Swimming pool cleaning control method and device, swimming pool cleaning robot and storage medium

Abstract

The invention provides a swimming pool cleaning control method and device, a swimming pool cleaning robot and a storage medium, and the method comprises the steps: determining the garbage collection speed of the swimming pool cleaning robot according to the current particulate matter concentration of a water body in a swimming pool and the current filter screen blockage degree of the swimming pool cleaning robot; and according to the garbage collection speed, the working modes of the swimming pool cleaning robot are adjusted, and different working modes of the swimming pool cleaning robot correspond to different working parameter values. The working mode is adaptively adjusted in real time according to water bodies with different pollution degrees, and the cleaning efficiency, the cleaning cleanliness and the energy consumption of the swimming pool cleaning robot are considered.

Description

Technical Field

[0001] This invention relates to the field of robotics, and in particular to a pool cleaning control method, device, pool cleaning robot, and storage medium. Background Technology

[0002] With the booming development of courtyard economy, swimming pools have become a standard feature of quality life. The high cost and cumbersome process of traditional manual cleaning have deterred many users. Swimming pool cleaning robots have emerged to meet this need, making swimming pool cleaning automated and intelligent.

[0003] Existing pool cleaning robots mostly employ a fixed-time, fixed-path planning, and fixed-intensity cleaning mode. These fixed operating modes cannot adapt to water bodies with varying levels of pollution. For example, when the pool is lightly polluted, using a high-intensity cleaning mode results in high energy consumption; conversely, when the pool is heavily polluted, using a low-intensity cleaning mode leads to low cleaning efficiency and incomplete cleaning. Therefore, a fixed operating mode can result in low cleaning efficiency and incomplete cleaning, as well as high energy consumption for pool cleaning robots. Summary of the Invention

[0004] This invention provides a swimming pool cleaning control method, device, swimming pool cleaning robot, and storage medium to solve the defects of the existing technology where a fixed working mode may lead to low cleaning efficiency and cleanliness of the swimming pool cleaning robot and high energy consumption, and to realize the adaptive adjustment of the working mode of the swimming pool cleaning robot according to the garbage collection speed.

[0005] This invention provides a swimming pool cleaning control method, comprising:

[0006] The garbage collection speed of the pool cleaning robot is determined based on the current particulate matter concentration in the pool water and the current degree of filter clogging of the pool cleaning robot.

[0007] The working mode of the pool cleaning robot is adjusted according to the garbage collection speed, and different working modes of the pool cleaning robot correspond to different working parameter values.

[0008] According to a swimming pool cleaning control method provided by the present invention, the method determines the waste collection speed of the swimming pool cleaning robot based on the current particulate matter concentration in the pool water and the current degree of filter clogging of the swimming pool cleaning robot, including:

[0009] The garbage collection speed of the pool cleaning robot is determined based on the current particulate matter concentration in the pool water, the current degree of filter clogging of the pool cleaning robot, the current flow rate of the water, and the filter area of ​​the pool cleaning robot.

[0010] According to a swimming pool cleaning control method provided by the present invention, the waste collection speed of the swimming pool cleaning robot is determined by the following formula based on the current particulate matter concentration in the pool water, the current degree of filter clogging of the swimming pool cleaning robot, the current flow rate of the water, and the filter area of ​​the swimming pool cleaning robot:

[0011] V_collect=(α×ΔP×Q) / (k×A)+β×C_particle

[0012] Wherein, V_collect is the garbage collection speed of the pool cleaning robot, ΔP is the current filter pressure of the pool cleaning robot, Q is the current flow rate of the water, A is the filter area of ​​the pool cleaning robot, k is the correction coefficient, α is the weighting coefficient of the filter clogging degree, C_particle is the current particulate matter concentration in the pool water, and β is the weighting coefficient of the particulate matter concentration.

[0013] According to a swimming pool cleaning control method provided by the present invention, before determining the waste collection speed of the swimming pool cleaning robot based on the current particulate matter concentration in the pool water, the current degree of filter clogging of the swimming pool cleaning robot, the current flow rate of the water, and the filter area of ​​the swimming pool cleaning robot, the method further includes:

[0014] The current particulate matter concentration in the water body is detected by an infrared particle counter or an optical turbidity sensor.

