Control method of a pool automatic cleaning device and storage medium

Abstract

A control method and storage medium for an automatic pool cleaning device are disclosed. The method includes: controlling the automatic pool cleaning device to move forward along the pool wall on the water surface; upon detecting a cleaning object in front of the automatic pool cleaning device, controlling the automatic pool cleaning device to retreat, causing the automatic pool cleaning device to drain water through a front outlet; and controlling the automatic pool cleaning device to move forward again along the pool wall to clean the cleaning object. In this method, the water flow discharged from the front outlet during the retreat of the automatic pool cleaning device will move the cleaning object, allowing it to move to the front of the automatic pool cleaning device. Subsequent forward movement of the automatic pool cleaning device will then smoothly clean the cleaning object, thereby greatly improving the cleaning efficiency of the automatic pool cleaning device.

Description

Technical Field

[0001] This application relates to the field of cleaning device technology, and in particular to a control method and storage medium for an automatic water tank cleaning device. Background Technology

[0002] With the development of computer technology, robotics technology has also developed rapidly. Currently, underwater robots are being used more and more widely in various fields, assisting people in underwater operations, including underwater cleaning, underwater exploration, and underwater tourism.

[0003] Robots used for pool cleaning, such as automated pool cleaning devices, move along the water surface, bottom, or walls to clean the pool when cleaning is needed. Leaves on the water surface often accumulate on the pool walls due to wind or water flow. However, due to structural design limitations, the robot's water inlet cannot extend to its outermost edge. When the pool cleaning robot moves along the pool wall, there is a gap between the water inlet and the wall. This gap can prevent the robot from effectively cleaning leaves that are pressed against the wall, significantly reducing its cleaning efficiency. Summary of the Invention

[0004] According to one aspect of this application, a control method for an automatic pool cleaning device is provided, comprising: controlling the automatic pool cleaning device to move forward along the pool wall on the water surface; when a cleaning object is detected in front of the automatic pool cleaning device, controlling the automatic pool cleaning device to retreat so that the automatic pool cleaning device drains water through the front outlet; and controlling the automatic pool cleaning device to move forward along the pool wall again to clean the cleaning object.

[0005] According to the control method of the automatic water tank cleaning device provided in this application, the front side of the automatic water tank cleaning device includes: an area located in front of the automatic water tank cleaning device and not in the direction of the extension of the water inlet of the automatic water tank cleaning device.

[0006] According to the control method of the automatic water tank cleaning device provided in this application, the front side of the automatic water tank cleaning device includes: the area located in front of the automatic water tank cleaning device and between the water inlet of the automatic water tank cleaning device and the pool wall.

[0007] According to the control method of the automatic pool cleaning device provided in this application, when a cleaning object is detected in front of the automatic pool cleaning device, the automatic pool cleaning device is controlled to retreat, which includes: when a cleaning object is detected at a predetermined distance in front of the automatic pool cleaning device, the automatic pool cleaning device is controlled to retreat.

[0008] According to the control method of the automatic cleaning device for a water tank provided in this application, before controlling the automatic cleaning device to move backward, the method further includes: controlling the automatic cleaning device to continue moving forward along the pool wall, and when it is detected that the object to be cleaned has not been cleaned, controlling the automatic cleaning device to move backward.

[0009] According to the control method of the automatic water tank cleaning device provided in this application, the water outlet in front of the automatic water tank cleaning device is arranged on the side of the automatic water tank cleaning device.

[0010] According to the control method of the automatic water tank cleaning device provided in this application, the drainage direction of the front water outlet can be adjusted, and when the automatic water tank cleaning device is controlled to move backward, the water flow of the front water outlet is controlled to be discharged to the side and forward.

[0011] According to the control method of the automatic water tank cleaning device provided in this application, the automatic water tank cleaning device includes an image acquisition component, which identifies whether there is a cleaning object in front of the side of the automatic water tank cleaning device.

[0012] According to the control method of the automatic cleaning device for a water tank provided in this application, the automatic cleaning device for a water tank stops reversing and moves forward along the pool wall again when any of the following conditions are met: the automatic cleaning device for a water tank reversing for a predetermined time; the automatic cleaning device for a water tank reversing a predetermined distance; and determining that the object to be cleaned has moved to the front of the automatic cleaning device for a water tank.

