Automatic pool cleaning device, control method, and computer storage medium

Abstract

The application provides a pool automatic cleaning device, a control method and a computer storage medium. The control method comprises: acquiring predetermined information required for the pool automatic cleaning device to relocate; and judging whether the predetermined information meets a predetermined condition for the pool automatic cleaning device to relocate, wherein if the predetermined condition has been met, the pool automatic cleaning device is controlled to relocate.

Description

Technical Field

[0001] This disclosure relates to the field of cleaning device technology, and in particular to an automatic pool cleaning device, control method, and computer storage medium. Background Technology

[0002] Pool cleaning robots primarily rely on sensors for mapping, localization, and obstacle avoidance during the pool cleaning process. However, the types of sensors that can operate underwater are relatively limited, and existing stable sensors (such as ultrasonic sensors, IMUs, magnetometers, and encoders) have limited underwater environmental perception capabilities and significant errors. Furthermore, as cleaning progresses, the robot may experience inaccurate positioning or even lose its location due to factors such as movement errors, a smooth pool bottom, and water resistance. Therefore, enabling pool cleaning robots to initiate relocalization underwater and obtain accurate positioning information through this relocalization is a pressing problem that needs to be solved. Summary of the Invention

[0003] The technical problem to be solved by this application is to address the shortcomings of the prior art by providing a control method for an automatic water tank cleaning device. This method involves acquiring predetermined information and matching the predetermined information with predetermined conditions for the repositioning of the automatic water tank cleaning device. Under predetermined conditions, the automatic water tank cleaning device can be periodically repositioned to facilitate more accurate execution of commands.

[0004] According to another aspect of this disclosure, an automatic water tank cleaning device applying the above-described control method is provided.

[0005] According to another aspect of this disclosure, a computer storage medium for implementing the above-described control method is provided.

[0006] In one aspect of this application, a control method for an automatic water tank cleaning device is provided, comprising:

[0007] Obtain the predetermined information required for the automatic water tank cleaning device to reposition; and

[0008] Determine whether the predetermined information meets the predetermined conditions for the automatic water tank cleaning device to reposition itself, wherein,

[0009] If the predetermined conditions are met, the automatic cleaning device for the water tank is controlled to reposition itself.

[0010] Furthermore, the predetermined information includes movement status, work progress, battery level, command reception status, or cleaning mode switching status.

[0011] The predetermined conditions include one or more of the following conditions:

[0012] The motion state is such that the automatic cleaning device enters the pool and makes its first contact with the bottom surface of the pool;

[0013] The motion state satisfies the automatic cleaning device of the pool to complete the escape action;

[0014] The operation progress is such that the automatic cleaning device for the water tank needs to return to the water inlet position after the operation is completed;

[0015] The battery level is sufficient to allow the automatic water tank cleaning device to return to the charging base station.

[0016] The instruction reception condition is that the automatic water tank cleaning device receives a predetermined instruction in the water tank; and the cleaning mode switching condition is that the automatic water tank cleaning device autonomously identifies that a cleaning mode needs to be switched.

[0017] Furthermore, the automatic cleaning device for the pool includes a first sensor, which is used to acquire the motion state information.

[0018] Furthermore, the first sensor is one of the following sensors: pressure sensor, ultrasonic sensor, photoelectric sensor, infrared sensor, accelerometer, inertial measurement unit.

[0019] Furthermore, the predetermined instruction is one or more of the following instructions:

[0020] Instruction to stop cleaning operations;

[0021] Instruction to terminate cleaning operations;

[0022] The instruction to recall the aforementioned automatic pool cleaning device; and

[0023] A command to charge the automatic cleaning device for the water tank.

[0024] Furthermore, the switching cleaning modes include switching between any two of the following: pool bottom mode, pool wall mode, waterline mode, water surface mode, step mode, high coverage mode, low coverage mode, high efficiency mode, spot cleaning mode, full coverage cleaning mode, and supplementary cleaning mode.