[0015] The current filter pressure of the pool cleaning robot detected by the pressure sensor is taken as the current degree of filter blockage of the pool cleaning robot;

[0016] The current flow rate of the water body is detected using a Hall effect sensor.

[0017] According to a swimming pool cleaning control method provided by the present invention, adjusting the working mode of the swimming pool cleaning robot based on the garbage collection speed includes:

[0018] Determine the preset garbage collection speed range to which the garbage collection speed belongs;

[0019] Find the working mode corresponding to the preset garbage collection speed range, and the preset garbage collection speed range is pre-associated with the working mode.

[0020] According to a swimming pool cleaning control method provided by the present invention, adjusting the working mode of the swimming pool cleaning robot based on the garbage collection speed includes:

[0021] The garbage collection speed is input into the machine learning model to obtain the working mode of the pool cleaning robot output by the machine learning model;

[0022] The parameters of the machine learning model, the weight coefficient of the filter screen clogging degree, the weight coefficient of the particulate matter concentration, and the correction coefficient are optimized by using the historical particulate matter concentration of the water body in the pool and the historical filter screen clogging degree of the pool cleaning robot as samples and the working mode selected by the user as labels.

[0023] According to a pool cleaning control method provided by the present invention, the working parameters of the pool cleaning robot include one or more of a traveling speed, a water pump power, a brush disk rotation speed, a cleaning path density, a motion mode, and a working cycle.

[0024] According to a pool cleaning control method provided by the present invention, the working mode includes a first working mode, a second working mode, and a third working mode;

[0025] In the first working mode, the traveling speed of the pool cleaning robot is V1, the water pump power is P1, the brush disk rotation speed is W1, the cleaning path density is A1, and the working cycle is T1;

[0026] In the second working mode, the traveling speed of the pool cleaning robot is V2, the water pump power is P2, the brush disk rotation speed is W2, the cleaning path density is A2, and the working cycle is T2;

[0027] In the third working mode, the traveling speed of the pool cleaning robot is V3, the water pump power is P3, the brush disk rotation speed is W3, the cleaning path density is A3, and the working cycle is T3;

[0028] Among them, the traveling speed V1 < V2 < V3, the water pump power P1 > P2 > P3, the brush disk rotation speed W1 > W2 > W3, the cleaning path density A1 > A2 > A3, and the working cycle T1 > T2 > T3.

[0029] The present invention further provides a pool cleaning control device, and the device includes:

[0030] A determination module, configured to determine the garbage collection speed of the pool cleaning robot according to the current particulate matter concentration of the water body in the pool and the current filter screen clogging degree of the pool cleaning robot;

[0031] An adjustment module, configured to adjust the working mode of the pool cleaning robot according to the garbage collection speed, and different working modes of the pool cleaning robot correspond to different working parameter values.

[0032] The present invention further provides a pool cleaning robot, including a memory, a processor, and a computer program stored on the memory and executable on the processor, and when the processor executes the program, the steps of any one of the above-mentioned pool cleaning control methods are implemented.

[0033] The present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of any of the above-described pool cleaning control methods.

[0034] The present invention also provides a computer program product, including a computer program that, when executed by a processor, implements the steps of any of the above-described pool cleaning control methods.

[0035] The swimming pool cleaning control method, device, robot, and storage medium provided by this invention accurately calculate the garbage collection speed of the swimming pool cleaning robot by using the current particulate matter concentration in the pool water and the current degree of filter clogging of the robot. Based on the garbage collection speed, the working mode of the swimming pool cleaning robot is adaptively adjusted, no longer executing a single working mode, but adapting the working mode in real time according to the different pollution levels of the water, taking into account the cleaning efficiency, cleanliness, and energy consumption of the swimming pool cleaning robot. Attached Figure Description

[0036] To more clearly illustrate the technical solutions in this 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 some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0037] Figure 1 This is a flowchart illustrating the swimming pool cleaning control method provided by the present invention;

[0038] Figure 2 This is a schematic diagram of the structure of the swimming pool cleaning control device provided by the present invention;

[0039] Figure 3 This is a structural schematic diagram of the pool cleaning robot provided by the present invention. Detailed Implementation

[0040] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0041] The following is combined with Figure 1 A swimming pool cleaning control method according to the present invention includes:

[0042] Step 101: Determine the debris collection speed of the pool cleaning robot based on the current particulate matter concentration in the pool water and the current degree of filter clogging. The debris collection speed is a quantitative indicator characterizing the pool cleaning robot's ability to separate and capture contaminants from the water per unit time. It does not refer to the robot's physical movement speed (travel speed), but rather to its efficiency or rate of collecting contaminants. Contaminants include dust, leaves, algae, and hair.

