleration of urbanization and the increasing demands for quality of life, the cleaning and maintenance of various artificial ponds, landscape water bodies, and small water areas have become an important part of environmental management. Currently, water surface cleaning mainly relies on manual dredging or traditional cleaning equipment, which suffers from problems such as low efficiency, high cost, and incomplete cleaning.

[0003] Manual cleaning requires operators to travel by boat or work on the shore, which is not only labor-intensive but also difficult to fully cover large or complex bodies of water. It often creates blind spots, particularly around pool edges and waterlines, leading to litter buildup and algae growth. Traditional automated cleaning equipment often uses fixed-path navigation, lacking the ability to adaptively identify water boundaries and adjust cleaning strategies based on the actual shape of the water, frequently resulting in repeated cleaning or missed areas.

[0004] Furthermore, existing equipment is ineffective at cleaning the edges of the pool. Floating debris, moss, and sediment easily accumulate along the waterline on the walls, making it difficult for conventional cleaning devices to effectively reach this area. The lack of targeted rinsing action further exacerbates the problem, leaving the edges a weak point in cleaning. Additionally, most devices fail to differentiate cleaning control between the core square area and the edges, resulting in a need to improve overall cleaning efficiency and effectiveness.

[0005] To address the aforementioned issues, there is an urgent need for a water surface cleaning robot control method that can adaptively identify water area boundaries, plan cleaning paths by zone, and perform enhanced cleaning of edge areas, in order to improve cleaning coverage and efficiency, reduce human intervention, and achieve comprehensive and in-depth cleaning of water areas. Summary of the Invention

[0006] To overcome the shortcomings mentioned above, the present invention aims to provide a technical solution that can solve the above problems.

[0007] A control method for a water surface cleaning robot includes the following steps:

[0008] Step 1: Set up a water surface cleaning robot. The water surface cleaning robot includes a gliding body. Detection probes are respectively arranged at the center of the front side and the left and right sides of the gliding body. A camera is arranged at the center of the front of the gliding body. A first paddle wheel for collecting garbage is arranged at the front. A collection basket for docking with the first paddle wheel is arranged in the middle. Second paddle wheels for driving its gliding are respectively arranged at the two sides of the rear.

[0009] Step 2: After placing the glider into the pool, control the second paddle wheel according to the three detection probes to move the glider to the edge of the pool and determine the initial position through the three detection probes. Then, based on the initial position, collect the edge of the pool through the three detection probes to make the glider travel around the edge of the pool.

[0010] Step 3: After walking around the circle, record the range within the circle and mark it as the cleaning area. Divide the cleaning area into the largest square area and the edge area according to the shape of the cleaning area.

[0011] Step 4: After the square area and edge area are generated, control the sliding body to first cover the square area to clean up the trash in the square area, and then control the sliding body to cover the edge area to clean up the trash in the edge area.

[0012] Preferably, in step 4, when cleaning the square area of ​​trash, the sliding body is controlled to slide through the entire square area in a traversing scanning manner. During the sliding process, the three detection probes and the camera are used to identify whether there is trash in front, thereby controlling the first paddle wheel to suck the trash into the collection basket.

[0013] Preferably, step 4, when cleaning the trash in the edge area, specifically includes the following steps:

[0014] Step 4.1: After cleaning the square area, use the camera to detect and mark the wall directly in front as a unit to clean the wall;

[0015] Step 4.2: Control the gliding body to move in a straight line into the edge area in the direction of the unit cleaning wall and contact the unit cleaning wall. After contact, increase the speed of the first paddle wheel to flush the water line of the unit cleaning wall for a set time, and then retreat along the original route to the square area.

[0016] Step 4.3: Within the square area, adjust the position of the sliding body by adjusting the speed of the second propellers on both sides, so that the camera can capture the wall directly in front of the unit cleaning wall, and use this wall directly in front as the new unit cleaning wall, and then control the sliding body according to Step 4.2;

[0017] Step 4.4: Repeat steps 4.1 to 4.3 to traverse the entire edge area in a comprehensive scanning manner; during this process, the three detection probes and the camera are used to identify the garbage in front and control the first impeller to suck the garbage into the collection basket.

[0018] Preferably, in step 4, once the sliding body has slid through the entire edge area, it is considered to have completed one cycle of pool cleaning, and the sliding body is then controlled to move to the initial position and standby.

[0019] Preferably, the time for the first impeller to flush the waterline on the wall and the width of the unit wall are preset according to the program.