[0025] Furthermore, controlling the automatic pool cleaning device to reposition itself includes acquiring map information or historically collected environmental information of the pool edge, controlling the automatic pool cleaning device to walk along the pool edge, and collecting contour information or environmental information of the pool edge, matching the collected contour information or environmental information of the pool edge with the map information or historically collected environmental information, thereby obtaining the current position information of the cleaning device.

[0026] Furthermore, the automatic pool cleaning device also includes a second sensor, which can detect lateral obstacles to the automatic pool cleaning device, thereby obtaining contour information or environmental information of the pool edge.

[0027] Furthermore, the map information or historically collected environmental information is acquired through the second sensor.

[0028] This application also discloses an automatic water tank cleaning device, including a controller, the controller being configured to:

[0029] Obtain the predetermined information required for the automatic water tank cleaning device to reposition; and

[0030] Determine whether the predetermined information meets the predetermined conditions for relocation, wherein,

[0031] If the predetermined conditions are met, the automatic cleaning device for the water tank is controlled to reposition itself.

[0032] Furthermore, the predetermined information includes motion status, work progress, battery level, instruction reception status, or cleaning mode switching status.

[0033] This application also discloses a computer storage medium storing a computer program, which, when executed by a processor, implements the methods described in any embodiment of this application.

[0034] The embodiments described in this application have the following beneficial effects:

[0035] The automatic water tank cleaning device and control method provided in this application can initiate repositioning when predetermined conditions are met, and obtain accurate positioning information through repositioning. This repositioning judgment and operation has the characteristics of periodicity and flexibility. Attached Figure Description

[0036] 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.

[0037] Figure 1 This is a flowchart illustrating a control method for an automatic water tank cleaning device according to an embodiment of this application. Detailed Implementation

[0038] The technical solutions in this application will be clearly and completely described below. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of the embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of this application. It should be noted that, unless otherwise specified, the embodiments and features in the embodiments of this application can be combined with each other.

[0039] This application provides a control method for an automatic pool cleaning device, an automatic pool cleaning device using this control method, and a computer storage medium. The automatic pool cleaning device of this application is capable of cleaning a pool. The pool is, for example, a pool-shaped structure. The pool-shaped structure can be a swimming pool, a water storage tank, a spa pool, a water 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.

[0040] The control method 100 of the automatic water tank cleaning device of this application will be described in detail below with reference to the accompanying drawings. Figure 1 A flowchart illustrating a control method for an automatic water tank cleaning device according to an embodiment of this application is shown. The control method 100 includes steps S101 to S103. Steps S101 to S103 will be described below.

[0041] In step S101, the predetermined information required for the automatic cleaning device of the water tank to be repositioned is obtained.

[0042] Before cleaning the pool bottom, the robot first performs edge mapping, that is, it travels around or nearly around the edge of the pool to create a contour map of the pool (also known as a "local map"). Based on the edge mapping results, it plans a cleaning path and then performs cleaning work along the planned path. By creating edge mapping and obtaining the pool's contour map, the robot can determine its location on the pool bottom. During the cleaning process, due to factors such as travel errors, the smoothness of the pool bottom, and water wave resistance, the robot's positioning may be inaccurate or even lost. Therefore, the robot needs to be repositioned (re-localized) to obtain accurate positioning information and perform subsequent operations based on this accurate positioning information (e.g., returning to the entry point, re-cleaning missed areas, etc.).

[0043] The pre-defined information may include motion status, work progress, battery level, instruction reception status, or cleaning mode switching status.

[0044] In one embodiment, the predetermined information may include a variety of the following: motion status, work progress, battery level, instruction reception status, and cleaning mode switching status.

[0045] The motion states may include: whether the automatic cleaning device for the pool has entered the water, the position of the robot in the pool, whether the automatic cleaning device for the pool is tilted, the speed state of the automatic cleaning device for the pool (accelerating, decelerating, or moving at a constant speed), and other motion states.

[0046] The work progress may include: which cleaning mode the automatic cleaning device for the pool is in, and the completion status of instructions in the corresponding cleaning mode.