[0043] Step 102: Adjust the working mode of the pool cleaning robot according to the garbage collection speed. Different working modes of the pool cleaning robot correspond to different working parameter values.

[0044] The concentration of particulate matter in the water and the degree of clogging of the pool cleaning robot's filter are related to the level of water pollution. The higher the current concentration of particulate matter in the pool water and the more clogged the pool cleaning robot's filter, the greater the level of water pollution, and the faster the garbage needs to be collected. Therefore, the garbage collection speed of the pool cleaning robot needs to be faster.

[0045] The concentration of particulate matter in the pool water and the degree of filter clogging in the pool cleaning robot can be obtained through sensors. During operation, the pool cleaning robot uses sensors to monitor the concentration of particulate matter in the pool water and the degree of filter clogging in real time, thereby allowing for real-time detection of the robot's waste collection speed.

[0046] The garbage collection speed of the pool cleaning robot is calculated based on the current particulate matter concentration in the pool water and the current degree of filter clogging. The garbage collection speed reflects the cleanliness of the pool water.

[0047] For example, the product of the current particulate matter concentration in the pool water and the current degree of filter clogging of the pool cleaning robot can be used as the garbage collection speed of the pool cleaning robot. Alternatively, the weighted sum of the current particulate matter concentration in the pool water and the current degree of filter clogging of the pool cleaning robot can also be used as the garbage collection speed of the pool cleaning robot. This embodiment does not limit the formula for calculating the garbage collection speed.

[0048] The operating mode of the pool cleaning robot is determined and adjusted based on the garbage collection speed. The robot's operating parameters include travel speed, water pump power, brush rotation speed, and cleaning path density. These parameter values ​​differ under different operating modes, allowing for dynamic adjustment of the robot's parameters according to the garbage collection speed.

[0049] A correlation between waste collection speed and operating mode is established in advance, and the operating mode corresponding to the waste collection speed is determined based on this correlation. This embodiment does not limit the method of obtaining the correlation.

[0050] During the initial cleaning phase, the pool cleaning robot can execute the system's or user-defined default cleaning mode, or it can execute the working mode corresponding to the pool's pollution distribution heatmap. The robot's onboard camera can acquire scanned images of the pool, analyze these images to obtain a pollution distribution heatmap, identify pool areas with different levels of pollution based on the heatmap's corresponding pixel values, and determine the robot's working mode for each area, thus obtaining the working mode corresponding to the pool's pollution distribution heatmap.

[0051] Later, sensors were used to detect the garbage collection speed of the pool cleaning robot in real time, and the working mode of the pool cleaning robot was determined and adjusted based on the garbage collection rate.

[0052] If the pool cleaning robot operates in the adjusted working mode for the preset time or the garbage collection speed returns to normal, it will revert to the initial working mode.

[0053] The working mode of the pool cleaning robot determined by the garbage collection speed can be used as working mode 1, and the working mode of the pool cleaning robot for each pool area obtained from the aforementioned heat map of pool pollution distribution can be used as working mode 2. Working mode 1 can be modified using working mode 2.

[0054] For example, if the difference between the same working parameter value in working mode 2 and working mode 1 of the current cleaning area of ​​the pool cleaning robot is less than or equal to the preset threshold, then the pool cleaning robot will be adjusted to use working mode 1 for cleaning.

[0055] If the difference between the same working parameter value in working mode 2 and working mode 1 of the current cleaning area of ​​the pool cleaning robot is greater than a preset threshold, then the working parameter value corresponding to the difference greater than the preset threshold in working mode 1 will be replaced with the average value of the working parameter value in working mode 2 and working mode 1.

