Automatic pool cleaning equipment, control method and control system thereof and storage medium

Abstract

The invention relates to the technical field of cleaning equipment, and discloses automatic pool cleaning equipment, a control method and system thereof and a storage medium. The method comprises the steps of obtaining a pool map; determining the position of a water outlet point on the pool map; controlling the automatic pool cleaning equipment to move to a water outlet point position; wherein the position of the water outlet point is selected by a user on the terminal equipment. Through the mode, the automatic pool cleaning equipment is controlled to move to the water outlet point position required by the user, and the automatic pool cleaning equipment does not need to return to the water inlet point when finishing working, so that the user experience is improved.

Description

Technical Field

[0001] This application relates to the field of cleaning equipment technology, and in particular to automatic water tank cleaning equipment and its control methods, control systems, and storage media. Background Technology

[0002] Automatic pool cleaning equipment is mainly used for cleaning pools. In related technical solutions, after the automatic pool cleaning equipment is placed in the pool or swimming pool, it enters the water from the inlet point and returns to the inlet point when the work is finished. Summary of the Invention

[0003] The automatic water tank cleaning equipment, control method, control system, and storage medium provided in this application can control the automatic water tank cleaning equipment to move to the water outlet position required by the user, without requiring the automatic water tank cleaning equipment to return to the water inlet point when it finishes working, thereby improving the user experience.

[0004] In a first aspect, this application provides a control method for an automatic water tank cleaning device, applied to the automatic water tank cleaning device. The method includes: acquiring a water tank map; determining the location of the water outlet on the water tank map; and controlling the automatic water tank cleaning device to move to the water outlet location; wherein the water outlet location is obtained by the user selecting it on a terminal device.

[0005] The process of obtaining a water tank map includes: placing an automatic water tank cleaning device into the water tank; controlling the automatic water tank cleaning device to move at the bottom of the tank; acquiring environmental information through sensors during the movement; and constructing a water tank map based on the environmental information.

[0006] Determining the location of the water outlet on the pool map includes: sending the acquired pool map to the terminal device; and the user selecting the water outlet location on the pool map on the terminal device.

[0007] Determining the location of the water outlet on the pool map includes: obtaining the historical map of the pool and the location of the water outlet on the historical map; and determining the location of the water outlet on the current pool map based on the historical map and the location of the water outlet on the historical map.

[0008] The control of the automatic water tank cleaning device to move to the water outlet position includes: in response to the automatic water tank cleaning device completing the cleaning mode, controlling the automatic water tank cleaning device to move from the current position to the water outlet position; wherein the cleaning mode includes at least the bottom mode, the wall mode, the water line mode, the surface mode, or the full mode.

[0009] The control of the automatic water tank cleaning device to move to the water outlet position includes: in response to the automatic water tank cleaning device receiving an emergency command, controlling the automatic water tank cleaning device to move from its current position to the water outlet position; wherein the emergency command includes at least a user-issued reversal command, a charging command triggered due to insufficient power, or an alarm command issued by sensor detection.

[0010] After obtaining the water tank map, the method also includes: determining whether the automatic water tank cleaning device is creating a map of the water tank for the first time; if so, sending the currently created map to the terminal device and prompting the user to select the location of the water outlet on the map.

[0011] Secondly, this application provides an automatic water tank cleaning device, which includes: an automatic water tank cleaning device body; a sensor assembly disposed on the automatic water tank cleaning device body for collecting the position information of the automatic water tank cleaning device in the water tank; a memory disposed on the automatic water tank cleaning device body for storing a computer program; and a processor disposed on the automatic water tank cleaning device body, connected to the sensor assembly and the memory respectively, for executing the computer program to implement the method provided in the first aspect.

[0012] Thirdly, this application provides a computer-readable storage medium for storing a computer program, which, when executed by a processor, is used to implement the method provided in the first aspect.

[0013] Fourthly, this application provides a control system for an automatic water tank cleaning device. The control system includes: a terminal device; and an automatic water tank cleaning device, which is communicatively connected to the terminal device. The automatic water tank cleaning device is as described in the second aspect.

[0014] The beneficial effects of this application's embodiments are as follows: Unlike the prior art, the automatic water tank cleaning device and its control method, control system, and storage medium provided in this application acquire a water tank map; determine the location of the water outlet point on the water tank map; and control the automatic water tank cleaning device to move to the water outlet point location. The water outlet point location is obtained by the user selecting it on a terminal device. Regardless of where the automatic water tank cleaning device enters the water tank, the user can interact with the terminal device to set the water outlet point at any location on the water tank map, thereby controlling the automatic water tank cleaning device to move to the desired water outlet point location. This eliminates the need for the automatic water tank cleaning device to return to the water inlet point after finishing its work, thus improving the user experience. Attached Figure Description

[0015] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0016] Figure 1 This is a flowchart illustrating an embodiment of the control method for the automatic water tank cleaning equipment provided in this application.