[0047] The power status may include the actual power level of the automatic water tank cleaning device, to determine whether the actual power level meets the requirements for completing the instruction.

[0048] The instruction reception status may include: receiving instructions from the automatic pool cleaning device, identifying the received instructions to determine whether they are predetermined instructions, or whether they are consistent with instructions issued by the controller, and whether the instructions are received in a timely manner, etc.

[0049] The cleaning mode switching situation may include: whether the automatic pool cleaning device autonomously recognizes that a cleaning mode needs to be switched.

[0050] It should be noted that the above description of the connotation of the predetermined information is merely exemplary, and the predetermined information protected by this application is not limited to the contents listed above. Those skilled in the art can set the type and content of the predetermined information according to the actual situation, as long as the technical principles of this application can be realized.

[0051] Next, proceed to step S102. In step S102, determine whether the predetermined information meets the predetermined conditions for the automatic water tank cleaning device to reposition itself.

[0052] The predetermined conditions include one or more of the following: the movement state satisfies the automatic pool cleaning device entering the pool and making its first contact with the bottom surface of the pool; the movement state satisfies the automatic pool cleaning device completing its escape action; the operation progress satisfies the automatic pool cleaning device needing to return to its entry position after completing its operation; the battery status satisfies the automatic pool cleaning device needing to return to its charging base station; and the instruction reception status satisfies the automatic pool cleaning device receiving a predetermined instruction within the pool. The predetermined instruction is one or more of the following: an instruction to stop the cleaning operation; an instruction to terminate the cleaning operation; an instruction to recall the automatic pool cleaning device; and an instruction to charge the automatic pool cleaning device. The predetermined conditions and their judgment will be described in detail below with reference to specific embodiments.

[0053] If the predetermined conditions are met, proceed to step S103. In step S103, control the automatic cleaning device of the water tank to reposition itself.

[0054] The following example illustrates the scenario where the predetermined information includes "motion state" and the predetermined condition includes "the motion state satisfies the requirement that the automatic pool cleaning device enters the pool and makes its first contact with the bottom surface of the pool." For instance, the automatic pool cleaning device may include a first sensor for acquiring motion state information. This first sensor may be one of the following: a pressure sensor, an ultrasonic sensor, a photoelectric sensor, an infrared sensor, an accelerometer, or an inertial measurement unit. For example, a pressure sensor (e.g., a water entry sensor) can determine if the robot has entered the water; a pressure sensor (e.g., a bottom contact sensor) can determine if the robot has contacted the bottom of the pool; and an accelerometer and / or an inertial measurement unit can determine if the robot is stuck.

[0055] It is understood that the various types of sensors listed above are merely examples of the first sensor used to acquire the motion state information, and are not intended to limit the type of the first sensor, as long as the technical principles of this application can be achieved.

[0056] The automatic pool cleaning device can determine whether the predetermined condition is met based on the motion state information acquired by the first sensor, that is, whether the motion state satisfies the condition that the automatic pool cleaning device enters the pool and makes its first contact with the bottom surface of the pool. If it is determined that the automatic pool cleaning device has not entered the pool, it means that the automatic pool cleaning device is not working and does not need to be repositioned. If the automatic pool cleaning device has entered the pool and made its first contact with the bottom surface of the pool, then the position of the automatic pool cleaning device on the bottom of the pool needs to be determined, that is, repositioning is required.

[0057] Taking the example where the predetermined information includes "motion state" and the predetermined condition includes "the motion state satisfies the automatic pool cleaning device's completion of the escape action," the automatic pool cleaning device can determine whether the predetermined condition is met based on the motion state information acquired by the first sensor, i.e., whether the motion state satisfies the automatic pool cleaning device's completion of the escape action. The robot uses the motion state information acquired by the first sensor to determine its motion state, thereby determining whether the robot is stuck and whether it has escaped. For example, it may be entangled in foreign objects such as hair or plastic rope in the pool, stuck in narrow gaps such as drain outlets or the bottom of steps, or stuck in the pool by uncleaned toys, tools, or other objects. If the robot is stuck, it can further determine whether the escape action has been completed based on a first sensor such as an IMU sensor. If the escape action has been completed, the robot's position at the bottom of the pool needs to be determined, i.e., repositioning is required.