[0056] Alternatively, if the sum of the differences between the same working parameter values ​​in working mode 2 and working mode 1 of the current cleaning area of ​​the pool cleaning robot is less than or equal to a preset threshold, then the pool cleaning robot will be adjusted to use working mode 1 for cleaning.

[0057] If the sum of the differences between the same working parameter values ​​in working mode 2 and working mode 1 of the current cleaning area of ​​the pool cleaning robot is greater than a preset threshold, then each working parameter value in working mode 1 will be replaced with the average value of the same working parameter value in working mode 2 and working mode 1.

[0058] This embodiment accurately calculates the garbage collection speed of the pool cleaning robot by using the current particulate matter concentration in the pool water and the current degree of filter clogging. Based on the garbage collection speed, the working mode of the pool cleaning robot is adaptively adjusted, no longer executing a single working mode, but adapting the working mode in real time according to different levels of water pollution, taking into account the cleaning efficiency, cleanliness, and energy consumption of the pool cleaning robot.

[0059] Based on the above embodiments, this embodiment determines the garbage collection speed of the pool cleaning robot according to the current particulate matter concentration in the pool water and the current degree of filter clogging of the pool cleaning robot, including:

[0060] The garbage collection speed of the pool cleaning robot is determined based on the current particulate matter concentration in the pool water, the current degree of filter clogging of the pool cleaning robot, the current flow rate of the water, and the filter area of ​​the pool cleaning robot.

[0061] The garbage collection speed of a pool cleaning robot is also related to the current water flow rate and the area of ​​its filter screen. The greater the water pollution and the lower the current water flow rate, the slower the garbage collection speed. Conversely, a smaller filter screen area requires a faster garbage collection speed.

[0062] For example, the pool cleaning robot's garbage collection speed can be obtained by multiplying the current particulate matter concentration in the pool water, the current degree of filter clogging of the pool cleaning robot, and the current water flow rate, and then dividing by the filter area of ​​the pool cleaning robot.

[0063] Alternatively, the current particulate matter concentration in the pool water can be weighted and summed with the current filter clogging level and the current water flow rate of the pool cleaning robot, and then divided by the filter area of ​​the pool cleaning robot to obtain the garbage collection speed of the pool cleaning robot. This embodiment does not limit the formula for calculating the garbage collection speed.

[0064] Based on the above embodiments, this embodiment determines the garbage collection speed of the pool cleaning robot using the following formula, based on the current particulate matter concentration in the pool water, the current degree of filter clogging of the pool cleaning robot, the current flow rate of the water, and the filter area of ​​the pool cleaning robot:

[0065] V_collect=(α×ΔP×Q) / (k×A)+β×C_particle

[0066] Wherein, V_collect is the garbage collection speed of the pool cleaning robot, ΔP is the current filter pressure of the pool cleaning robot, Q is the current flow rate of the water, A is the filter area of ​​the pool cleaning robot, k is the correction coefficient, α is the weighting coefficient of the filter clogging degree, C_particle is the current particulate matter concentration in the pool water, and β is the weighting coefficient of the particulate matter concentration.

[0067] The value of α can range from 0.6 to 0.8, and the value of β can range from 0.2 to 0.4. The initial values ​​of the weighting coefficients α, β, and correction coefficient k can be set based on experience or experimental data, and can be optimized later through machine learning, including neural networks and decision trees.

[0068] Based on the above embodiments, this embodiment further includes the following step before determining the garbage collection speed of the pool cleaning robot according to the current particulate matter concentration in the pool water, the current degree of filter clogging of the pool cleaning robot, the current flow rate of the water, and the filter area of ​​the pool cleaning robot:

[0069] The current particulate matter concentration in the water body is detected by an infrared particle counter or an optical turbidity sensor.

[0070] The current filter pressure of the pool cleaning robot detected by the pressure sensor is taken as the current degree of filter blockage of the pool cleaning robot;

[0071] The current flow rate of the water body is detected using a Hall effect sensor.

[0072] Based on the above embodiments, this embodiment adjusts the working mode of the pool cleaning robot according to the garbage collection speed, including:

[0073] Determine the preset garbage collection speed range to which the garbage collection speed belongs;

[0074] Find the working mode corresponding to the preset garbage collection speed range, and the preset garbage collection speed range is pre-associated with the working mode.