[0017] Figure 2 The water pool provided in this application Figure 1 A schematic diagram of an embodiment.

[0018] Figure 3 This is a flowchart illustrating another embodiment of the control method for the automatic water tank cleaning equipment provided in this application.

[0019] Figure 4 This is a schematic diagram of the water tank map construction of the automatic water tank cleaning equipment provided in this application.

[0020] Figure 5 This is a flowchart illustrating another embodiment of the control method for the automatic water tank cleaning equipment provided in this application.

[0021] Figure 6 This is a schematic flowchart of another embodiment of the control method for the automatic water tank cleaning equipment provided in this application.

[0022] Figure 7 This is a schematic flowchart of another embodiment of the control method for the automatic water tank cleaning equipment provided in this application.

[0023] Figure 8 This is a flowchart illustrating another embodiment of the control method for the automatic water tank cleaning equipment provided in this application.

[0024] Figure 9 This is a schematic flowchart of another embodiment of the control method for the automatic water tank cleaning equipment provided in this application.

[0025] Figure 10 This is a schematic diagram of an embodiment of the automatic water tank cleaning device provided in this application.

[0026] Figure 11 This is a schematic diagram of an embodiment of the computer-readable storage medium provided in this application.

[0027] Figure 12 This is a schematic diagram of an embodiment of the control system of the automatic water tank cleaning equipment provided in this application. Detailed Implementation

[0028] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. It is understood that the specific embodiments described herein are only for explaining this application and not for limiting it. Furthermore, it should be noted that, for ease of description, only the parts related to this application are shown in the accompanying drawings, not all structures. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0029] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0030] Automatic pool cleaning equipment is mainly used for cleaning pools. In related technical solutions, after the automatic pool cleaning equipment is placed in the pool or swimming pool, it enters the water from the inlet point and returns to the inlet point when the work is finished.

[0031] This working method often has drawbacks, such as the automatic cleaning equipment returning to the water inlet point when it finishes its work, but the user may not be at the water inlet point, requiring the user to go to the water inlet point.

[0032] Based on this, the automatic water tank cleaning device, its control method, control system, and storage medium provided in this application acquire a water tank map; determine the location of the water outlet on the water tank map; and control the automatic water tank cleaning device to move to the water outlet location. The water outlet location is obtained by the user selecting it on a terminal device. Regardless of where the automatic water tank cleaning device enters the water tank, the user can interact with the terminal device to set the water outlet location on the water tank map, thereby controlling the automatic water tank cleaning device to move to the desired water outlet location. This eliminates the need for the automatic water tank cleaning device to return to the water inlet point after finishing its work, thus improving the user experience. See any of the following embodiments for details.

[0033] See Figure 1 , Figure 1 This is a flowchart illustrating an embodiment of the control method for an automatic water tank cleaning device provided in this application. Applied to an automatic water tank cleaning device, the method includes: Step 11: Obtain the pool map.

[0034] In some embodiments, the automatic pool cleaning equipment is an automated device designed for pool cleaning needs. It moves autonomously along the pool bottom via a tracked walking mechanism consisting of guide wheels, support wheels, drive wheels, and tracks. The electrical components have an IP68 protection rating. The equipment uses a dual filtration system of screens and cartridges to treat sediment at the bottom of the pool. It supports both manual remote control and automatic cleaning modes and can climb pool walls.

[0035] In some embodiments, the pool can be a swimming pool, a water storage pool, a sewage pool, a filtration pool, or other pool with water storage function.

[0036] In some embodiments, the pool map can be constructed by collecting environmental information about the pool from the automatic pool cleaning equipment when the automatic pool cleaning equipment first enters the pool.

[0037] In some embodiments, the pool map can be pre-built. For example, the user can use other map-building equipment to build a map of the pool in advance. Then, after the automatic pool cleaning equipment enters the pool, it can directly obtain the pool map.

[0038] In some embodiments, the automatic pool cleaning device can perform a map building operation each time it enters the pool, thereby iteratively updating the pool map and building a more accurate pool map.

[0039] Step 12: Determine the location of the water outlet on the pool map.

[0040] In some embodiments, the location of the water outlet is obtained by the user selecting it on the terminal device.