[0058] Taking an example where the predetermined information includes "work progress" and the predetermined condition includes "the work progress satisfies the requirement for the automatic pool cleaning device to return to the water inlet position after the work is completed," the following explanation is provided. During the cleaning operation of the automatic pool cleaning device, the accumulation of minor errors caused by turning and other operations can lead to a difference between the actual position of the automatic pool cleaning device and its perceived position. If the robot returns to the water inlet position based on its perceived position, the actual returned position will not be the water inlet position, making it impossible for workers to retrieve the automatic pool cleaning device from the water inlet position. The robot determines whether the cleaning operation is complete based on the work progress information. If the operation is complete, it needs to return to the water inlet position. Before returning to the water inlet position, the robot's position on the bottom of the pool needs to be determined, i.e., repositioning is required.

[0059] Taking the predetermined information including "battery status" and the predetermined condition including "the battery status meets the requirement for the automatic pool cleaning device to return to the charging base station" as an example, the robot can measure its remaining battery level in real time during cleaning operations to determine if it can support the completion of all cleaning tasks. If the robot determines that the battery level is insufficient to complete the entire cleaning operation, it needs to be recharged, meaning the robot needs to return to the charging base station for charging. Before returning to the charging base station, the robot's position at the bottom of the pool needs to be determined, i.e., repositioning is required.

[0060] The following example illustrates the scenario where the predetermined information includes "instruction reception status" and the predetermined condition includes "the instruction reception status satisfies that the automatic pool cleaning device receives a predetermined instruction within the pool." The predetermined instruction can be one or more of the following: an instruction to stop cleaning operations; an instruction to terminate cleaning operations; an instruction to recall the automatic pool cleaning device; and an instruction to charge the automatic pool cleaning device. If the robot receives an instruction, it can identify whether the instruction belongs to one or more of the aforementioned predetermined instructions. If the received instruction is one or more of the predetermined instructions, the predetermined condition is satisfied. For example, if the robot receives an instruction to terminate cleaning operations, the predetermined condition is satisfied, and the robot needs to reposition itself so that after the cleaning operations are terminated, it can obtain its current accurate positioning information and travel to the predetermined location accordingly. If the robot receives an instruction to recall the robot, the predetermined condition is satisfied, and the robot needs to reposition itself; that is, before being recalled, the robot needs to reposition itself to obtain its current accurate positioning information, thereby avoiding path deviations when the robot is recalled.

[0061] The following example illustrates the scenario where the predetermined information includes "cleaning mode switching status" and the predetermined condition includes "the cleaning mode switching status satisfies the requirement for the automatic pool cleaning device to autonomously identify the need to switch cleaning modes." The switching cleaning modes include: pool bottom mode, pool wall mode, waterline mode, water surface mode, step mode, high coverage mode (dense path, high coverage), low coverage mode, high efficiency mode (high efficiency in planned path execution, but lower coverage), spot cleaning mode (cleaning only where dirt is detected, leaving undetected areas uncleaned), full coverage cleaning mode, and supplementary cleaning mode (after cleaning in the previous mode, determining where areas are missed based on vision or the walking path + map, and then supplementing cleaning in those missed areas). The switching between any two of these modes is described below.

[0062] The pool bottom mode is the regular cleaning mode of the automatic pool cleaning device, which cleans the bottom of the pool.

[0063] The pool wall mode, also known as the wall-climbing mode, mainly utilizes the principle of vacuum adsorption to attach the automatic pool cleaning device to the pool wall for cleaning.

[0064] The waterline mode mainly involves cleaning along the waterline at the edge of the pool. The automatic pool cleaning device controls its own buoyancy to float stably near the waterline and maintains a fixed distance from the pool wall using sensors. This distance ensures that the cleaning components of the automatic pool cleaning device can contact the waterline and perform cleaning.

