Automatic pool cleaning device and control method thereof

Abstract

The invention provides a control method of an automatic pool cleaning device (20), the automatic pool cleaning device (20) comprises an electric quantity acquisition module (201), the electric quantity acquisition module (201) can acquire the current remaining electric quantity of the automatic pool cleaning device (20), and the control method comprises: controlling the automatic pool cleaning device (20) to perform mobile cleaning in a pool; when the current remaining electric quantity is smaller than or equal to a first electric quantity threshold value, a cleaning strategy is obtained based on the current remaining electric quantity, and the automatic pool cleaning device (20) is controlled to move according to the cleaning strategy; when the current residual electric quantity is smaller than or equal to a second electric quantity threshold value, the automatic pool cleaning device (20) is controlled to return to the base station (30); wherein the first electric quantity threshold value is greater than the second electric quantity threshold value.

Description

Technical Field

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

[0002] With the increasing popularity of swimming pools, cleaning them has become a crucial aspect of their operation. Existing pool cleaning robots use timed recharging mechanisms or low-battery threshold-triggered recharging mechanisms to control the robot's charging. However, when these mechanisms are triggered, the robot often fails to complete the cleaning task, or the remaining battery power is sufficient to clean the area. Therefore, according to existing recharging trigger mechanisms, the robot's interruption of the cleaning task to recharge may lead to low cleaning efficiency and energy waste. Summary of the Invention

[0003] This application addresses the shortcomings of the prior art by providing a control method for an automatic water tank cleaning device. The automatic water tank cleaning device includes a power acquisition module, which is capable of acquiring the current remaining power of the automatic water tank cleaning device. The control method includes: controlling the automatic water tank cleaning device to move and clean within the water tank; when the current remaining power is less than or equal to a first power threshold, acquiring a cleaning strategy based on the current remaining power and controlling the automatic water tank cleaning device to move according to the cleaning strategy; when the current remaining power is less than or equal to a second power threshold, controlling the automatic water tank cleaning device to return to the base station; wherein the first power threshold is greater than the second power threshold.

[0004] This application also provides an automatic water tank cleaning device, wherein the automatic water tank cleaning device is capable of performing the method described in any one of the above.

[0005] The embodiments described in this application have the following beneficial effects: The control method for the automatic pool cleaning device provided in this application enables the automatic pool cleaning device to select between cleaning and recharging based on the remaining power, thereby optimizing the power distribution of the automatic pool cleaning device, improving cleaning efficiency and reducing energy waste. Attached Figure Description

[0006] To more clearly illustrate the technical solutions of the embodiments of this disclosure, the accompanying drawings used in the description of the embodiments will be briefly introduced below. The accompanying drawings in the following description are merely exemplary embodiments of this disclosure.

[0007] Figure 1 A flowchart is shown for the control method of the automatic water tank cleaning device of this application; Figure 2A schematic diagram of the automatic water tank cleaning device of this application is shown; and Figure 3 A schematic diagram of the cleaning path of the automatic water tank cleaning device of this application is shown.

[0008] Explanation of reference numerals in the attached figures: 20. Automatic water tank cleaning device; 201. Power acquisition module; 30. Base station. Detailed Implementation

[0009] The embodiments of this disclosure will now be described with reference to the accompanying drawings. The described embodiments are merely some, not all, of the embodiments described herein. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the protection scope of this application. It should be noted that, unless otherwise specified, the embodiments and features described herein can be combined with each other.

[0010] This application provides a control method 100 for an automatic pool cleaning device, and an automatic pool cleaning device 20 applying this control method. The automatic pool cleaning device of this application is capable of cleaning pools. The pool is, for example, a pool-shaped structure. The pool-shaped structure can be a swimming pool, a water storage tank, a spa pool, a water storage tank, a water storage trough, etc. The automatic pool cleaning device can be a device such as an automatic cleaning device or a pool cleaning robot, capable of cleaning the pool-shaped structure. This application does not limit the specific presentation of the automatic pool cleaning device or the pool-shaped structure, as long as the principle of this application is achieved. In the following description, unless otherwise specified, a robot will be used as an example of the automatic pool cleaning device, and a swimming pool will be used as an example of a pool or pool-shaped structure. In the following description, unless otherwise specified, the terms "pool bottom," "pool bottom surface," and "pool base" all refer to the bottom surface of a swimming pool.