[0020] Preferably, the three detection probes are used to detect the edge of the pool, the distance between the sliding body and obstacles, and to assist in the identification of garbage.

[0021] Preferably, the camera is used to identify trash in front and detect walls in front.

[0022] Preferably, in step 4.3, adjusting the position of the gliding body specifically involves: based on the data of the pool edge and the data of the square area edge, using proportional analysis to set multiple preset coordinate positions along the edge of the square area; monitoring the actual coordinate position of the gliding body at the edge of the square area corresponding to the gliding body when it enters the edge area in step 4.2 using three detection probes; determining the simulated coordinate position of the gliding body when it enters the edge area again using the actual coordinate position and the preset coordinate position; then adjusting the second paddle wheel to move the gliding body to the simulated coordinate position within the square area, and ensuring that the camera captures the wall in front of it being adjacent to the unit's cleaning wall.

[0023] A water surface cleaning robot, controlled by the aforementioned water surface cleaning robot control method, includes a gliding body with a water trough extending through its center. A first paddle wheel is positioned at the front of the water trough, and a collection basket connected to the first paddle wheel is positioned in the middle of the water trough. Second paddle wheels are positioned on both sides of the rear of the water trough. Floating sections are positioned on both sides of the gliding body corresponding to the sides of the water trough. Detection probes are positioned at the center of the front side and on the left and right sides of the gliding body. A camera is positioned at the center of the front of the gliding body. The gliding body integrates a central control circuit board, a power supply module, and an image processing module. The first paddle wheel, second paddle wheel, detection probes, camera, power supply module, and image processing module are all electrically connected to the central control circuit board.

[0024] Compared with the prior art, the beneficial effects of the present invention are:

[0025] By walking around the edge of the pool to map the area and divide it into a square core area and edge area, the problem of repeated cleaning or missed cleaning caused by the fixed path of traditional equipment can be avoided. This makes the cleaning path more in line with the actual shape of the water area, enabling the water surface cleaning robot to clean the garbage on the surface of the pool more efficiently.

[0026] The targeted close-range flushing and segmented coverage mode for edge areas can effectively remove residual garbage and sediment at the water lines on the walls, solving the problem of blind spots in cleaning corner areas by manual cleaning and conventional equipment. At the same time, the combination of traversing the square area and strengthening the cleaning of edge areas reduces energy consumption while improving the overall cleaning quality.

[0027] The edge area achieves targeted cleaning through a closed-loop process of "unit wall marking - directional straight-line flushing - reset and switch cleaning targets". This edge control method, which combines segmented advancement, enhanced flushing and precise switching, solves the problems of blind cleaning of edge areas and insufficient cleaning of water line areas on walls by traditional equipment. Combined with real-time garbage identification by detection probes and cameras, it ensures that garbage in edge areas is fully collected, ultimately achieving a dual improvement in cleaning efficiency and cleaning quality.

[0028] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0029] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0030] Figure 1 This is a flowchart of the control method of the present invention;

[0031] Figure 2 This is a flowchart of the control method for cleaning debris in the edge area according to the present invention;

[0032] Figure 3 This is a schematic diagram illustrating the proportional analysis of the present invention based on the edge data of the pool and the edge data of the square area;

[0033] Figure 4 This is a block diagram of the circuit connection module of the present invention;

[0034] Figure 5 This is a structural schematic diagram from one perspective of the present invention;

[0035] Figure 6 This is a structural schematic diagram from another perspective of the present invention.

[0036] The reference numerals and names in the figure are as follows:

[0037] The gliding body 10, water tank 11, buoy 12, first propeller 20, collection basket 30, second propeller 40, detection probe 50, camera 60, central control circuit board 70, power supply module 80, and image processing module 90. Detailed Implementation

[0038] The technical solutions in the embodiments of the present invention will be clearly and completely described below. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0039] Please see Figure 1-6 In this embodiment of the invention, a method for controlling a water surface cleaning robot includes the following steps:

[0040] Step 1: Set up a water surface cleaning robot. The water surface cleaning robot includes a gliding body 10. The gliding body 10 is equipped with detection probes 50 at the front center and the left and right sides. A camera 60 is located at the front center of the gliding body 10. A first paddle wheel 20 for collecting garbage is located at the front. A collection basket 30 for docking with the first paddle wheel 20 is located in the middle. Second paddle wheels 40 for driving its gliding are located at the rear sides.