[0065] The water surface mode, also known as the water surface boat mode, controls the up-and-down movement of the cleaning device on the water surface by adjusting the buoyancy of the automatic cleaning device in the pool, thereby cleaning the water surface.

[0066] The step mode involves an automatic pool cleaning device cleaning the steps. The automatic pool cleaning device uses sensors to detect and locate the steps, and constructs a map of the steps through data collection. The map includes information such as the height, width, depth of the steps, and the spacing between the steps. Then, the automatic pool cleaning device plans a route and cleans the edge of the steps, the tread of the steps, and the vertical surface of the steps respectively. The specific cleaning order is set according to actual needs and is not limited in this application.

[0067] High coverage modes primarily employ dense path planning to ensure that every small area is covered. For example, automatic pool cleaning systems can use closely spaced bow-shaped or grid-shaped paths on the pool bottom, creating a crisscrossing cleaning path that achieves high coverage.

[0068] The low coverage mode mainly uses straight lines or simple broken lines with wider spacing. Specifically, the automatic cleaning device cleans along the main axis of the pool bottom, or uses parallel lines with large intervals to focus on cleaning the main part of the pool bottom, while simply cleaning the edge areas.

[0069] The high-efficiency mode mainly plans the shortest path for the area that needs to be cleaned, specifically completing the cleaning with the shortest cleaning route; for example, when the bottom of the pool is rectangular, a straight back-and-forth path along the long side can be used to reduce the number of turns, or a straight line along the diagonal can be used to traverse the bottom of the pool; the above-mentioned rectangular pool bottom is only one embodiment of this application, and the high-efficiency cleaning modes for circular pool bottoms, irregularly shaped pool bottoms, etc. are all protected by this application.

[0070] The fixed-point cleaning mode is mainly used by the automatic pool cleaning device to determine the location of dirt or a lot of dirt through visual sensors or previous cleaning records. It moves directly to the identified location and plans a small cleaning path around the dirt. This path can be a circular or square area, or other areas, and then it performs targeted cleaning.

[0071] The full-coverage cleaning mode primarily aims to thoroughly clean the designated area. For pool bottom cleaning, various path planning methods can be employed based on the pool's shape, such as cleaning the edges first and then the center. For pool wall cleaning, the cleaning can proceed along the top and bottom edges and the entire height of the pool wall. For corners and edges, inclined, spiral, or circling paths can be used. The full-coverage cleaning mode's route planning is based on the actual pool size and is not limited in this application.

[0072] The supplementary cleaning mode is mainly based on the path record and map information of the previous cleaning mode, or by using a visual sensor to scan the pool, identify uncleaned areas, and plan cleaning paths for these uncleaned areas. The planned routes need to cover the uncleaned areas. The planned routes can be small straight lines, circles, or irregular paths, as well as other planned routes that cover the uncleaned areas, and the cleaning is completed based on the planned routes.

[0073] For example, after completing the cleaning work along the planned cleaning path, if the automatic pool cleaning device detects uncleaned areas or areas with poor cleaning results, it can switch to a spot cleaning mode or a supplementary cleaning mode. If the automatic pool cleaning device detects that the overall condition of the pool is relatively clean after entering the water, it can switch from a high-coverage mode to a high-efficiency mode. After cleaning the pool bottom (using pool bottom mode), the automatic pool cleaning device can switch to a pool wall mode or a water surface mode. If the automatic pool cleaning device uses high-coverage mode to carefully clean the pool bottom, but finds the bottom relatively clean during the cleaning process, it can switch to a spot cleaning mode. The automatic pool cleaning device can also autonomously switch cleaning modes according to actual conditions. The above-mentioned automatic pool cleaning device autonomously identifies the predetermined conditions for repositioning when a cleaning mode switch is required; that is, the robot needs to reposition itself after or before switching modes.