[0075] For example, the preset waste collection speed range includes greater than 15 g / min, between 5 and 15 g / min, and less than 5 g / min. When the waste collection rate is greater than 15 g / min, the travel speed, water pump power, motion mode, and work cycle are adjusted according to the working mode corresponding to the first row of schemes in Table 1, where the motion mode includes adjusting the brush rotation speed and cleaning path density. When the waste collection rate is between 5 and 15 g / min, the working mode is adjusted according to the second row of schemes in Table 1; when the waste collection rate is less than 5 g / min, the working mode is adjusted according to the third row of schemes in Table 1.

[0076] Table 1

[0077]

[0078]

[0079] The three working modes of the pool cleaning robot in Table 1 above are just examples. In practice, a database of working modes can be established, and long-term cleaning strategies can be optimized through machine learning.

[0080] For example, after a rainstorm, the robot detects concentrated leaf pollution in the shallow water area of ​​a swimming pool. The infrared particle counter detects a sudden increase in particulate matter concentration per unit volume to 1200 ppm (normal value <200 ppm), and the water flow sensor shows that the flow rate has dropped to 65% of the rated value. The control unit calculates the real-time garbage collection speed, which is greater than 15 g / min. Based on the working mode corresponding to the first row of the scheme in Table 1, the robot adjusts its travel speed, water pump power, motion mode, and work cycle. It then activates the local spiral path algorithm: generating an Archimedean spiral path with the pollution center as the origin; the distance between adjacent paths automatically decreases to 15 cm (standard mode is 30 cm), and performs three rounds of progressive shrinkage cleaning.

[0081] Ten minutes later, the pressure differential sensor ΔP dropped to 3.1 kPa, the particle counter showed the concentration had dropped to 350 ppm, and it automatically switched back to standard cleaning mode.

[0082] This embodiment uses multi-sensor fusion to monitor the garbage collection rate in real time, establishes a three-level feedback control model, and dynamically adjusts the working parameters of the pool cleaning robot.

[0083] Based on the above embodiments, this embodiment adjusts the working mode of the pool cleaning robot according to the garbage collection speed, including:

[0084] The garbage collection speed is input into the machine learning model to obtain the working mode of the pool cleaning robot output by the machine learning model;

[0085] The parameters of the machine learning model, the weight coefficient of the filter screen clogging degree, the weight coefficient of the particulate matter concentration, and the correction coefficient are optimized by using the historical particulate matter concentration of the water body in the pool and the historical filter screen clogging degree of the pool cleaning robot as samples and the working mode selected by the user as labels.

[0086] In addition to taking the garbage collection speed as an input of the machine learning model, the pollution distribution heat map of the pool, the current particulate matter concentration of the water body, the current filter screen clogging degree of the pool cleaning robot, and the garbage collection speed can also be used as inputs of the machine learning model to obtain the predicted working mode of the pool cleaning robot.

[0087] During training, taking the historical particulate matter concentration of the water body in the pool and the historical filter screen clogging degree of the pool cleaning robot as samples, calculate the garbage collection speed. Use the machine learning model to calculate the predicted working mode of the pool cleaning robot according to the garbage collection speed. Compare the values of the working parameters in the predicted working mode of the pool cleaning robot and the working mode selected by the user, and optimize the parameters of the machine learning model, the coefficients α and β for weighted summation, and the correction coefficient k according to the deviation between the two, so that the deviation of the working parameter values between the predicted working mode and the working mode selected by the user is minimized.

[0088] Based on the above embodiments, the working parameters of the pool cleaning robot in this embodiment include one or more of the traveling speed, the water pump power, the brush disk rotation speed, the cleaning path density, the motion mode, and the working cycle.