[0041] In some embodiments, when the automatic pool cleaning device needs to move to the water outlet location, it first checks whether a water outlet location exists on the pool map. If it does not exist, it can send a reminder to the terminal device to set the water outlet location so that the user can select the water outlet location on the terminal device. If the water outlet location exists, it can be obtained directly.

[0042] In some embodiments, users can set the location of the water outlet on the pool map on the terminal device at any time. After setting, the terminal device will synchronize the location of the water outlet to the pool map on the automatic pool cleaning device.

[0043] It's understandable that the pool map on the automatic pool cleaning device and the pool map on the terminal device will be synchronized. After the user selects the water outlet location on the terminal device, the terminal device will synchronize the water outlet location to the automatic pool cleaning device.

[0044] Based on this, the automatic water tank cleaning equipment can determine the location of the water outlet on the water tank map.

[0045] Step 13: Control the automatic cleaning equipment of the water tank to move to the water outlet position.

[0046] In some embodiments, after determining the location of the water outlet, the automatic pool cleaning device can be controlled to move to the water outlet location when the cleaning task is completed or when an emergency command is received.

[0047] In one application scenario, combined Figure 2 Explanation: like Figure 2 As shown, Figure 2 This is a water pool map where users can set the locations of water points according to their needs. For example, the location of the water outlet can be set according to the user's actual needs. For instance, if the user is on the left side of the pool, the water outlet can be set on the left side of the map. If the user is on the right side, the water outlet can be set on the right side. If the user is on the upper side of the pool, the water outlet can be set on the upper side of the map. If the user is on the lower side of the pool, the water outlet can be set on the lower side of the map. Figure 2 Point A in the diagram represents the water outlet location. The automatic water tank cleaning device can then be moved to point A. The user can then process the automatic water tank cleaning device at point A. For example, the automatic water tank cleaning device can be removed from the water tank at point A.

[0048] In this embodiment, a water tank map is acquired; the location of the water outlet on the water tank map is determined; and the automatic water tank cleaning device is controlled to move to the water outlet location. The water outlet location is selected by the user on a terminal device. Regardless of where the automatic water tank cleaning device enters the water tank, the user can interact with the terminal device to set the water outlet location on the water tank map, thereby controlling the automatic water tank cleaning device to move to the user-selected water outlet location. This eliminates the need for the automatic water tank cleaning device to return to the water inlet point after finishing its work, thus improving the user experience. That is, the user-selected water outlet location is not lost with map updates. After the user selects the water outlet location, the automatic water tank cleaning device automatically returns to the user-selected water outlet location after completing operation in any mode.

[0049] See Figure 3 , Figure 3 This is a flowchart illustrating another embodiment of the control method for the automatic water tank cleaning device provided in this application. Applied to an automatic water tank cleaning device, the method includes: Step 31: Place the automatic pool cleaning device into the pool.

[0050] In some embodiments, the user can place the automatic pool cleaning device into the pool from any location within the pool. This location can be the water outlet or other locations, such as the edge of the pool.

[0051] Step 32: Control the automatic cleaning equipment in the pool to move at the bottom of the pool.

[0052] In some embodiments, after the automatic pool cleaning device enters the pool, it can move at the bottom of the pool.

[0053] Step 33: During the movement, acquire environmental information through sensors.

[0054] In some embodiments, the sensor can be an image sensor. An image sensor can acquire images of the pool, and the automatic pool cleaning equipment can determine environmental information about the pool, such as identifying the pool walls and bottom, by recognizing the images.

[0055] In some embodiments, the sensor may also be a distance sensor. The distance sensor can measure the distance from the automatic pool cleaning device to the pool wall. The distance sensor can use laser or ultrasonic waves to measure the distance from the automatic pool cleaning device to the pool wall.

[0056] In some embodiments, the sensor may be an image sensor and a distance sensor.

[0057] In some embodiments, the sensor can also be a positioning sensor to locate the position of the automatic cleaning device at the bottom of the pool, and then combine this with distance information collected by a distance sensor. Environmental information can then be obtained from these images and distance information. That is, the environmental information may include information such as the size of the pool.

[0058] Step 34: Construct a water pool map based on environmental information.

[0059] In some embodiments, an automatic pool cleaning device can move along the bottom of the pool to collect environmental information from all angles, thereby constructing a pool map.

[0060] In some embodiments, combined with Figure 4 Explanation: The automatic cleaning equipment enters the pool at point B and can move around the bottom of the pool along the dotted line to create a map of the pool.