[0013] According to a second aspect of this application, a non-volatile computer storage medium is provided, wherein a computer program is stored in the storage medium, and the computer program, when executed by a processor, implements any of the control methods described above.

[0014] The embodiments described in this application have the following beneficial effects: The control method of the automatic pool cleaning device provided in this application detects the object to be cleaned while controlling the automatic pool cleaning device to move forward along the pool wall on the water surface. If the object to be cleaned is detected in front of the automatic pool cleaning device, the automatic pool cleaning device is controlled to move backward and drain water through the front outlet. The water flow discharged from the front outlet will move the object to be cleaned so that the object to be cleaned can be moved to the front of the automatic pool cleaning device. Then the automatic pool cleaning device is controlled to move forward along the pool wall again to clean the object, thereby greatly improving the cleaning efficiency of the automatic pool cleaning device. Attached Figure Description

[0015] To more clearly illustrate the technical solutions of the embodiments of this application, 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 application.

[0016] Figure 1 A perspective view of the automatic water tank cleaning device provided in this application is shown; Figure 2 A schematic flowchart of the control method for the automatic water tank cleaning device provided in this application is shown; Figure 3 A front view schematic diagram of the automatic water tank cleaning device provided in this application is shown; Figure 4 One of the top views of the automatic water tank cleaning device provided in this application is shown; Figure 5 This is a second top view schematic diagram of the automatic water tank cleaning device provided in this application.

[0017] Figure label: 101. Water inlet; 102. Water outlet. Detailed Implementation

[0018] To make the objectives, technical solutions, and advantages of this application clearer, the technical solutions of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0019] This application provides a control method for an automatic water tank cleaning device. The automatic water tank cleaning device of this application can clean a water tank. The water tank is, for example, a pool-shaped structure. The pool-shaped structure can be a water tank, a storage tank, a spa pool, a water tank, a water reservoir, etc. The automatic water tank cleaning device can be a device such as an automatic cleaning device or a water tank cleaning robot, capable of cleaning the pool-shaped structure. Figure 1 A three-dimensional structural schematic diagram of the automatic water tank cleaning device provided in this application is shown, such as... Figure 1As shown, the automatic pool cleaning device may include a water inlet 101 and an outlet 102. The automatic pool cleaning device may be equipped with drive components such as a water pump, drive wheels, and propellers, which drive the automatic pool cleaning device to move within the pool. Furthermore, the automatic pool cleaning device also needs to be equipped with a trash basket. When the automatic pool cleaning device moves within the pool, water and trash enter the trash basket from the underwater inlet or the water surface inlet 101. After being filtered by the trash basket, the trash remains inside, and the water flows out from the outlet 102 of the automatic pool cleaning device.

[0020] This application does not limit the specific presentation of the automatic cleaning device for the water tank or the tank-shaped structure, as long as the principle of this application can be realized.

[0021] Unless otherwise specified, the following description will use a robot as an example of the automatic pool cleaning device and a swimming pool as an example of a pool or pool-shaped structure.

[0022] The control method 200 of the automatic water tank cleaning device of this application will be described in detail below with reference to the accompanying drawings.

[0023] Figure 2 A flowchart illustrating the control method of the automatic water tank cleaning device provided in this application is shown. Figure 2 As shown, the control method 200 includes steps 201 to 203. Steps 201 to 203 will be described in detail below.

[0024] Step 201: Control the automatic cleaning device of the pool to move forward along the pool wall on the water surface.

[0025] For example, when cleaning a swimming pool, the robot can include multiple cleaning operation modes, such as pool bottom cleaning mode, pool wall cleaning mode, and water surface cleaning mode; among which, the water surface cleaning mode includes water surface random mode and water surface along the edge mode. In the water surface mode, the robot moves on the surface of the pool and sucks the dirt on the surface of the pool into the filter assembly through the water surface inlet 101, thereby achieving the purpose of cleaning the pool water surface.