[0041] Step 2: After placing the gliding body 10 into the pool, the second paddle wheel 40 is controlled by the three detection probes 50 to move the gliding body 10 to the edge of the pool and determine the initial position through the three detection probes 50. Then, based on the initial position, the three detection probes 50 collect data on the edge of the pool, so that the gliding body 10 travels around the edge of the pool.

[0042] Step 3: After walking around the circle, record the range within the circle and mark it as the cleaning area. Divide the cleaning area into the largest square area and the edge area according to the shape of the cleaning area.

[0043] Step 4: After the square area and the edge area are generated, control the sliding body 10 to first slide over the square area to clean up the garbage in the square area, and then control the sliding body 10 to slide over the edge area to clean up the garbage in the edge area.

[0044] In the above technical solution, three detection probes 50 are configured. The detection probe 50 in the middle of the front side is mainly used for detecting the water environment directly in front, including identifying the approximate location of the garbage in front and the real-time distance from the edge of the pool, providing navigation basis for the straight-line movement of the gliding body 10. The detection probe 50 on the left side focuses on monitoring the distance between the left side of the gliding body 10 and the edge of the pool or obstacles. When the gliding body 10 walks along the edge or makes a turning adjustment, it can provide real-time feedback on the spatial information of the left side to avoid collisions. The function of the detection probe 50 on the right side is symmetrical to that of the detection probe 50 on the left side, and it is responsible for monitoring the distance and obstacle situation on the right side. When the three work together, they can accurately collect the area contour through 360° scanning of the edge of the pool in the initial stage, providing data support for the division of the cleaning area. They can also perceive the surrounding environment in real time during the cleaning process. Together with the image recognition function of the camera 60, they provide multi-dimensional perception data for the path adjustment, garbage identification and obstacle control of the gliding body 10.

[0045] Therefore, the aforementioned water surface cleaning robot control method, through a zoned cleaning strategy and multi-sensor collaboration, achieves several advantages. First, by traversing the edge of the pool to map the area and divide it into a square core area and edge areas, it avoids the problems of repeated cleaning or missed cleaning caused by the fixed paths of traditional equipment. This makes the cleaning path more closely match the actual shape of the water area, enabling the water surface cleaning robot to clean the surface debris of the pool more efficiently. Second, by adopting a targeted close-range flushing and segmented coverage mode for the edge areas, it can effectively remove residual debris and sediment at the waterline on the walls, solving the problem of blind spots in cleaning corner areas for manual cleaning and conventional equipment. At the same time, the combination of traversing the square area and strengthening the cleaning of the edge areas reduces energy consumption while improving the overall cleaning quality.

[0046] Please see Figure 1-3 Based on the above technical solutions, the following technical solutions are further proposed: When cleaning the square area of ​​garbage in step 4, the sliding body 10 is controlled to slide through the entire square area in a traversal scanning manner. During the sliding process, the three detection probes 50 and the camera 60 are used to identify whether there is garbage in front, thereby controlling the first paddle wheel 20 to suck the garbage into the collection basket 30. The square area adopts traversal scanning combined with multi-sensor collaborative identification, which can ensure that the garbage in the core area is efficiently captured and sucked into the collection basket 30, avoiding omissions.

[0047] Step 4, which involves cleaning the trash in the edge area, specifically includes the following steps:

[0048] Step 4.1: Mark the wall cleaning unit. After the square area is cleaned, use the camera 60 to detect and mark the wall directly in front as the wall cleaning unit.

[0049] Step 4.2: Straight approach and reset, control the sliding body 10 to move in a straight line towards the edge area of ​​the unit cleaning wall and contact the unit cleaning wall. After contact, increase the speed of the first paddle wheel 20 to flush the water line of the unit cleaning wall for a set time, and then retreat along the original route to the square area.

[0050] Step 4.3: Switch cleaning target. Within the square area, adjust the position of the sliding body 10 by adjusting the rotation speed of the second paddle wheel 40 on both sides, so that the camera 60 can capture the wall directly in front of the unit cleaning wall, and use this wall directly in front as the new unit cleaning wall. Then control the sliding body 10 according to step 4.2.

[0051] Step 4.4: Repeat steps 4.1 to 4.3 to traverse the entire edge area in a comprehensive scanning manner; during this process, the three detection probes 50 and the camera 60 are combined to identify the garbage in front, and the first impeller 20 is controlled to suck the garbage into the collection basket 30.