[0061] It's understandable that each time the automatic water cleaning equipment enters the water tank, it can move around the bottom of the tank at the water inlet point to create a water tank map. This map is then overlaid with the historical water tank map to obtain the latest water tank map. If the historical water tank map contains the location of the outlet point, this outlet point location will also be inherited and marked in the latest water tank map.

[0062] Step 35: Determine the location of the water outlet on the pool map.

[0063] Step 36: Control the automatic water tank cleaning device to move to the water outlet position; the water outlet position is selected by the user on the terminal device.

[0064] In some embodiments, steps 35 to 36 have the same or similar technical solutions as the other embodiments of this application, and will not be described in detail here.

[0065] In this embodiment, an automatic water cleaning device is placed in the water tank and controlled to move along the bottom of the tank. During movement, environmental information is acquired through sensors, and a water tank map is constructed based on this information. The location of the water outlet on the water tank map is determined, and the automatic water cleaning device is controlled to move to the water outlet location. The water outlet location is selected by the user on a terminal device. Regardless of where the automatic water cleaning device enters the water tank, the user can interact with the terminal device to set the water outlet location on the water tank map, thus controlling the automatic water cleaning device to move to the desired water outlet location. This eliminates the need for the automatic water cleaning device to return to the entry point after finishing its work, thereby improving the user experience. Specifically, the automatic water cleaning device can update the water tank map after entering the tank, making the map more complete. After the user selects the water outlet location, the automatic water cleaning device automatically returns to the user-selected water outlet location after completing any operation mode.

[0066] See Figure 5 , Figure 5 This is a flowchart illustrating another embodiment of the control method for the automatic water tank cleaning device provided in this application. Applied to an automatic water tank cleaning device, the method includes: Step 51: Obtain the pool map.

[0067] In some embodiments, step 51 has the same or similar technical solutions as the other embodiments of this application, and will not be described in detail here.

[0068] Step 52: Send the obtained pool map to the terminal device.

[0069] In some embodiments, after acquiring a pool map, the automatic pool cleaning device sends the acquired pool map to a terminal device. For example, the automatic pool cleaning device is equipped with a communication module that can communicate with the terminal device, and thus the automatic pool cleaning device sends the acquired pool map to the terminal device through the communication module.

[0070] Step 53: The user selects the water outlet location on the pool map on the terminal device.

[0071] In some embodiments, users can select the location of the water outlet on a pool map displayed on the terminal device. For example... Figure 2 Point A in the diagram.

[0072] In some embodiments, users can select the location of the water outlet on the pool map on the terminal device at any time, and then synchronously update the pool map on the automatic pool cleaning device.

[0073] Step 54: Control the automatic cleaning equipment of the water tank to move to the water outlet position.

[0074] In some embodiments, step 54 has the same or similar technical solutions as the other embodiments of this application, and will not be described in detail here.

[0075] In this embodiment, a water tank map is acquired and sent to a terminal device. The user selects a water outlet location on the water tank map on the terminal device. The automatic water cleaning device is controlled to move to the water outlet location. Regardless of where the automatic water cleaning device enters the water tank, the user can interact with the terminal device to set the water outlet location on the water tank map, thus controlling the automatic water cleaning device to move to the desired location. This eliminates the need for the automatic water cleaning device to return to the entry point after finishing its work, thereby improving the user experience. Specifically, the automatic water cleaning device can update the water tank map after entering the water tank, making the map more complete. After the user selects a water outlet location, the automatic water cleaning device automatically returns to the user-selected water outlet location after completing its operation in any mode.

[0076] See Figure 6 , Figure 6 This is a flowchart illustrating another embodiment of the control method for the automatic water tank cleaning device provided in this application. Applied to an automatic water tank cleaning device, the method includes: Step 61: Obtain the pool map.

[0077] In some embodiments, the pool map in step 61 can be constructed by the automatic pool cleaning device after entering the pool. It can be defined as the current pool map.

[0078] Step 62: Obtain the historical map of the pool and the location of the water outlet on the historical map.

[0079] In some embodiments, the historical map of the pool can be constructed by the automatic pool cleaning device during its historical visits to the pool. Based on this, the user can select the location of the water outlet on the historical map.

[0080] Based on this, the location of the water outlet can be obtained on the historical map.

[0081] Step 63: Based on the historical map and the location of the water outlet on the historical map, determine the location of the water outlet on the current pool map.

[0082] In some embodiments, since the current pool map has just been constructed and the location of the water outlet does not yet exist, the location of the water outlet on the current pool map can be determined by using the historical map and the locations of the water outlets on the historical map. For example, the location of the water outlet on the current pool map can be obtained by marking the corresponding locations of the water outlets on the historical map.