[0026] Understandably, due to factors such as water flow and wind, most floating debris, such as leaves, is pushed to the edge of the pool. Therefore, cleaning along the pool wall is an important task during surface cleaning. A robot can be controlled to move on the water using propellers or other surface-driven components. As the robot moves forward along the pool wall, distance sensors or cameras on the robot monitor the distance between it and the wall, ensuring that the distance remains within a predetermined range, thus guaranteeing its movement along the pool wall.

[0027] Step 202: When a cleaning object is detected in front of the automatic water tank cleaning device, the automatic water tank cleaning device is controlled to move backward so that the automatic water tank cleaning device drains water through the front outlet 102.

[0028] Understandably, on the one hand, to avoid collisions or friction between the robot and the pool wall during its movement forward, which could damage either the robot or the pool wall, and because the robot has no supporting surface on the water's surface, a collision with the pool wall would cause the robot to change direction, affecting its movement along the water's edge. Therefore, the robot typically needs to maintain a certain distance from the pool wall during its movement; that is, the robot does not move in close contact with the pool wall. On the other hand, Figure 3 A front view structural schematic diagram of the automatic water tank cleaning device provided in this application is shown, as follows: Figure 3 As shown, to accommodate the trash can and other structures, the robot's water inlet 101 is typically located at the front of the robot, and its width is smaller than the robot's main body width. During the robot's cleaning process along the pool wall, the distance between the water inlet 101 and the pool wall is relatively large. Objects to be cleaned on the side front are difficult to suck into the water inlet 101 for proper cleaning, especially those near the pool wall. Furthermore, the robot's proximity to the pool wall makes it difficult to turn and clean objects, severely impacting its cleaning efficiency and effectiveness. For example, leaves, once wet, adhere firmly to the pool wall. During the robot's movement along the pool wall, the suction force of the water inlet 101 alone makes it difficult to suck the leaf from the pool wall into the inlet.

[0029] Based on this, when a cleaning object is detected to the side front of the robot, the robot can be controlled to move backward. When the robot moves backward, water can be drained through the outlet 102 at the front of the robot (e.g., draining water in the direction the robot was originally traveling). This drainage can cause water flow fluctuations, thereby moving the cleaning object to be cleaned as close as possible to the front of the robot (e.g., causing the leaves mentioned above to detach from the pool wall and move along the water surface away from the pool wall). For example, the propeller can be rotated in the opposite direction, and the rotating propeller will drive water flow outward through the outlet 102 at the front of the robot, thus causing the robot to move backward. Alternatively, the vector nozzle can be adjusted so that the water pumped by the water pump is discharged from the outlet 102 at the front of the robot, causing the robot to move backward.

[0030] For example, the object to be cleaned can be one or more of the pollutants such as leaves, plastic bags and moss in the water. Of course, the object to be cleaned can also be other dirt floating on the water surface. This embodiment does not make specific limitations here.

[0031] Next, step 203 is executed, controlling the automatic cleaning device of the pool to move forward along the pool wall again in order to clean the object to be cleaned.

[0032] Specifically, by controlling the robot to move backward, the drain outlet in front of the robot sprays water forward to change the position of the object to be cleaned. Then, the robot is controlled to move forward along the pool wall again, and the object to be cleaned can be sucked into the water inlet 101, thereby cleaning the object after it has moved to a new position.

[0033] The above control method detects the object to be cleaned while the automatic cleaning device moves forward along the pool wall on the water surface. If an object to be cleaned is detected in front of the automatic cleaning device, the device is controlled to move backward and drain water through the front outlet 102. The water flow from the outlet 102 moves the object to be cleaned so that it can be moved to the front of the device. Then, the device is controlled to move forward along the pool wall again, thus cleaning the object smoothly and greatly improving the cleaning efficiency of the automatic cleaning device.

[0034] In one embodiment, the front side of the automatic pool cleaning device includes: an area located in front of the automatic pool cleaning device and not extending in the direction of the water inlet 101 of the automatic pool cleaning device.