[0074] It should be noted that the predetermined conditions described above can be a single condition or multiple conditions. In other words, if any one of the predetermined conditions is met, the automatic water tank cleaning device can be controlled to perform the repositioning, or several predetermined conditions must be met before the automatic water tank cleaning device can be controlled to perform the repositioning. Those skilled in the art can determine the above-mentioned predetermined information according to actual needs, as long as the function of this application can be achieved.

[0075] The repositioning process is described below. Controlling the automatic pool cleaning device to reposition includes acquiring map information or historically collected environmental information of the pool edge; controlling the automatic pool cleaning device to move along the pool edge and collecting contour information or environmental information of the pool edge; and matching the collected contour information or environmental information of the pool edge with the map information or historically collected environmental information to obtain the current position information of the cleaning device.

[0076] The map information or historically collected environmental information of the pool edge can be the outline map described above, which can be a map constructed by the robot after entering the water and traveling around or nearly around the edge of the pool; it can also be the map information or environmental information of the pool read by the robot from a historical database; or it can be the map information or environmental information preset by the user.

[0077] In one embodiment, the automatic pool cleaning device further includes a second sensor. The second sensor can be of various types. For example, the second sensor can be a single-point ultrasonic sensor. The single-point ultrasonic sensor is mainly used for distance measurement and obstacle detection. The single-point ultrasonic sensor can convert ultrasonic signals into other energy signals (e.g., electrical signals). Ultrasonic waves are mechanical waves with vibration frequencies higher than 20kHz. They have characteristics such as high frequency, short wavelength, minimal diffraction, and particularly good directionality, enabling them to propagate directionally as rays. The single-point ultrasonic sensor can consist of one or more fixed ultrasonic array elements, calculating the distance by measuring the time it takes for the ultrasonic wave to travel from emission to reception, thereby detecting the presence and location of obstacles. The single-point ultrasonic sensor may also include components such as a drive circuit and a signal processor; detailed descriptions of these components are omitted here. Furthermore, the second sensor may also include one or more of a camera, a single-photon imaging sensor (DTOF), an infrared sensor, or radar.

[0078] The automatic pool cleaning device can be repositioned as follows: the second sensor acquires map information or historically collected environmental information of the pool edge, controls the automatic pool cleaning device to walk along the pool edge, and collects the outline information or environmental information of the pool edge. The collected outline information or environmental information of the pool edge is matched with the map information or historically collected environmental information to obtain the current position information of the cleaning device.

[0079] The automatic pool cleaning device also includes a second sensor, which can be one of the following: a distance sensor, a pressure sensor, an ultrasonic sensor, a photoelectric sensor, an infrared sensor, an accelerometer, or an inertial measurement unit. The second sensor can detect lateral obstacles to the automatic pool cleaning device, thereby acquiring the contour information or environmental information of the pool edge. The map information or historically collected environmental information is acquired through the second sensor.

[0080] For example, during the edge mapping process after the robot enters the water, it uses the second sensor to acquire the outline map of the pool. During relocalization, the robot uses the second sensor to collect outline information or environmental information of the pool edge, and matches the outline information or environmental information acquired during relocalization with the outline information or environmental information acquired during edge mapping. This allows the robot to obtain the matching relationship between the travel path during relocalization and the outline map of the pool. In other words, the corresponding path of the travel path during relocalization on the outline map of the pool can be obtained. Based on this corresponding path, the coordinate transformation relationship between the robot's current position and the origin of the outline map of the pool can be calculated, thus obtaining the robot's current positioning information.

[0081] The control method for the automatic water tank cleaning device provided in this application can initiate repositioning when predetermined conditions are met, and obtain accurate positioning information through repositioning. This repositioning judgment and operation is characterized by periodicity and flexibility.

[0082] This application also provides an automatic water tank cleaning device. The automatic water tank cleaning device includes a controller configured to: acquire predetermined information required for repositioning of the automatic water tank cleaning device; and determine whether the predetermined information meets predetermined conditions for repositioning, wherein if the predetermined conditions are met, the controller controls the automatic water tank cleaning device to reposition.

[0083] The predetermined information, predetermined conditions, relocation, and other technical aspects have been described in detail in the embodiments above, and will not be repeated here.