[0083] In some embodiments, a coordinate transformation matrix between the current pool map and the historical map is obtained; the current pool map is mapped to the historical map according to the coordinate transformation matrix to obtain the latest pool map, and the latest pool map is used as the current pool map.

[0084] Step 64: Control the automatic cleaning equipment of the water tank to move to the water outlet position.

[0085] In some embodiments, step 64 has the same or similar technical solutions as the other embodiments of this application, and will not be described in detail here.

[0086] In this embodiment, by acquiring a water tank map, including historical maps of the water tank and the locations of water outlets on those historical maps, the current water outlet location on the water tank map is determined. The automatic water cleaning device is controlled to move to the water outlet location. Regardless of where the automatic water cleaning device enters the water tank, it can interact with the terminal device and the user to set the water outlet location on the water tank map. This allows the automatic water cleaning device to move to the desired water outlet location without needing to return to the entry point after finishing its work, thus improving the user experience. Specifically, after entering the water tank, the automatic water cleaning device can update the water tank map and inherit the water outlet location from the historical map. After inheriting the water outlet location from the historical map, the automatic water cleaning device can automatically return to the water outlet location.

[0087] See Figure 7 , Figure 7 This is a flowchart illustrating another embodiment of the control method for the automatic water tank cleaning device provided in this application. Applied to an automatic water tank cleaning device, the method includes: Step 71: Obtain the pool map.

[0088] Step 72: Determine the location of the water outlet on the pool map.

[0089] In some embodiments, steps 71 to 72 have the same or similar technical solutions as the other embodiments of this application, and will not be described in detail here.

[0090] Step 73: In response to the completion of the automatic pool cleaning device in the cleaning mode, control the automatic pool cleaning device to move from the current position to the water outlet position.

[0091] In some embodiments, the cleaning modes include at least the bottom mode, the wall mode, the waterline mode, the surface mode, or the full cleaning mode.

[0092] Automatic pool cleaning equipment typically offers a variety of preset modes to suit different cleaning needs. These modes are optimized for different areas of the pool, helping users efficiently maintain water quality and surface cleanliness.

[0093] The main types of pool cleaning modes include: Bottom Mode: Focuses on cleaning the bottom surface of the pool, removing sediment such as mud and fallen leaves through rotating brushes and suction ports.

[0094] Pool Wall Mode: Specifically designed for cleaning vertical pool walls, the automatic pool cleaning equipment uses adaptive climbing technology (such as tracks or magnetic adsorption) to remove moss and scale, and is compatible with various materials such as ceramic tiles and glass.

[0095] Waterline mode: For stubborn stains (such as limescale and chemical residue) at the waterline, a special scraper or high-temperature cleaning unit is used for targeted treatment.

[0096] Water surface mode: The automatic pool cleaning equipment is equipped with a water surface floating module, which can collect floating leaves, oil stains and other impurities to prevent them from sinking and polluting the pool water.

[0097] Full-range mode (or full-pool mode): Integrates cleaning of multiple areas such as the pool bottom, pool walls, and waterline, and achieves no dead angles through intelligent path planning, making it suitable for daily comprehensive maintenance.

[0098] These modes can usually be switched through the control interface of the automatic pool cleaning equipment or a mobile APP, allowing users to choose flexibly according to the dirtiness of the pool.

[0099] In some embodiments, after the automatic pool cleaning device completes the cleaning in the cleaning mode and does not receive an update operation from the terminal device for the selected water outlet location on the pool map, the automatic pool cleaning device is controlled to move from the current location to the water outlet location obtained in step 72.

[0100] In this embodiment, by acquiring a water tank map and determining the location of the water outlet on the map, the automatic water cleaning device is controlled to move from its current location to the water outlet location after completing its cleaning mode. Regardless of where the automatic water cleaning device enters the water tank, the user can interact with the terminal device to set the water outlet location on the water tank map, thereby controlling the automatic water cleaning device to move to the user-required water outlet location. This eliminates the need for the automatic water cleaning device to return to the water inlet point after finishing its work, thus improving the user experience. In other words, after the user selects the water outlet location, the automatic water cleaning device automatically returns to the user-selected water outlet location after completing its operation in any mode.

[0101] See Figure 8 , Figure 8 This is a flowchart illustrating another embodiment of the control method for the automatic water tank cleaning device provided in this application. Applied to an automatic water tank cleaning device, the method includes: Step 81: Obtain the pool map.

[0102] Step 82: Determine the location of the water outlet on the pool map.