[0035] Figure 4 One of the top views of the automatic pool cleaning device provided in this application is shown. The water inlet 101 of the robot is located directly in front of the robot, and the width of the water inlet 101 is smaller than the width of the robot's main body. Therefore, as... Figure 4 As shown in the image, the frontal side described in the above text includes... Figure 4 The marked area. The area in front of the robot and extending in the direction of the robot's water inlet 101 is... Figure 4The area directly in front of the water inlet 101, as marked in the diagram, can be understood as the side front. It can be seen that during the robot's forward movement, objects in this directly in front area can be effectively sucked in and cleaned by the water inlet 101, while objects in the side front area are more difficult to suck in. In this case, the robot can be controlled to reverse and drain water through the front outlet 102, allowing the objects to move towards the area directly in front of the water inlet 101. Subsequently, as the robot moves forward again, the objects can be successfully cleaned.

[0036] In one embodiment, the front side of the automatic pool cleaning device includes: the area located in front of the automatic pool cleaning device and between the water inlet 101 of the automatic pool cleaning device and the pool wall.

[0037] Understandably, when the robot moves along the pool wall, if there is something to be cleaned on the side of the robot away from the wall, it can clean it by turning towards the object. However, if there is something to be cleaned on the side of the robot close to the wall, the robot is too close to the wall to turn easily, making it difficult for it to clean that area.

[0038] Based on the above description Figure 5 A second top view schematic diagram of the automatic water tank cleaning device provided in this application is shown, such as... Figure 5 As shown, the front side may include the area in front of the robot, the area between the water inlet 101 and the pool wall (e.g., Figure 5 The area indicated by the dashed line indicates that if there is a cleaning target in this area, the robot can be controlled to move backward and drain water through the front outlet 102. This allows the water flow to move the cleaning target towards the front of the water inlet 101. The robot can then move back towards the front wall of the pool to clean the cleaning target. Cleaning targets in other areas can be cleaned by turning or other movement methods.

[0039] The action of controlling the automatic pool cleaning device to retreat when a cleaning object is detected in front of the side of the automatic pool cleaning device includes: controlling the automatic pool cleaning device to retreat when a cleaning object is detected within a predetermined distance in front of the side of the automatic pool cleaning device.

[0040] Understandably, the robot drains water through its front water outlet 102. However, the spray distance of the water outlet 102 is usually limited. If the object to be cleaned is too far from the robot, the water flow from the outlet 102 will be insufficient to reach the object during the robot's backward movement, making it difficult to adjust the object's position using the water flow. Therefore, objects that are far from the robot can be ignored, and the robot can continue moving forward along the pool wall. Only when an object is within a predetermined distance (e.g., 30cm, 50cm, 1 meter) in front of the robot will the robot reverse and drain water through the front water outlet 102 to adjust the position of objects within that predetermined distance.

[0041] Furthermore, before controlling the automatic pool cleaning device to retreat, the method further includes: controlling the automatic pool cleaning device to continue moving forward along the pool wall, and controlling the automatic pool cleaning device to retreat when it is detected that the object to be cleaned has not been cleaned.

[0042] Understandably, if a cleaning object is detected to the side or front of the robot, it can be controlled to continue moving forward along the pool wall before reversing, in order to attempt to clean the object. If the object is successfully cleaned, there is no need to control the robot to reverse. If the object is not cleaned, the robot needs to be controlled to reverse and drain water through outlet 102.

[0043] The water outlet 102 in front of the automatic water tank cleaning device is located on the side of the automatic water tank cleaning device. For example... Figure 1 As shown, the front water outlet 102 can be located on the left and / or right side of the robot, and the water outlet 102 can be directed forward or to the side. Generally, water outlets 102 are arranged on the left and right sides of the machine. When the machine moves backward, the water outlets 102 on both sides can spray water forward or to the side, which can gather the objects to be cleaned on the left and right sides to the front of the water inlet 101. As the machine continues to move forward, the objects to be cleaned can enter the water inlet 101 and be cleaned.

[0044] Furthermore, the drainage direction of the front outlet 102 can be adjusted. When the automatic cleaning device of the pool is controlled to retract, the water flow from the front outlet 102 is controlled to be discharged to the side and forward. For example, a rotatable guide can be provided at the front outlet 102. This rotatable guide can change the outflow direction of the water at the outlet 102. The rotatable guide can be installed at the outlet 102 via a rotating shaft. Of course, the rotatable guide can also be connected to the outlet 102 via an adjustable-angle flexible hose. Figure 1 As shown, the guide can be, for example, a grid at the outlet 102. By adjusting the tilt of the grid, the direction of the water flow at the outlet 102 can be adjusted. Alternatively, the drainage direction of the outlet 102 can be adjusted by changing the machine's posture, causing the water flow from the front outlet 102 to be discharged to the side and front. This way, the water flow reverses after encountering the pool wall, thus moving the cleaning objects such as leaves towards the front of the machine, to the area directly in front of the water inlet 101.