[0052] The edge area achieves targeted cleaning through a closed-loop process of "unit wall marking - directional straight-line flushing - reset and switch cleaning targets": First, the wall directly in front of the camera 60 is used as the cleaning target to ensure that the cleaning object is clearly identified; then, the sliding body 10 is controlled to move in a straight line into the edge area and contact the wall, and the speed of the first paddle wheel 20 is increased to concentrate the flushing of stubborn garbage, moss and sediment at the waterline, using the impact force of the water flow to enhance the cleaning effect, and the set flushing time can ensure the cleaning intensity; after flushing, it returns to the square area along the original route, which avoids the efficiency loss caused by blindly moving in the edge area, and... This provides a stable starting point for the next cleaning stage. Then, by adjusting the rotation speed of the second paddle wheels on both sides, the position is precisely adjusted so that the camera 60 is aligned with the adjacent wall as the new target, achieving seamless connection of each wall unit. This process is repeated to complete a comprehensive scan of the entire edge area. This edge control method, which combines segmented advancement, enhanced flushing, and precise switching, solves the problems of blind cleaning of edge areas and insufficient cleaning of water lines on walls in traditional equipment. Combined with the real-time garbage identification of the detection probe 50 and the camera 60, it ensures that garbage in the edge area is fully collected, ultimately achieving a dual improvement in cleaning efficiency and cleaning quality.

[0053] Please see Figure 1-2Based on the above technical solutions, the following further technical solution is proposed: In step 4, after the sliding body 10 has slid through the entire edge area, it is considered that one cycle of pool cleaning work has been completed, and the sliding body 10 is controlled to move to the initial position and then standby; this realizes automated closed-loop management of cleaning work, and the entire process from start to reset can be completed without manual intervention, reducing the complexity of operation. The time for the first paddle wheel 20 to flush the waterline on the wall and the width of the unit wall are preset according to the program; the parameters can be flexibly adjusted according to the degree of dirt in different pools, wall materials and other actual scenarios, which enhances the environmental adaptability of the equipment and ensures that the optimal cleaning effect can be achieved under various working conditions. The three detection probes 50 are used to detect the edge of the pool, the distance between the sliding body 10 and obstacles, and to assist in the identification of garbage; the camera 60 is used to identify garbage in front and detect the wall in front; it is clear that the three detection probes 50 have the combined functions of pool edge detection, obstacle distance measurement and garbage identification assistance, which complement the garbage identification and wall detection functions of the camera 60. Through multi-sensor data fusion, the accuracy and comprehensiveness of environmental perception are improved, and the misjudgment or missed detection is reduced.

[0054] Please see Figure 1-3 Based on the above technical solution, the following technical solution is further proposed: In step 4.3, adjusting the position of the sliding body 10 specifically involves: using proportional analysis to set multiple preset coordinate positions along the edge of the square area based on the data of the pool edge and the data of the square area edge; monitoring the actual coordinate position of the sliding body 10 at the edge of the square area corresponding to the edge of the square area when it enters the edge area in step 4.2 using three detection probes 50; determining the simulated coordinate position of the sliding body 10 when it enters the edge area again using the actual coordinate position and the preset coordinate position; then adjusting the second paddle wheel 40 to move the sliding body 10 to the simulated coordinate position within the square area, and having the camera 60 capture the wall in front of it being adjacent to the unit's cleaning wall.

[0055] By performing proportional analysis of the data from the edge of the pool and the edge of the square area, and setting multiple preset coordinate positions, a scientific path planning benchmark is provided for the movement of the gliding body 10, avoiding blind position adjustments. Three detection probes 50 monitor and acquire the actual coordinate position of the gliding body 10 when it enters the edge area, corresponding to the edge of the square area, accurately grasping the current position information and providing a reliable basis for subsequent adjustments. By comparing and analyzing the actual coordinate position with the preset coordinate position, the simulated coordinate position for the next entry into the edge area is determined. Then, the second paddle wheel 40 is adjusted to move the gliding body 10 to this position. This ensures that the gliding body 10 accurately aligns with the adjacent unit wall for cleaning each time it enters the edge area, effectively avoiding missed scans or repeated cleaning due to positional deviations. This ensures the integrity and orderliness of the edge area coverage scan, thereby significantly improving the quality and efficiency of the entire pool cleaning process.