[0103] In some embodiments, steps 81 to 82 have the same or similar technical solutions as the other embodiments of this application, and will not be described in detail here.

[0104] Step 83: In response to receiving an emergency command, control the automatic water tank cleaning equipment to move from its current position to the water outlet position.

[0105] Emergency commands include at least user-issued reversal commands, commands to trigger charging when battery is low, or alarm commands issued by sensors.

[0106] In some embodiments, in response to receiving a recall command from a user, the automatic pool cleaning device is controlled to move from its current position to the water outlet position so that the user can retrieve the automatic pool cleaning device at the water outlet position.

[0107] In some embodiments, in response to the automatic pool cleaning device receiving a charging command that triggers insufficient power, the automatic pool cleaning device is controlled to move from its current position to the water outlet position so that the user can take out the automatic pool cleaning device at the water outlet position to charge.

[0108] In some embodiments, in response to receiving an alarm command from a sensor, the automatic pool cleaning device is controlled to move from its current position to the water outlet position, so that the user can remove the automatic pool cleaning device at the water outlet position to check the alarm.

[0109] In this embodiment, by acquiring a water tank map and determining the location of the water outlet on the map, the automatic water cleaning device is controlled to move from its current location to the water outlet location in response to an emergency command. Regardless of where the automatic water cleaning device enters the water tank, the user can interact with the terminal device to set the water outlet location at any point on the water tank map. This eliminates the need for the automatic water cleaning device to return to the water inlet point after completing its work, thus improving the user experience. In other words, after the user selects a water outlet location, the automatic water cleaning device can automatically return to the selected location.

[0110] See Figure 9 , Figure 9 This is a flowchart illustrating another embodiment of the control method for the automatic water tank cleaning device provided in this application. Applied to an automatic water tank cleaning device, the method includes: Step 91: Obtain the pool map.

[0111] Step 92: Determine if the automatic pool cleaning equipment has created a map of the pool for the first time.

[0112] If yes, proceed to step 93. If no, obtain the historical map of the pool and the location of the water outlet on the historical map, and determine the location of the water outlet on the current pool map based on the historical map and the location of the water outlet on the historical map. That is, the pool map can inherit the location of the water outlet from the historical map.

[0113] Step 93: Send the currently created map to the terminal device and prompt the user to select the location of the water outlet on the map.

[0114] In some embodiments, after the user selects the location of the water outlet on the map, the terminal device can synchronize the location of the water outlet to the water tank map of the automatic water tank cleaning device.

[0115] Step 94: Determine the location of the water outlet on the pool map.

[0116] Step 95: Control the automatic cleaning equipment of the water tank to move to the water outlet position.

[0117] In some embodiments, steps 94 to 95 have the same or similar technical solutions as the other embodiments of this application, and will not be described in detail here.

[0118] In some embodiments, when the automatic water tank cleaning device is used for the first time, it enters the water to perform edge mapping, and the map is saved locally and uploaded to the terminal device. After successful map construction, the water outlet location selection function of the terminal device is activated. During subsequent uses of the automatic water tank cleaning device, the map is continuously optimized through edge mapping, and the user-selected water outlet location is automatically inherited during the optimization process. When the user changes the water tank, the map can be manually deleted through the terminal device. The algorithm can also adaptively update the map. After changing the water tank, the water outlet location needs to be reselected.

[0119] In this embodiment, by acquiring a water tank map, when the automatic water tank cleaning device first creates the map, the currently created map is sent to the terminal device, and the user is prompted to select a water outlet location on the map. After determining the water outlet location on the water tank map, the automatic water tank cleaning device can be controlled to move to that location. Regardless of where the automatic water tank cleaning device enters the water tank, the user can interact with the terminal device to set the water outlet location at any position on the water tank map, thereby controlling the automatic water tank cleaning device to move to the desired water outlet location. This eliminates the need for the automatic water tank cleaning device to return to the water inlet point after finishing its work, thus improving the user experience. In other words, after the user selects a water outlet location, the automatic water tank cleaning device automatically returns to the user-selected water outlet location after completing its operation in any mode.

[0120] See Figure 10 , Figure 10 This is a schematic diagram of an embodiment of the automatic water tank cleaning device provided in this application. The automatic water tank cleaning device 100 includes: an automatic water tank cleaning device body 101, a sensor assembly 102, a memory 103, and a processor 104.