[0011] Reference Figure 1 and Figure 2 This application provides a control method 100 for an automatic water tank cleaning device 20. The automatic water tank cleaning device 20 includes a power acquisition module 201, which can acquire the current remaining power of the automatic water tank cleaning device 20. The control method 100 includes: step S101, controlling the automatic water tank cleaning device 20 to move and clean in the water tank; step S102, when the current remaining power is less than or equal to a first power threshold, acquiring a cleaning strategy based on the current remaining power, and controlling the automatic water tank cleaning device 20 to move according to the cleaning strategy; step S103, when the current remaining power is less than or equal to a second power threshold, controlling the automatic water tank cleaning device 20 to return to the base station 30; wherein, the first power threshold is greater than the second power threshold.

[0012] The automatic water tank cleaning device 20 may be equipped with a controller (not shown), which may be fitted with control circuitry such as a microprocessor, digital signal processor (DSP), or microcontroller. The controller may be used to execute control method 100.

[0013] Reference Figure 2 The robot 20 includes, for example, a power acquisition module 201, which is disposed inside the robot 20 and can acquire the remaining power of the robot 20. Specifically, the power acquisition module 201 can be, for example, an ADC module, which can continuously or periodically measure the voltage across the battery terminals of the robot 20. The controller can calculate the remaining power of the battery based on the measured voltage value. The power acquisition module 201 can also be, for example, a coulomb counter, which can measure the amount of charge flowing into and out of the battery. The controller can calculate the remaining power based on the amount of charge flowing into and out of the battery.

[0014] The above description of the power acquisition module 201 is not an exhaustive list, and any solution that can implement the technical principles of this application falls within the protection scope of this application.

[0015] First, proceed to step S101, controlling the automatic water tank cleaning device 20 to move and clean within the water tank. The automatic water tank cleaning device 20 is controlled to move within the water tank. This movement can be random or along a planned path (e.g., a "bow-shaped" path). During the movement of the automatic water tank cleaning device 20, it can be powered and its direction adjusted, for example, by means of drive wheels, tracks, water pumps, or other devices on its body.

[0016] Next, proceed to step S102. When the current remaining power is less than or equal to the first power threshold, obtain a cleaning strategy based on the current remaining power and control the automatic water tank cleaning device 20 to move according to the cleaning strategy.

[0017] Robot 20 can, for example, acquire its remaining battery power in real time via battery acquisition module 201. The controller can, for example, continuously send the remaining battery power information of robot 20 to the user terminal, or provide real-time feedback on the battery power through feedback components (such as a display screen, buzzer, etc.) installed on robot 20. The controller can also, for example, determine in real time whether the remaining battery power of robot 20 is less than or equal to a first battery threshold. If the controller determines that the remaining battery power of robot 20 is less than or equal to the first battery threshold, it indicates that the remaining battery power of robot 20 is low and may not be able to support robot 20 in completing the cleaning of the area to be cleaned. Therefore, a cleaning strategy needs to be obtained based on the current remaining battery power.

[0018] The first power threshold could be, for example, 30% of the robot 20's total power. Assume that the robot 20 requires 50% of its total power to complete cleaning the entire pool (e.g., the entire cleaning task), and 25% of its total power to complete cleaning half the pool (e.g., half of the entire cleaning task). If the robot 20 starts cleaning the pool with 30% of its total power remaining, its remaining power is insufficient to complete the entire cleaning task. If the robot 20 has already completed cleaning half the pool, and its remaining power is 30% of its total power, then its remaining power can support the robot in cleaning the remaining area. That is, after completing cleaning the remaining half of the pool, the robot will still have 5% of its total power remaining, which is enough to allow the robot to return to the base station 30. Therefore, if the controller determines that the remaining power of the robot 20 is less than or equal to the first power threshold, the controller can, for example, combine the remaining power of the robot 20 with the information of the area to be cleaned (such as area information, dirt information, etc.) to obtain the cleaning strategy stored in the controller and control the robot 20 to execute the obtained cleaning strategy.