[0056] like Figure 3 As shown, by establishing a quantitative correlation between the actual outline of the pool and the square area, a rigorous mathematical basis is provided for position adjustment: First, based on the pool edge data collected by the three detection probes 50 in step 2, i.e., the actual boundary dimensions, angles, and other parameters of the pool, and the square area edge data divided in step 3, i.e., the side length of the square area, the coordinates of each vertex, etc., a proportional conversion is performed to ensure that the two form a corresponding relationship in spatial scale; for example, if there is a 1:0.8 ratio between the arc length of a certain segment of the pool edge and the length of a certain side of the square area, this proportional mapping will be maintained in the subsequent coordinate setting. Based on this, when preset coordinate positions are evenly set along the edge of the square area, each coordinate point not only corresponds to the physical position of the square area, but also is related to the actual spatial position of the pool edge through proportional conversion. This ensures that the preset coordinates conform to the regularity of the square area and accurately match the irregular contour of the pool edge. The key value of this analysis method is that it avoids positioning deviations caused by the difference between the irregular shape of the pool and the regularity of the square area. When the sliding body 10 adjusts its position within the square area, it can quickly calculate the optimal simulated coordinates for the next entry into the edge area by comparing the preset coordinates with the actual coordinates. This ensures that each movement can accurately connect with the adjacent units cleaning the wall, fundamentally eliminating the coordinate discontinuity or overlap problems that may occur in edge cleaning, and further enhancing the continuity and coverage of the cleaning path.

[0057] like Figure 4-6As shown, to further illustrate the application of the control method of this technical solution to a water surface cleaning robot, this technical solution further proposes a water surface cleaning robot controlled by the aforementioned water surface cleaning robot control method. The robot includes a gliding body 10, with a water trough 11 running through its center. A first paddle wheel 20 is located at the front of the water trough 11, and a collection basket 30 connected to the first paddle wheel 20 is located in the center of the water trough 11. Second paddle wheels 40 are located on both sides of the rear of the water trough 11. The layout of the water trough 11 running through the center of the gliding body 10 allows the first paddle wheel 20, the collection basket 30, and the second paddle wheel 40 to form a highly efficient and coordinated cleaning operation chain. The first paddle wheel 20 can quickly suck up garbage into the collection basket 30, while the second paddle wheel 40 precisely drives the gliding motion, improving the integrated efficiency of garbage collection and movement control. The gliding body 10 is equipped with floating parts 12 on both sides of the water tank 11 to prevent the cleaning path from being affected by the center of gravity imbalance. Detection probes 50 are respectively arranged at the front center and the left and right sides of the gliding body 10. A camera 60 is arranged at the front center of the gliding body 10. The gliding body 10 integrates a central control circuit board 70, a power supply module 80 and an image processing module 90. The first paddle wheel 20, the second paddle wheel 40, the detection probes 50, the camera 60, the power supply module 80 and the image processing module 90 are all electrically connected to the central control circuit board 70. The layout of the three front-mounted detection probes 50 and the front-mounted camera 60, along with the internally integrated central control circuit board 70, power supply module 80, and image processing module 90, achieves seamless integration of environmental perception, data processing, and motion control. The distance and boundary data collected in real-time by the detection probes 50 and the image information captured by the camera 60 are analyzed by the image processing module 90. The central control circuit board 70 then precisely controls the paddle wheel movements according to preset control logic, enabling the robot to efficiently clean square areas according to a zoned strategy, and also to precisely flush edge areas segment by segment through proportional analysis and positioning. This "hardware structure adapted to control logic" design allows the robot to fully leverage the advantages of intelligent control methods while maintaining stable navigation capabilities, significantly improving the automation level, coverage integrity, and waste removal efficiency of water surface cleaning. It is suitable for the efficient maintenance of various artificial pools and landscape water bodies.

[0058] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the invention can be implemented in other specific forms without departing from the spirit or essential characteristics of the invention. Therefore, the embodiments should be considered in all respects as exemplary and non-limiting, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, it is intended that all variations falling within the meaning and scope of equivalents of the claims be included within the present invention.