[0121] Sensor component 102 is disposed on the main body 101 of the automatic water tank cleaning device and is used to collect the position information of the automatic water tank cleaning device 100 in the water tank; memory 103 is disposed on the main body 101 of the automatic water tank cleaning device and is used to store computer programs; processor 104 is disposed on the main body 101 of the automatic water tank cleaning device and is connected to sensor component 102 and memory 103 respectively, and is used to execute computer programs to achieve the following methods: Obtain a map of the water tank; determine the location of the water outlet on the water tank map; control the automatic water cleaning equipment to move to the water outlet location; wherein, the location of the water outlet is obtained by the user selecting it on the terminal device.

[0122] In some embodiments, the processor 104 is further configured to execute a computer program to implement the following methods: placing an automatic pool cleaning device into a pool; controlling the automatic pool cleaning device to move at the bottom of the pool; acquiring environmental information via sensors during the movement; and constructing a pool map based on the environmental information.

[0123] In some embodiments, the processor 104 is further configured to execute a computer program to implement the following methods: sending the acquired pool map to a terminal device; and the user selecting the location of the water outlet on the pool map on the terminal device.

[0124] In some embodiments, the processor 104 is further configured to execute a computer program to implement the following methods: acquiring a historical map of the pool and the location of the outlet point on the historical map; and determining the location of the outlet point on the current pool map based on the historical map and the location of the outlet point on the historical map.

[0125] In some embodiments, the processor 104 is further configured to execute a computer program to implement the following method: in response to the automatic pool cleaning device completing the cleaning according to the cleaning mode, controlling the automatic pool cleaning device to move from the current position to the water outlet position; wherein the cleaning mode includes at least the bottom mode, the wall mode, the waterline mode, the surface mode, or the full mode.

[0126] In some embodiments, the processor 104 is further configured to execute a computer program to implement the following method: in response to the automatic pool cleaning device receiving an emergency command, controlling the automatic pool cleaning device to move from its current position to a water outlet position; wherein the emergency command includes at least a user-issued reversal command, a charging command triggered due to insufficient power, or an alarm command issued by sensor detection.

[0127] In some embodiments, after acquiring the pool map, the processor 104 is further configured to execute a computer program to implement the following method: determining whether the automatic pool cleaning device is creating a map of the pool for the first time; if so, sending the currently created map to the terminal device and prompting the user to select the location of the water outlet on the map.

[0128] In some embodiments, the processor 104 is further configured to execute a computer program to implement the method of any embodiment of this application.

[0129] See Figure 11 , Figure 11 This is a schematic diagram of an embodiment of the computer-readable storage medium provided in this application. The computer-readable storage medium 110 is used to store a computer program 111, which, when executed by a processor, implements the following methods: Obtain a map of the water tank; determine the location of the water outlet on the water tank map; control the automatic water cleaning equipment to move to the water outlet location; wherein, the location of the water outlet is obtained by the user selecting it on the terminal device.

[0130] In some embodiments, when executed by a processor, the computer program 111 is also used to implement the following methods: placing an automatic pool cleaning device into a pool; controlling the automatic pool cleaning device to move at the bottom of the pool; acquiring environmental information through sensors during the movement; and constructing a pool map based on the environmental information.

[0131] In some embodiments, when the computer program 111 is executed by the processor, it is also configured to implement the following method: sending the acquired pool map to the terminal device; the user selects the location of the water outlet on the pool map on the terminal device.

[0132] In some embodiments, when executed by a processor, computer program 111 is further configured to implement the following methods: acquiring a historical map of the pool and the location of the outlet point on the historical map; and determining the location of the outlet point on the current pool map based on the historical map and the location of the outlet point on the historical map.

[0133] In some embodiments, when the computer program 111 is executed by the processor, it is also used to implement the following method: in response to the automatic pool cleaning device completing the cleaning according to the cleaning mode, controlling the automatic pool cleaning device to move from the current position to the water outlet position; wherein the cleaning mode includes at least the bottom mode, the wall mode, the waterline mode, the surface mode, or the full mode.

[0134] In some embodiments, when the computer program 111 is executed by the processor, it is also used to implement the following method: in response to the automatic water tank cleaning device receiving an emergency command, controlling the automatic water tank cleaning device to move from its current position to the water outlet position; wherein the emergency command includes at least a user-issued reversal command, a charging command triggered due to insufficient power, or an alarm command issued by sensor detection.

[0135] In some embodiments, after obtaining the pool map, the computer program 111, when executed by the processor, is further configured to implement the following method: determine whether the automatic pool cleaning device is creating a map of the pool for the first time; if so, send the currently created map to the terminal device and prompt the user to select the location of the water outlet on the map.