[0045] It should be noted that the above description of the location of the outlet 102 and the method of adjusting the drainage direction are merely exemplary. The location of the outlet 102 and the method of adjusting the drainage direction protected by this application are not limited to the contents listed above. Those skilled in the art can set and plan the location of the outlet 102 and the method of adjusting the drainage direction according to the actual situation, as long as the technical principle of this application can be realized.

[0046] In one embodiment, the automatic pool cleaning device includes an image acquisition component, which identifies whether there is a cleaning object in front of or to the side of the automatic pool cleaning device.

[0047] Specifically, the image acquisition component may include at least one camera for acquiring images of the pool surface to achieve functions such as obstacle recognition, path planning, and detection of objects to be cleaned. The camera may be one or more of the following types depending on actual needs: a visible light camera (RGB camera) for acquiring color images under sufficient lighting conditions; a low-light camera (such as a high-sensitivity sensor camera) suitable for image acquisition in low-light environments; an infrared camera (IR camera) combined with infrared illumination for operation in turbid water or low-visibility conditions; an underwater-specific camera with waterproof, pressure-resistant, and corrosion-resistant properties, suitable for long-term underwater operations; a 3D camera or depth camera (such as a binocular vision, structured light, or ToF camera) for acquiring three-dimensional spatial information of obstacles; a multispectral or polarization camera to enhance image recognition capabilities in specific scenarios (such as stain classification or reflection suppression); and a panoramic camera to provide a wider field of view to improve environmental perception. The cameras described above are only a limited list; other types of cameras may be used in practice, as long as they can realize the technical concept of this application. It should be noted that the camera used should have a sealed waterproof function to ensure stable operation when submerged in water for extended periods.

[0048] For example, the image acquisition component can be a monocular image acquisition component or a binocular image acquisition component. The image acquisition component can be installed on the robot's shell, specifically, for example, at the front or top of the robot. The image acquisition component can face the water surface of the pool to capture an image of the water surface in front of the robot.

[0049] It should be noted that the above description of the type and location of the image acquisition component is merely exemplary. The type and location of the image acquisition component protected by this application are not limited to those listed above. Those skilled in the art can set and plan the type and location of the image acquisition component according to the actual situation, as long as the technical principles of this application can be realized.

[0050] After capturing images of the water surface, these images can be used to identify objects to be cleaned in front of the robot. Before identifying objects in the water surface images captured by the image acquisition unit, the images can be preprocessed. Image preprocessing is an important step before image analysis (feature extraction, segmentation, matching, and recognition, etc.). Its purpose is to remove irrelevant information from the image, recover useful real information, enhance the detectability of relevant information, and simplify the data to the maximum extent, thereby improving the reliability of feature extraction, image segmentation, matching, and recognition. When identifying objects to be cleaned in the pool images, deep learning models can be used for object recognition. Deep learning models include, but are not limited to, R-CNN, Faster R-CNN, SSD, and YOLO series models.

[0051] Specifically, the automatic pool cleaning device stops retracting and resumes forward movement along the pool wall when any of the following conditions are met: the automatic pool cleaning device retracts for a predetermined time; the automatic pool cleaning device retracts a predetermined distance; and the cleaning object is determined to have moved to the front of the automatic pool cleaning device.

[0052] Understandably, as the robot retreats, the distance between it and the target area to be cleaned increases. The robot adjusts the position of the target by discharging water from the water outlet 102. However, the distance that the water sprayed from the water outlet 102 can reach is limited. Therefore, after the robot retreats a certain distance, the water flow becomes insufficient to effectively clean the target. Based on this, a retreat duration and / or a retreat distance can be set to control the robot to stop retreating after a predetermined duration or distance. The values ​​of the predetermined duration and / or predetermined distance can be set according to the robot's movement speed.