Claims

1. A control method for a water surface cleaning robot, characterized in that, Includes the following steps: Step 1: Set up a water surface cleaning robot. The water surface cleaning robot includes a gliding body (10). The gliding body (10) is equipped with detection probes (50) at the front center and on the left and right sides. A camera (60) is located at the front center of the gliding body (10). A first paddle wheel (20) for collecting garbage is located at the front. A collection basket (30) for docking with the first paddle wheel (20) is located in the middle. Second paddle wheels (40) for driving its gliding are located on the rear sides. Step 2: After placing the gliding body (10) into the pool, control the second paddle wheel (40) according to the three detection probes (50) to make the gliding body (10) move to the edge of the pool and determine the initial position through the three detection probes (50). Then, based on the initial position, collect the edge of the pool through the three detection probes (50) to make the gliding body (10) walk around the edge of the pool once. Step 3: After walking around the circle, record the range within the circle and mark it as the cleaning area. Divide the cleaning area into the largest square area and the edge area according to the shape of the cleaning area. Step 4: After the square area and the edge area are generated, control the sliding body (10) to first slide over the square area to clean up the garbage in the square area, and then control the sliding body (10) to slide over the edge area to clean up the garbage in the edge area. Step 4, which involves cleaning the trash in the edge area, specifically includes the following steps: Step 4.1: After cleaning the square area, use the camera (60) to detect and mark the wall directly in front as a unit to clean the wall; Step 4.2: Control the sliding body (10) to move in a straight line into the edge area and contact the unit cleaning wall in the direction of the unit cleaning wall. After contact, increase the speed of the first paddle wheel (20) to flush the water line of the unit cleaning wall for a set time, and then retreat along the original route to the square area. Step 4.3: Within the square area, adjust the position of the sliding body (10) by adjusting the rotation speed of the second paddle wheels (40) on both sides, so that the camera (60) can capture the front wall adjacent to the unit cleaning wall, and use this front wall as the new unit cleaning wall. Then control the sliding body (10) according to step 4.

2. The specific adjustment of the position of the sliding body (10) is as follows: According to the data of the edge of the pool and the edge of the square area, use proportional analysis to set multiple preset coordinate positions along the edge of the square area. The actual coordinate position of the sliding body (10) at the edge of the square area corresponding to the edge of the square area when the sliding body (10) enters the edge area in step 4.2 is monitored in real time by three detection probes (50). The actual coordinate position of the sliding body (10) at the edge of the square area corresponding to the edge of the square area is determined by the actual coordinate position and the preset coordinate position. Then adjust the second paddle wheel (40) to move the sliding body (10) to the simulated coordinate position within the square area, and make the camera (60) capture the front wall adjacent to the unit cleaning wall. Step 4.4: Repeat steps 4.1 to 4.3 to traverse the entire edge area in a comprehensive scanning manner; during this process, the three detection probes (50) and the camera (60) are combined to identify the garbage in front and control the first paddle wheel (20) to suck the garbage into the collection basket (30).

2. The water surface cleaning robot control method according to claim 1, characterized in that, In step 4, when cleaning the square area of ​​garbage, the sliding body (10) is controlled to slide through the entire square area in a traversal scanning manner. During the sliding process, the three detection probes (50) and the camera (60) are used to identify whether there is garbage in front, thereby controlling the first paddle wheel (20) to suck the garbage into the collection basket (30).

3. The control method for a water surface cleaning robot according to claim 1, characterized in that, In step 4, once the sliding body (10) has slid through the entire edge area, it is considered to have completed one cycle of pool cleaning work, and the sliding body (10) is controlled to move to the initial position and then standby.

4. The water surface cleaning robot control method according to claim 1, characterized in that, The time and width of the unit wall at the waterline of the first impeller (20) are preset according to the program.

5. The control method for a water surface cleaning robot according to claim 1, characterized in that, The three detection probes (50) are used to detect the edge of the pool, the distance between the sliding body (10) and obstacles, and to assist in the identification of garbage.

6. The control method for a water surface cleaning robot according to claim 1, characterized in that, The camera (60) is used to identify trash in front and detect walls in front.

7. A water surface cleaning robot, controlled by any one of the water surface cleaning robot control methods according to claims 1-6, characterized in that, The system includes a gliding body (10), a water tank (11) running through the middle of the gliding body (10), a first paddle wheel (20) at the front of the water tank (11), a collection basket (30) connected to the first paddle wheel (20) at the middle of the water tank (11), and second paddle wheels (40) at the two sides of the rear of the water tank (11); a buoyancy section (12) is provided on both sides of the gliding body (10) corresponding to the water tank (11); and a buoyancy section (12) is provided at the middle of the front side of the gliding body (10). The gliding body (10) is equipped with detection probes (50) on both the left and right sides. A camera (60) is located in the center of the front of the gliding body (10). The gliding body (10) integrates a central control circuit board (70), a power supply module (80) and an image processing module (90). The first paddle wheel (20), the second paddle wheel (40), the detection probe (50), the camera (60), the power supply module (80) and the image processing module (90) are all electrically connected to the central control circuit board (70).

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