[0019] The selection of a cleaning strategy can be, for example, by the controller combining information about the area to be cleaned with a threshold judgment. A cleaning strategy could also be to control the robot 20 to continue cleaning the area. Alternatively, the cleaning strategy could be to control the robot 20 to reduce the output power of cleaning components (e.g., a water pump, a roller brush, etc.) and continue cleaning the area. Specific cleaning strategies will be described in detail below. The above description of the first power threshold is merely illustrative. For example, the first power threshold can be considered a trigger condition for updating the cleaning strategy when the battery is low. In other words, when the battery is low, the robot may be unable to complete the remaining cleaning tasks, therefore a cleaning strategy more suited to actual cleaning needs needs to be adopted to improve the utilization efficiency of the remaining power. Those skilled in the art can set the first power threshold according to actual conditions, and this application does not limit this.

[0020] The cleaning strategy includes: when a first condition is met, controlling the automatic pool cleaning device 20 to perform cleaning actions on all remaining uncleaned areas; when a second condition is met, controlling the automatic pool cleaning device 20 to perform cleaning actions on the remaining uncleaned highly soiled areas; and when a third condition is met, controlling the automatic pool cleaning device 20 to perform cleaning actions on a portion of the remaining uncleaned areas.

[0021] In one scenario, if the controller determines that robot 20 meets a first condition, it means that robot 20 has sufficient remaining power to clean all remaining uncleaned areas. For example, the controller uses an algorithm to calculate the cleaning area that robot 20 can complete with its remaining power and records it as a first area. The first condition could be, for example, that the first area is greater than or equal to the area of ​​the remaining uncleaned area. Therefore, if the controller determines that robot 20 meets the first condition, it controls robot 20 to execute a cleaning strategy that allows robot 20 to clean all remaining uncleaned areas. The cleaning action could be, for example, robot 20 continuing to move along a predetermined path, or robot 20's water pump operating at a predetermined output power.

[0022] The first condition could also be that the output power of the cleaning component is less than a predetermined power threshold. For example, the output power of the cleaning component can be reduced, i.e., controlled to be less than the predetermined power threshold, thereby utilizing the remaining power to clean a larger area as much as possible. As mentioned above, assuming that the robot 20 requires 50% of its total power to complete cleaning the entire pool (e.g., the entire cleaning task) without reducing the output power of the cleaning component, the robot 20 may require only 25% of its total power to complete cleaning the entire pool (e.g., the entire cleaning task). Thus, assuming the robot currently has 30% of its total power remaining, if the output power of the cleaning component is not reduced to less than the predetermined power threshold, the robot cannot complete cleaning the entire pool; if the output power of the cleaning component is reduced to less than the predetermined power threshold, the robot will still use 5% of its remaining power for the return trip to the base station after completing cleaning the entire pool. Therefore, if the controller determines that the robot 20 meets the first condition, it controls the robot 20 to perform cleaning actions on the remaining uncleaned areas.

[0023] In another scenario, if the controller determines that robot 20 meets the second condition, it means that robot 20's remaining battery power is insufficient to support cleaning all remaining uncleaned areas. Therefore, selective cleaning of the uncleaned areas is possible. The second condition could be, for example, that the area the robot 20 can clean with its remaining battery power (i.e., the first area) is smaller than the area of ​​the remaining uncleaned areas. Therefore, if the controller determines that robot 20 meets the second condition, it controls robot 20 to execute a cleaning strategy that involves cleaning the remaining heavily soiled areas. Heavily soiled areas could be areas with a large amount of dirt (e.g., leaves, twigs, and foam). Robot 20 can acquire dirt information about the uncleaned areas, for example, through sensors (described in detail below). This dirt information could include, for example, the type, location, quantity, volume, density, and / or concentration of dirt. The controller can determine the heavily soiled areas based on the dirt data and control robot 20 to move to and clean these areas.

[0024] The second condition could also be: even if the output power of the robot's cleaning components is reduced, the robot's remaining power is still insufficient to support the robot in completing the cleaning of the area to be cleaned. Therefore, if the controller determines that the robot 20 meets the second predetermined condition, it controls the robot 20 to perform cleaning actions on the remaining uncleaned, heavily soiled areas.