[0084] This embodiment discloses a computer storage medium storing a computer program, which, when executed by a processor, implements the control method described above.

[0085] It should be understood that, in this embodiment, the aforementioned computer storage medium may be located at at least one of the multiple network servers in a computer network. Optionally, in this embodiment, the aforementioned storage medium may include, but is not limited to, various media capable of storing program code, such as USB flash drives, read-only memory (ROM), random access memory (RAM), portable hard drives, magnetic disks, or optical disks.

[0086] It should be noted that the order of the embodiments described above is merely for descriptive purposes and does not represent the superiority or inferiority of the embodiments.

[0087] 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.

[0088] 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.

[0089] 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.

[0090] 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, comprising: Obtain the predetermined information required for the automatic cleaning device of the water tank to be repositioned; as well as Determine whether the predetermined information meets the predetermined conditions for the automatic water tank cleaning device to reposition itself, wherein, If the predetermined conditions are met, the automatic cleaning device for the water tank is controlled to reposition itself.

2. The control method according to claim 1, wherein, The predetermined information includes movement status, work progress, battery level, instruction reception status, or cleaning mode switching status. The predetermined conditions include one or more of the following conditions: The motion state is such that the automatic cleaning device enters the pool and makes its first contact with the bottom surface of the pool; The motion state satisfies the automatic cleaning device of the pool to complete the escape action; The operation progress is such that the automatic cleaning device for the water tank needs to return to the water inlet position after the operation is completed; The battery level is sufficient to allow the automatic water tank cleaning device to return to the charging base station. The instruction reception condition is satisfied that the automatic water tank cleaning device receives a predetermined instruction within the water tank; and The cleaning mode switching condition is such that the automatic water tank cleaning device can autonomously identify when a new cleaning mode needs to be switched.

3. The control method according to claim 2, wherein, The automatic cleaning device for the pool includes a first sensor, which is used to acquire the motion status information.

4. The control method according to claim 3, wherein, The first sensor is one of the following: pressure sensor, ultrasonic sensor, photoelectric sensor, infrared sensor, accelerometer, or inertial measurement unit.

5. The control method according to claim 2, wherein, The predetermined instruction is one or more of the following instructions: Instruction to stop cleaning operations; Instruction to terminate cleaning operations; The instruction to recall the aforementioned automatic pool cleaning device; and A command to charge the automatic cleaning device for the water tank.

6. The control method according to claim 2, wherein, The switching cleaning modes include switching between any two of the following: pool bottom mode, pool wall mode, waterline mode, water surface mode, step mode, high coverage mode, low coverage mode, high efficiency mode, spot cleaning mode, full coverage cleaning mode, and supplementary cleaning mode.

7. The control method according to any one of claims 1-6, wherein, Controlling the automatic pool cleaning device to reposition itself includes acquiring map information or historically collected environmental information of the pool edge, controlling the automatic pool cleaning device to walk along the pool edge and collecting the pool edge contour information or environmental information, and matching the collected pool edge contour information or environmental information with the map information or historically collected environmental information to obtain the current position information of the cleaning device.

8. The control method according to claim 7, wherein, The automatic pool cleaning device also includes a second sensor, which can detect lateral obstacles to the automatic pool cleaning device, thereby obtaining contour information or environmental information of the pool edge.

9. The control method according to claim 8, wherein, The map information or historically collected environmental information is obtained through the second sensor.

10. An automatic water tank cleaning device, comprising a controller configured to: Obtain the predetermined information required for the automatic water tank cleaning device to reposition; and Determine whether the predetermined information meets the predetermined conditions for relocation, wherein, If the predetermined conditions are met, the automatic cleaning device for the water tank is controlled to reposition itself.

11. The automatic water tank cleaning device according to claim 10, wherein, The predetermined information includes movement status, work progress, battery level, instruction reception status, or cleaning mode switching status.

12. A computer storage medium storing a computer program that, when executed by a processor, implements the method of any one of claims 1-9.

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