[0089] Based on the above embodiments, the working modes in this embodiment include the first working mode, the second working mode, and the third working mode;

[0090] In the first working mode, the traveling speed of the pool cleaning robot is V1, the water pump power is P1, the brush disk rotation speed is W1, the cleaning path density is A1, and the working cycle is T1;

[0091] In the second working mode, the traveling speed of the pool cleaning robot is V2, the water pump power is P2, the brush disk rotation speed is W2, the cleaning path density is A2, and the working cycle is T2;

[0092] In the third working mode, the traveling speed of the pool cleaning robot is V3, the water pump power is P3, the brush disk rotation speed is W3, the cleaning path density is A3, and the working cycle is T3;

[0093] Among them, the traveling speed V1 < V2 < V3, the water pump power P1 > P2 > P3, the brush disk rotation speed W1 > W2 > W3, the cleaning path density A1 > A2 > A, and the working cycle T1 > T2 > T3.

[0094] For example, when the garbage collection rate is greater than 15g / min, the pool cleaning robot is adjusted to the first working mode; when the garbage collection rate is between 5 and 15g / min, the pool cleaning robot is adjusted to the second working mode; and when the garbage collection rate is less than 5g / min, the pool cleaning robot is adjusted to the third working mode.

[0095] This embodiment uses multi-sensor fusion to monitor the garbage collection rate in real time, establishes a three-level feedback control model, and dynamically adjusts the working parameters of the pool cleaning robot.

[0096] The swimming pool cleaning control device provided by the present invention is described below. The swimming pool cleaning control device described below can be referred to in correspondence with the swimming pool cleaning control method described above.

[0097] like Figure 2 As shown, this embodiment provides a swimming pool cleaning control device, which includes a determining module 201 and an adjusting module 202, wherein:

[0098] The determining module 201 is used to determine the garbage collection speed of the pool cleaning robot based on the current particulate matter concentration in the pool water and the current degree of filter clogging of the pool cleaning robot.

[0099] The adjustment module 202 is used to adjust the working mode of the pool cleaning robot according to the garbage collection speed, and different working modes of the pool cleaning robot correspond to different working parameter values.

[0100] Furthermore, the determining module 201 is specifically used to determine the garbage collection speed of the pool cleaning robot based on the current particulate matter concentration in the pool water, the current degree of filter clogging of the pool cleaning robot, the current flow rate of the water, and the filter area of ​​the pool cleaning robot.

[0101] Furthermore, the determining module 201 specifically determines the garbage collection speed of the pool cleaning robot based on the current particulate matter concentration in the pool water, the current degree of filter clogging of the pool cleaning robot, the current flow rate of the water, and the filter area of ​​the pool cleaning robot using the following formula:

[0102] V_collect=(α×ΔP×Q) / (k×A)+β×C_particle

[0103] Wherein, V_collect is the garbage collection speed of the pool cleaning robot, ΔP is the current filter pressure of the pool cleaning robot, Q is the current flow rate of the water, A is the filter area of ​​the pool cleaning robot, k is the correction coefficient, α is the weighting coefficient of the filter clogging degree, C_particle is the current particulate matter concentration in the pool water, and β is the weighting coefficient of the particulate matter concentration.

[0104] Furthermore, the device also includes:

[0105] The sensing module is used to detect the current particulate matter concentration of the water body via an infrared particle counter or an optical turbidity sensor;

[0106] The current filter pressure of the pool cleaning robot detected by the pressure sensor is taken as the current degree of filter blockage of the pool cleaning robot;

[0107] The current flow rate of the water body is detected using a Hall effect sensor.

[0108] Furthermore, the adjustment module 202 is specifically used to determine the preset garbage collection speed range to which the garbage collection speed belongs;

[0109] Find the working mode corresponding to the preset garbage collection speed range, and the preset garbage collection speed range is pre-associated with the working mode.

[0110] Furthermore, the adjustment module 202 is also used to input the garbage collection speed into the machine learning model to obtain the working mode of the pool cleaning robot output by the machine learning model;

[0111] The parameters of the machine learning model, the weighting coefficients for filter clogging degree, particulate matter concentration, and correction coefficients are obtained by optimizing the model using historical particulate matter concentrations in the pool water and historical filter clogging degrees of the pool cleaning robot as samples, and the user-selected working mode as a label.

[0112] Furthermore, the operating parameters of the pool cleaning robot include one or more of the following: travel speed, water pump power, brush rotation speed, cleaning path density, motion mode, and work cycle.