[0025] In another scenario, if the controller determines that robot 20 meets the third condition, it means that robot 20's remaining battery power is insufficient to support its cleaning of the remaining uncleaned area. The third condition could be, for example, that the area that robot 20 can clean (i.e., the first area) is smaller than the area of ​​the remaining uncleaned area, and that there are no highly soiled areas in the remaining uncleaned area. Therefore, if the controller determines that robot 20 meets the third condition, it controls robot 20 to execute a cleaning strategy that involves cleaning the remaining uncleaned area. The area of ​​the remaining uncleaned area could, for example, be the area that the robot could clean if it exhausted its remaining battery power.

[0026] The third condition is, for example, that even if the output power of the robot's cleaning components is reduced, the robot's remaining power is still insufficient to support the robot in completing the cleaning of the area to be cleaned. Therefore, if the controller determines that the robot 20 meets the third predetermined condition, it controls the robot 20 to perform cleaning actions on a portion of the remaining uncleaned area.

[0027] For example, the partial area may be an area near base station 30 in the remaining uncleaned area, or an area with an average distance from base station 30 less than or equal to a predetermined distance threshold. This allows the robot to be closer to base station 30 during cleaning of the area, making it easier for the robot to return to base station 30 when its battery level is less than or equal to a second battery threshold. It also helps the robot conserve more remaining battery power to obtain a larger area of ​​the partial area. Specifically, refer to... Figure 3 The robot's routine cleaning tasks, such as Figure 3 The left-hand side shows a bow-shaped section, where the longer side is longer; when the third condition mentioned above is met, the robot's cleaning operation is as follows: Figure 3 The bow-shaped section shown on the right has a shorter long side, which means that although the robot is still cleaning the bottom of the pool, it does not walk along the longer long side of the bow-shaped section and move away from the base station as in a regular cleaning operation.

[0028] Specifically, if the power required for robot 20 to return to a location easily accessible to the user, such as the pool bank, pool wall, or base station 30, is 10% of the total power (for example, the robot needs to reserve 10% of the total power for use on its way back to base station 30), and robot 20 currently has 30% of the total power remaining, then controlling robot 20 to perform cleaning actions on the remaining uncleaned areas could be, for example, controlling robot 20 to continue cleaning the uncleaned areas using 20% ​​of the total power, thereby allowing the robot to reserve 10% of the total power for use on its way back to base station 30.

[0029] The above descriptions of the first, second, and third conditions are merely illustrative, and any solution that can achieve the technical principles of this application falls within the protection scope of this application.

[0030] The automatic water tank cleaning device 20 also includes a first sensor, which determines in real time the high-soil areas in the uncleaned area that meet the predetermined level of dirt.

[0031] The robot 20 may include, for example, a first sensor capable of acquiring data on dirt levels in the environment in front of the robot 20. The first sensor may be mounted on the robot's body. Specifically, the first sensor may be mounted on the head of the robot 20, with the head corresponding to the robot's forward direction. This application does not specifically limit the type and location of the first sensor in practical applications; those skilled in the art can choose according to the actual situation, as long as the technical principles of this application are achieved.

[0032] During the mobile cleaning process of robot 20, a first sensor can collect dirt data in real time, and a controller can analyze the degree of dirt based on the data collected by the first sensor. If the controller determines that the degree of dirt in a certain area of ​​the pool meets a predetermined level, then the controller determines that area to be a high-dirt area. Meeting the predetermined level of dirt can be, for example, by the quantity of dirt meeting a predetermined quantity, the volume of dirt meeting a predetermined volume, or the density of dirt meeting a predetermined density.

[0033] The above description of the methods for determining whether a predetermined level of dirtiness is met is not an exhaustive list, and any method that can implement the technical principles of this application falls within the protection scope of this application.

[0034] The first sensor includes at least one of the following: lidar or a vision sensor.

[0035] The first sensor may include, for example, a lidar. The lidar may be mounted on the head of the automatic pool cleaning device 20, and it can detect the outline of a target object in front of the robot 20 to obtain the degree of dirt in various uncleaned areas.