[0053] Furthermore, the purpose of the robot reversing and draining water through the outlet 102 is to adjust the position of the cleaning target in front of it. Therefore, the position of the cleaning target can be detected in real time during the robot's reversal. If the cleaning target is detected to have moved to the front of the robot, the robot can be controlled to stop reversing.

[0054] According to a second aspect of this application, an automatic water tank cleaning device is also provided. The automatic water tank cleaning device is capable of performing the control methods described in the various embodiments above. The principles and schemes of the control methods are as described above in conjunction with the various embodiments and accompanying drawings, and will not be repeated here.

[0055] According to a third aspect of this application, a non-volatile computer-readable storage medium is also provided, on which a computer program is stored. When executed by a processor, the computer program implements a control method for the automatic water tank cleaning device provided in the above embodiments. The method includes: controlling the automatic water tank cleaning device to move forward along the pool wall on the water surface; when a cleaning object is detected in front of the automatic water tank cleaning device, controlling the automatic water tank cleaning device to retreat so that the automatic water tank cleaning device drains water through the front outlet 102; and controlling the automatic water tank cleaning device to move forward again along the pool wall to clean the cleaning object. The principle and scheme of the control method are described above in conjunction with the various embodiments and accompanying drawings, and will not be repeated here.

[0056] Fourthly, this application also provides a computer program product, which includes a computer program that can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer can execute the control method for the automatic water tank cleaning device provided by the above methods. The method includes: controlling the automatic water tank cleaning device to move forward along the pool wall on the water surface; during the movement, if a cleaning object is detected in front of the automatic water tank cleaning device, controlling the automatic water tank cleaning device to retreat so that the automatic water tank cleaning device drains water through the front outlet 102; controlling the automatic water tank cleaning device to move forward along the pool wall again to clean the cleaning object. The principle and scheme of the control method are described above in conjunction with various embodiments and accompanying drawings, and will not be repeated here.

[0057] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0058] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments.

[0059] 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.

[0060] 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.

[0061] 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.

[0062] 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: Control the automatic cleaning device of the pool to move forward along the pool wall on the water surface; If a cleaning object is detected in front of the automatic water tank cleaning device, the automatic water tank cleaning device is controlled to move backward so that the automatic water tank cleaning device drains water through the front outlet. The automatic cleaning device for the pool is controlled to move forward along the pool wall again in order to clean the object to be cleaned.

2. The control method according to claim 1, wherein The front side of the automatic water tank cleaning device includes: an area located in front of the automatic water tank cleaning device and not in the direction of the water inlet of the automatic water tank cleaning device.

3. The control method according to claim 1 or 2, wherein The front side of the automatic water tank cleaning device includes: the area located in front of the automatic water tank cleaning device and between the water inlet of the automatic water tank cleaning device and the pool wall.

4. The control method according to claim 1, wherein When a cleaning object is detected to be present in front of the side of the automatic pool cleaning device, the automatic pool cleaning device is controlled to retreat, including: If a cleaning object is detected within a predetermined distance to the side and front of the automatic pool cleaning device, the automatic pool cleaning device is controlled to retreat.

5. The control method according to claim 1, wherein Before controlling the automatic pool cleaning device to retreat, the method further includes: controlling the automatic pool cleaning device to continue moving forward along the pool wall, and controlling the automatic pool cleaning device to retreat when it is detected that the object to be cleaned has not been cleaned.

6. The control method according to claim 1, wherein The water outlet in front of the automatic water tank cleaning device is located on the side of the automatic water tank cleaning device.

7. The control method according to claim 6, wherein The drainage direction of the front water outlet can be adjusted. When the automatic cleaning device of the water tank is controlled to move backward, the water flow from the front water outlet is controlled to be discharged to the side and forward.

8. The control method according to claim 1, wherein, The automatic water tank cleaning device includes an image acquisition component, which identifies whether there is a cleaning object in front of or to the side of the automatic water tank cleaning device.

9. The control method according to claim 1, wherein, Under any of the following conditions, the automatic cleaning device for the pool will stop retracting and begin moving forward again along the pool wall: The automatic cleaning device for the water tank will retract after a predetermined time. The automatic cleaning device for the water tank retracts a predetermined distance; and... The object to be cleaned is moved to the front of the automatic cleaning device for the pool.

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

Images