[0113] Furthermore, the working modes include a first working mode, a second working mode, and a third working mode;

[0114] In the first working mode, the swimming pool cleaning robot has a travel speed of V1, a water pump power of P1, a brush rotation speed of W1, a cleaning path density of A1, and a working cycle of T1.

[0115] In the second working mode, the traveling speed of the pool cleaning robot is V2, the water pump power is P2, the brush disk rotation speed is W2, the cleaning path density is A2, and the working cycle is T2;

[0116] In the third working mode, the traveling speed of the pool cleaning robot is V3, the water pump power is P3, the brush disk rotation speed is W3, the cleaning path density is A3, and the working cycle is T3;

[0117] Among them, the traveling speed V1 < V2 < V3, the water pump power P1 > P2 > P3, the brush disk rotation speed W1 > W2 > W3, the cleaning path density A1 > A2 > A3, and the working cycle T1 > T2 > T3.

[0118] In this embodiment, the garbage collection speed of the pool cleaning robot is accurately calculated based on the current particulate matter concentration of the water body in the pool and the current filter screen clogging degree of the pool cleaning robot; according to the garbage collection speed, the working mode of the pool cleaning robot is adaptively adjusted, and a single working mode is no longer executed. Instead, the working mode is adaptively adjusted in real time according to water bodies with different pollution degrees, taking into account the cleaning efficiency, cleaning cleanliness, and energy consumption of the pool cleaning robot.

[0119] Figure 3 An example of the physical structure diagram of a pool cleaning robot is shown as Figure 3 As shown, the pool cleaning robot may include: a processor 310, a communication interface 320, a memory 330, and a communication bus 340. Among them, the processor 310, the communication interface 320, and the memory 330 complete mutual communication through the communication bus 340. The processor 310 can call the logical instructions in the memory 330 to execute the steps of the pool cleaning control method, and the method includes: determining the garbage collection speed of the pool cleaning robot according to the current particulate matter concentration of the water body in the pool and the current filter screen clogging degree of the pool cleaning robot; adjusting the working mode of the pool cleaning robot according to the garbage collection speed, and different working modes of the pool cleaning robot correspond to different working parameter values.

[0120] Furthermore, the logical instructions in the aforementioned memory 330 can be implemented as software functional units and, when sold or used as independent products, can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0121] On the other hand, the present invention 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 perform the steps of the pool cleaning control method provided by the above methods. The method includes: determining the garbage collection speed of the pool cleaning robot based on the current particulate matter concentration in the pool water and the current degree of filter clogging of the pool cleaning robot; adjusting the working mode of the pool cleaning robot according to the garbage collection speed, wherein different working modes of the pool cleaning robot correspond to different working parameter values.

[0122] In another aspect, the present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon. When executed by a processor, the computer program implements the steps of the pool cleaning control method provided by the above methods. The method includes: determining the garbage collection speed of the pool cleaning robot based on the current particulate matter concentration in the pool water and the current degree of filter clogging of the pool cleaning robot; and adjusting the working mode of the pool cleaning robot according to the garbage collection speed, wherein different working modes of the pool cleaning robot correspond to different working parameter values.

[0123] 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.

[0124] 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.

[0125] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method of pool cleaning control, characterized by, The application relates to a method for adjusting the working mode of a pool cleaning robot, comprising the following steps: determining the garbage collection speed of the pool cleaning robot according to the current particle concentration of the water body in the pool and the current filter screen clogging degree of the pool cleaning robot; adjusting the working mode of the pool cleaning robot according to the garbage collection speed, wherein different working modes of the pool cleaning robot correspond to different working parameter values.

2. The pool cleaning control method of claim 1, wherein, The method for adjusting the working mode of a pool cleaning robot, wherein the step of determining the garbage collection speed of the pool cleaning robot according to the current particle concentration of the water body in the pool and the current filter screen clogging degree of the pool cleaning robot comprises the following steps: determining the garbage collection speed of the pool cleaning robot according to the current particle concentration of the water body in the pool, the current filter screen clogging degree of the pool cleaning robot, the current flow of the water body and the filter screen area of the pool cleaning robot.