[0036] The first sensor may include, for example, a vision sensor, which may include, for example, a camera. The camera may be, for example, a 3D camera or a depth camera (such as a binocular vision, structured light, or ToF camera) used to acquire three-dimensional spatial information about obstacles. The vision sensor may be mounted, for example, on the head of the robot 20. The vision sensor can convert optical images into electrical signals. For example, the vision sensor can acquire an image of dirt in front of the robot 20 and convert the image into an electrical signal. The controller combines the electrical signal with an algorithm to calculate the required dirt data, thereby obtaining the degree of dirt in various parts of the uncleaned area.

[0037] It should be noted that the camera used should be waterproof to ensure stable operation when submerged in water for extended periods. The camera can be positioned at the front, top, side, and / or rear of the robot 20 as needed to optimize image acquisition from different directions.

[0038] Next, proceed to step S103, when the current remaining power is less than or equal to the second power threshold, control the automatic water tank cleaning device 20 to return to the base station 30; wherein, the first power threshold is greater than the second power threshold.

[0039] For example, the pool wall or pool edge can be like Figure 3As shown, a base station 30 is provided, and the base station 30 is capable of charging the robot 20. The power acquisition module 201 can, for example, continuously acquire the remaining power of the robot 20 in real time. Furthermore, the controller determines whether the remaining power of the robot 20 is less than or equal to a second power threshold.

[0040] If the controller determines that the remaining battery power of robot 20 is less than or equal to a second battery threshold, or equal to a battery threshold, it means that if robot 20 continues to move and clean, the remaining battery power may not be enough to allow robot 20 to return to base station 30 for charging. For example, robot 20 may become stuck in the middle of the pool due to insufficient power, thus increasing the need for users to retrieve it. Therefore, if the controller determines that the remaining battery power is less than or equal to the second battery threshold, robot 20 will stop cleaning the pool and return to base station 30 for charging.

[0041] The path for robot 20 to return to base station 30 can be, for example, the path with the shortest distance or the least power consumption calculated by the controller based on information obtained from sensors (image sensors or distance sensors) and a path planning algorithm.

[0042] In one scenario, the second power threshold could be, for example, the amount of power required for the robot 20 to return to the base station 30 from the furthest point in the pool. In other words, the second power threshold could be a constant value that ensures the robot 20 can successfully return to the base station 30 for charging from any point in the pool.

[0043] In another scenario, the controller can, for example, calculate the amount of power required for the robot 20 to return to the base station 30 from its current position based on data collected by sensors (such as LiDAR, cameras, infrared sensors, etc.) and an algorithm. In other words, the second power threshold is not a constant value but can change depending on the robot's position. For example, if the robot needs to consume 5% of its total power to return to the base station 30 from its current position, the second power threshold can be set to 7% of the total power. That is, the controller can set the second power threshold to a value slightly larger than the power required for the robot 20 to return to the base station 30 (e.g., slightly larger than 2% of the total power). This method of setting the second power threshold allows the robot 20 to dynamically determine the amount of power needed for its return journey to the base station 30, ensuring that the remaining power is fully utilized for cleaning the pool. This improves cleaning efficiency and allows the robot 20 to successfully return to the base station 30 for charging, enhancing the robot 20's intelligence. It also avoids the robot failing to return to the base station 30 due to errors in the sensors or power acquisition module.

[0044] When the remaining battery power of robot 20 is less than or equal to a first battery threshold, a second battery threshold can be obtained during the execution of the cleaning strategy. Therefore, the first battery threshold is greater than the second battery threshold. Furthermore, setting the first battery threshold to be greater than the second battery threshold allows for optimization of the cleaning path of robot 20 in a low-battery state, enabling robot 20 to minimize the dirtiness of the pool with limited power. Specifically, setting the first battery threshold before robot 20 needs to return to base station 30 for charging via the second battery threshold allows the controller to know that robot 20 is in a low-battery state and select the optimal cleaning strategy for robot 20. For example, controlling robot 20 to first clean heavily soiled areas can significantly reduce the dirtiness of the pool before robot 20 returns to charging, thus improving the intelligence of robot 20.

[0045] The above description of the second power threshold is merely an exemplary description. Those skilled in the art can set the second power threshold according to actual conditions, and this application does not limit it in this regard.