[0136] In some embodiments, when the computer program 111 is executed by a processor, it is also used to implement the method of any embodiment of this application.

[0137] See Figure 12 , Figure 12This is a schematic diagram of an embodiment of the control system for the automatic pool cleaning equipment provided in this application. The control system includes a terminal device 200 and an automatic pool cleaning device 100. The automatic pool cleaning device 100 is communicatively connected to the terminal device 200. The automatic pool cleaning device 100 is as described in the above embodiment. The terminal device 200 can be a mobile terminal, such as a mobile phone, tablet computer, smartwatch, or other device with an operating system. The terminal device 200 can also be a computer or other similar device.

[0138] In summary, the automatic water tank cleaning device, its control method, control system, and storage medium provided in this application acquire a water tank map; determine the location of the water outlet on the water tank map; and control the automatic water tank cleaning device to move to the water outlet location. The water outlet location is obtained by the user selecting it on a terminal device. Regardless of where the automatic water tank cleaning device enters the water tank, the user can interact with the terminal device to set the water outlet location on the water tank map, thereby controlling the automatic water tank cleaning device to move to the desired water outlet location. This eliminates the need for the automatic water tank cleaning device to return to the water inlet point after finishing its work, thus improving the user experience.

[0139] In the several embodiments provided in this application, it should be understood that the disclosed methods and devices can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For instance, the division of modules or units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed.

[0140] If the integrated units in the other embodiments described above are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or 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.) or processing circuit component (processor) to execute all or part of the steps of the methods described in the various embodiments of this application. 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.

[0141] The above description is merely an embodiment of this application and does not limit the patent scope of this application. Any equivalent structural or procedural transformations made using the content of this application's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of this application.

Claims

1. A control method for an automatic water tank cleaning device, characterized in that, The method, applied to the automatic cleaning equipment for the water tank, includes: Get the pool map; Determine the location of the water outlet on the map of the water tank; Control the automatic cleaning equipment of the water tank to move to the water outlet position; The location of the water outlet is obtained by the user selecting it on the terminal device.

2. The control method according to claim 1, characterized in that, Obtain the pool map, including: Place the automatic water tank cleaning device into the water tank; Control the automatic cleaning equipment of the pool to move at the bottom of the pool; During movement, environmental information is acquired through sensors; Based on the environmental information, a map of the pool is constructed.

3. The control method according to claim 1, characterized in that, Determining the location of the water outlet on the map of the pool includes: The acquired water pool map is sent to the terminal device; The user selects the location of the water outlet on the pool map on the terminal device.

4. The control method according to claim 1, characterized in that, Determining the location of the water outlet on the map of the pool includes: Obtain a historical map of the water pool and the location of the water outlet on the historical map; Based on the historical map and the location of the water outlet on the historical map, the location of the water outlet on the current water pool map is determined.

5. The control method according to claim 1, characterized in that, Controlling the automatic water tank cleaning device to move to the water outlet position includes: In response to the completion of the automatic water tank cleaning device in the cleaning mode, the automatic water tank cleaning device is controlled to move from its current position to the water outlet position; The cleaning modes include at least the bottom mode, the wall mode, the waterline mode, the surface mode, or the full mode.

6. The control method according to claim 1, characterized in that, Controlling the automatic water tank cleaning device to move to the water outlet position includes: In response to receiving an emergency command, the automatic water tank cleaning device is controlled to move from its current position to the water outlet position. The emergency commands include at least user-issued recall commands, low battery charging commands, or alarm commands issued by sensor detection.

7. The control method according to claim 1, characterized in that, After obtaining the pool map, the method further includes: Determine whether the automatic water tank cleaning device has created a map of the water tank for the first time; If so, the currently created map is sent to the terminal device, and the user is prompted to select the location of the water outlet on the map.

8. An automatic water tank cleaning device, characterized in that, The automatic water tank cleaning equipment includes: Main body of the automatic water tank cleaning equipment; Sensor components are installed on the main body of the automatic water tank cleaning device and are used to collect the location information of the automatic water tank cleaning device in the current water area; A memory, located in the main body of the automatic water tank cleaning device, is used to store computer programs; A processor, disposed in the main body of the automatic water tank cleaning device, is connected to the sensor assembly and the memory respectively, and is used to execute the computer program to implement the method as described in any one of claims 1-7.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium is used to store a computer program, which, when executed by a processor, is used to implement the method as described in any one of claims 1-7.

10. A control system for an automatic water tank cleaning device, characterized in that, The control system includes: Terminal equipment; An automatic water tank cleaning device is communicatively connected to the terminal device, as described in claim 8.

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