3. The pool cleaning control method of claim 2, wherein, The method for adjusting the working mode of a pool cleaning robot, wherein the step of determining the garbage collection speed of the pool cleaning robot according to the current particle concentration of the water body in the pool, the current filter screen clogging degree of the pool cleaning robot, the current flow of the water body and the filter screen area of the pool cleaning robot comprises the following formula: V_collect=(alpha*DeltaP*Q) / (k*A)+beta*C_particle wherein V_collect is the garbage collection speed of the pool cleaning robot, DeltaP is the current filter screen pressure of the pool cleaning robot, Q is the current flow of the water body, A is the filter screen area of the pool cleaning robot, k is a correction coefficient, alpha is a weight coefficient of the filter screen clogging degree, C_particle is the current particle concentration of the water body in the pool, and beta is a weight coefficient of the particle concentration.

4. The pool cleaning control method of claim 2, wherein, The method for adjusting the working mode of a pool cleaning robot, wherein before the step of determining the garbage collection speed of the pool cleaning robot according to the current particle concentration of the water body in the pool, the current filter screen clogging degree of the pool cleaning robot, the current flow of the water body and the filter screen area of the pool cleaning robot, the method further comprises the following steps: detecting the current particle concentration of the water body by means of an infrared particle counter or an optical turbidity sensor; taking the current filter screen pressure of the pool cleaning robot detected by a pressure sensor as the current filter screen clogging degree of the pool cleaning robot; detecting the current flow of the water body by means of a Hall effect sensor.

5. The pool cleaning control method of claim 1, wherein, The method for adjusting the working mode of a pool cleaning robot, wherein the step of adjusting the working mode of the pool cleaning robot according to the garbage collection speed comprises the following steps: determining a preset garbage collection speed range to which the garbage collection speed belongs; looking up the working mode corresponding to the preset garbage collection speed range, wherein the preset garbage collection speed range and the working mode are pre-associated.

6. The pool cleaning control method of claim 3, wherein, The method for adjusting the working mode of a pool cleaning robot, wherein the step of adjusting the working mode of the pool cleaning robot according to the garbage collection speed comprises the following steps: inputting the garbage collection speed into a machine learning model to obtain the working mode of the pool cleaning robot output by the machine learning model; the parameters of the machine learning model, the weight coefficient of the filter screen clogging degree, the weight coefficient of the particle concentration and the correction coefficient are obtained by optimizing the machine learning model with historical particle concentrations of the water body in the pool and historical filter screen clogging degrees of the pool cleaning robot as samples and with the working mode selected by a user as a label.

7. The pool cleaning control method of any one of claims 1-6, wherein, The working parameters of the pool cleaning robot include one or more of a travel speed, a water pump power, a brush disc rotation speed, a cleaning path density, a motion mode, and a working period.

8. The pool cleaning control method of claim 7, wherein, The working modes include a first working mode, a second working mode, and a third working mode. In the first working mode, the travel speed of the pool cleaning robot is V1, the water pump power is P1, the brush disc rotation speed is W1, the cleaning path density is A1, and the working period is T1. In the second working mode, the travel speed of the pool cleaning robot is V2, the water pump power is P2, the brush disc rotation speed is W2, the cleaning path density is A2, and the working period is T2. In the third working mode, the travel speed of the pool cleaning robot is V3, the water pump power is P3, the brush disc rotation speed is W3, the cleaning path density is A3, and the working period is T3. In the third working mode, the travel speed of the pool cleaning robot is V3, the water pump power is P3, the brush disc rotation speed is W3, the cleaning path density is A3, and the working period is T3.

9. A swimming pool cleaning control apparatus characterized by, The device includes: A determining module configured to determine a garbage collection speed of the pool cleaning robot according to a current particle concentration of water in the pool and a current filter screen clogging degree of the pool cleaning robot; An adjusting module configured to adjust a working mode of the pool cleaning robot according to the garbage collection speed, different working modes of the pool cleaning robot corresponding to different working parameter values.

10. A swimming pool cleaning robot comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, characterized in that, The processor executes the program to implement the steps of the pool cleaning control method according to any one of claims 1 to 8.

11. A computer readable storage medium having stored thereon a computer program, characterized in that The program is executed by the processor to implement the steps of the pool cleaning control method according to any one of claims 1 to 8.

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