[0046] The first power threshold is a fixed value. When the current remaining power is less than or equal to the first power threshold, the automatic water tank cleaning device 20 is in a low power stage; and / or, the second power threshold is a variable value, which can be determined based on the distance between the current location of the automatic water tank cleaning device 20 and the base station 30.

[0047] The first power threshold can be a fixed value set by someone skilled in the art. For example, the first power threshold is greater than the power required for the robot 20 to return to the base station 30 from the furthest point in the pool, but less than the power required for the robot 20 to clean the entire pool. By determining the first power threshold, the controller enables the robot 20 to perform the aforementioned cleaning strategy before returning to the base station 30 for recharging, thereby minimizing the pool's dirtiness and improving power utilization. Therefore, if the robot 20's remaining power is less than or equal to the first power threshold, the controller determines that the robot 20 is in a low-power state and may not be able to successfully complete the cleaning of the entire pool, requiring a replanning of the cleaning strategy.

[0048] As mentioned above, the second power threshold can be a variable value. The second power threshold can vary depending on the distance between the robot 20 and the base station 30. For example, if the distance between the robot 20 and the base station 30 is greater, the second power threshold will be larger to ensure that the robot has sufficient power reserves for its return journey to the base station 30. Specifically, the robot 20 can obtain its position at the bottom of the pool using various sensors (e.g., a local or global map of the pool bottom), and calculate the distance between the robot and the base station 30 based on its position. The robot 20 can also calculate the distance between itself and the base station 30 using its own coordinates acquired in real time and pre-stored coordinates of the base station 30. Alternatively, the robot can acquire images of the base station 30 using a binocular camera and calculate the distance based on these images. The controller calculates the power required for the robot 20 to move from its current position to the base station 30 based on the distance between the robot and the base station 30. This calculation of the power required for the robot 20 to move to the base station 30 could include, for example, the power required for the robot to return to the base station 30 after the cleaning components (e.g., a water pump or roller brush) have been turned off. The second power threshold, which changes according to the actual situation, allows the robot to use more power for cleaning the pool, thus improving the utilization rate of power.

[0049] Available power is the amount of electricity that the robot can use during the execution of the cleaning strategy, and the available power is determined based on the first power threshold and the second power threshold.

[0050] The available power of robot 20 in executing the aforementioned cleaning strategy can be determined, for example, based on a first power threshold and a second power threshold. As mentioned above, the first power threshold is greater than the second power threshold, and the available power can be, for example, the difference between the first and second power thresholds. This allows robot 20 to improve power utilization while executing the cleaning strategy, and also ensures its smooth return to base station 30 for charging. It is worth noting that since the second power threshold is, for example, a variable value, the available power can also be a variable value.

[0051] The first condition is satisfied when the cleanable area corresponding to the available power is greater than or equal to all remaining uncleaned areas; and / or, the second condition is satisfied when the cleanable area corresponding to the available power is less than all remaining uncleaned areas and there are highly soiled areas in the remaining uncleaned areas; and / or, the third condition is satisfied when the cleanable area corresponding to the available power is less than all remaining uncleaned areas and there are no highly soiled areas in the remaining uncleaned areas.

[0052] Whether the first, second, and third conditions are met can be determined, for example, by checking the available power.

[0053] Specifically, the controller can, for example, calculate the cleaning area corresponding to the available power. As mentioned above, the available power can be a variable value, therefore, the area corresponding to the available power can also be a variable value.

[0054] In one scenario, if the controller determines that the cleaned area corresponding to the available power is greater than or equal to the remaining uncleaned area, meaning the robot 20 can complete the cleaning of the remaining uncleaned area and return to the base station 30 for charging after cleaning, then the robot 20 meets the first condition. The controller can then control the robot 20 to execute the cleaning strategy corresponding to the first condition.

[0055] In another scenario, if the controller determines that the cleaned area corresponding to the available power is less than the remaining uncleaned area, that is, the robot 20 cannot return to the base station 30 after cleaning the uncleaned area, or the robot 20 cannot complete the cleaning of the uncleaned area. If the controller further determines that there is a highly contaminated area in the uncleaned area, the controller determines that the robot 20 meets the second condition, and the controller controls the robot 20 to execute the cleaning strategy corresponding to the second condition.

[0056] In another scenario, if the controller determines that the cleaned area corresponding to the available power is less than the remaining uncleaned area, that is, the robot 20 cannot return to the base station 30 after cleaning the uncleaned area, or the robot 20 cannot complete the cleaning of the uncleaned area. If the controller further determines that there is no highly contaminated area in the uncleaned area, then the controller determines that the robot 20 meets the third condition, and the controller controls the robot 20 to execute the cleaning strategy corresponding to the third condition.

[0057] Judging the first, second, and third conditions by the available power supply can improve the robot's power utilization rate, allowing the robot to automatically return to base station 30 for charging without manual intervention, thus improving the user experience.

[0058] It is worth noting that, since the available power is a variable value, when robot 20 executes a certain cleaning strategy, the controller can, for example, determine whether robot 20 has switched to meeting another condition. If so, the controller can control robot 20 to change the corresponding cleaning strategy. For example, while robot 20 meets the first condition and executes the corresponding cleaning strategy, as the distance between robot 20 and base station 30 increases, the controller can, for example, determine that robot 20 has switched to meeting the second or third condition. As another example, while robot 20 meets the second condition and executes the corresponding cleaning strategy, if the heavily soiled area has been completely cleaned, and the remaining power of robot 20 is still greater than the second power threshold, the controller can, for example, determine that robot 20 has switched to meeting the third condition.

[0059] Before the automatic water tank cleaning device 20 is controlled to return to the base station 30, the control method further includes: controlling the automatic water tank cleaning device 20 to record its own position as a first position; and after the automatic water tank cleaning device 20 is controlled to return to the base station 30, the control method further includes: controlling the automatic water tank cleaning device 20 to return to the first position and continue to perform mobile cleaning.

[0060] In step S103, before the robot 20 returns to the base station 30, the controller may, for example, record the position of the robot 20 as a first position. The first position may be, for example, the position of the robot when it ceases its mobile cleaning operation of the pool. The first position may be, for example, the coordinates of the robot 20 within the pool. The first position may be obtained, for example, through a positioning system such as GPS; the first position may also be recorded by the controller on a local map constructed by the robot 20 for the pool, the specific construction method of which will be described in detail below.

[0061] After recording the first position, the controller controls robot 20 to return to base station 30 for charging. If the controller determines that robot 20 is fully charged, or if robot 20 receives a user's instruction to return to the pool, the controller can, for example, control robot 20 to return to the first position and continue performing the cleaning task from there. The path for robot 20 to return from base station 30 to the first position can, for example, be the shortest path planned by the controller according to a path planning algorithm.

[0062] The above control method can prevent the robot 20 from repeatedly cleaning the pool, thus improving the cleaning efficiency of the robot 20.

[0063] Before controlling the automatic pool cleaning device 20 to move and clean the pool, the control method further includes controlling the automatic pool cleaning device 20 to construct a map of the pool.

[0064] Before or during cleaning operations on a pool, robot 20 needs to construct a map of the pool to enable localization, relocation, and path planning during the cleaning process. For example, robot 20 can be controlled to travel along the edge of the pool (e.g., along the boundary between the pool bottom and the pool wall, referred to as "edge-side travel"), and point cloud information of the pool edge can be collected in real time during this process to obtain the contour and shape of the pool bottom. This process is also known as "edge-side mapping" or "mapping." Typically, edge-side mapping can be achieved using predetermined sensors. These predetermined sensors can be, for example, ultrasonic sensors, infrared sensors, lidar, inertial measurement units, etc. This embodiment does not impose specific limitations, as long as they can acquire environmental information surrounding robot 20.

[0065] During edge mapping, the robot 20 maintains a distance from the pool wall. This serves two purposes: firstly, it prevents the robot 20 from colliding with the pool wall or obstacles on it; secondly, it allows the predetermined sensors mentioned above to obtain the required measurement angle or conditions.

[0066] The map of the pool constructed by robot 20 makes it easier for robot 20 to obtain the aforementioned first location and the distance between robot 20 and base station 30.

[0067] This application also provides an automatic water tank cleaning device 20, wherein the automatic water tank cleaning device 20 is capable of performing any of the methods described above.

[0068] The automatic pool cleaning device 20 can be, for example, a pool cleaning robot or a pool sweeping robot. The automatic pool cleaning device 20 can execute the control program described above, which has been explained in detail above and will not be repeated here.

[0069] The control method for the automatic water tank cleaning device provided in this application enables the automatic water tank cleaning device to select whether to perform cleaning or recharge based on the remaining power, thereby optimizing the power distribution of the automatic water tank cleaning device, improving cleaning efficiency and reducing energy waste.

[0070] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of those different embodiments or examples.

[0071] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "a plurality of" means two or more, unless otherwise explicitly specified.

[0072] In this application, unless otherwise stated, directional terms such as "up" and "down" are generally used in relation to the direction shown in the accompanying drawings, or in relation to the vertical, perpendicular, or gravitational direction; similarly, for ease of understanding and description, "left" and "right" are generally used in relation to the left and right shown in the accompanying drawings; "inner" and "outer" refer to the inner and outer contours of each component itself, but the above directional terms are not intended to limit this application.

[0073] The above description is merely an exemplary embodiment of this application, but the scope of protection of this application is not limited thereto. Any person skilled in the art can easily conceive of various variations or substitutions within the technical scope described in this application, and these should all be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A control method for an automatic water tank cleaning device (20), the automatic water tank cleaning device (20) including a power acquisition module (201), the power acquisition module (201) being able to acquire the current remaining power of the automatic water tank cleaning device (20), the control method comprising: Control the automatic cleaning device (20) of the pool to move and clean within the pool; When the current remaining power is less than or equal to the first power threshold, a cleaning strategy is obtained based on the current remaining power, and the automatic water tank cleaning device (20) is controlled to move according to the cleaning strategy; When the current remaining power is less than or equal to the second power threshold, the automatic water tank cleaning device (20) is controlled to return to the base station (30). Wherein, the first power threshold is greater than the second power threshold.

2. The control method according to claim 1, comprising: The first power threshold is a fixed value. When the current remaining power is less than or equal to the first power threshold, the automatic water tank cleaning device (20) is in a low power stage. And / or, The second power threshold is a change value that can be determined based on the current location of the automatic water tank cleaning device (20) and the distance between it and the base station (30).

3. The control method according to claim 1, wherein, The cleaning strategy includes: When the first condition is met, the automatic water tank cleaning device (20) is controlled to perform cleaning actions on all remaining uncleaned areas; When the second condition is met, the automatic cleaning device (20) of the pool is controlled to perform cleaning action on the remaining uncleaned high-soil areas; When the third condition is met, the automatic cleaning device (20) of the pool is controlled to perform cleaning action on the remaining uncleaned area.

4. The control method according to claim 3, wherein, Also includes: Available power, which is determined based on the first power threshold and the second power threshold.

5. The control method according to claim 4, wherein, Also includes: The first condition is met when the cleanable area corresponding to the available power is greater than or equal to all the remaining uncleaned areas. And / or, The second condition is met when the cleanable area corresponding to the available power is less than the total area of ​​the remaining uncleaned area and there is a highly contaminated area in the remaining uncleaned area; And / or, The third condition is met when the cleanable area corresponding to the available power is less than the total area of ​​the remaining uncleaned areas and there are no highly contaminated areas in the remaining uncleaned areas.

6. The control method according to claim 5, wherein, The automatic cleaning device (20) for the pool also includes a first sensor, which determines in real time the high-soil areas in the uncleaned area that meet the predetermined level of dirt.

7. The control method according to claim 6, wherein, The first sensor includes at least one of the following: lidar or a vision sensor.

8. The control method according to any one of claims 1-7, wherein, Before the automatic water tank cleaning device (20) returns to the base station (30), the control method further includes: controlling the automatic water tank cleaning device (20) to record its own position as a first position, and, After the automatic water tank cleaning device (20) is controlled to return to the base station (30), the control method further includes: controlling the automatic water tank cleaning device (20) to return to the first position and continue to perform mobile cleaning.

9. The control method according to claim 1, wherein, Before controlling the automatic pool cleaning device (20) to move and clean the pool, the control method further includes controlling the automatic pool cleaning device (20) to construct a map of the pool.

10. An automatic water tank cleaning device (20), wherein, The automatic water tank cleaning device (20) is capable of performing the method according to any one of claims 1-9.

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