A method, apparatus, automatic water tank cleaning equipment, and storage medium for cleaning a water tank.

Abstract

This application discloses a water tank cleaning method, apparatus, automatic water tank cleaning device, and storage medium, applied in the field of water tank cleaning technology. The method includes the following steps: acquiring task completion information of the automatic water tank cleaning device for a target water tank; generating directional parameters for the automatic water tank cleaning device based on the task completion information; controlling the automatic water tank cleaning device to move according to the directional parameters until it touches the water tank wall of the target water tank, and generating climbing information for the automatic water tank cleaning device; controlling the automatic water tank cleaning device to climb along the water tank wall according to the climbing information, performing water surface line detection on the target water tank, and generating water surface line detection information; controlling the automatic water tank cleaning device to stop moving according to the water surface line detection information, and sending a first prompt message indicating task completion to the target terminal. Using this application can save hardware costs, improve the stability of information transmission, and enhance the convenience of device recycling for users.

Description

Technical Field

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

[0002] Currently, automated cleaning robots used in swimming pools, landscape ponds, and other water features typically undergo two retrieval methods after completing their cleaning tasks. The first method involves returning to a pre-installed docking station on the edge of the pool for charging or awaiting retrieval. The second method involves the robot remaining on the bottom of the pool and notifying the user for retrieval. The first approach requires the construction of a base station, resulting in high hardware costs and complex installation and wiring. The second approach makes it difficult for the robot to reliably send notifications to the user's terminal via wireless communication while submerged in water. Furthermore, in large pools or pools with murky water, users may find it difficult to accurately locate the robot's position. Summary of the Invention

[0003] This application provides a water tank cleaning method, apparatus, automatic water tank cleaning equipment, and storage medium, which can save hardware costs, improve the stability of information transmission, and facilitate user recycling of equipment.

[0004] One embodiment of this application provides a method for cleaning a water tank, which may include: Obtain task completion information for the target water tank from the automatic water tank cleaning equipment; the task completion information indicates the water tank cleaning task of the target water tank. Based on the task completion information, the directional parameters of the automatic water tank cleaning device are generated; According to the directional parameters, the automatic water tank cleaning device is controlled to move until it touches the water tank wall of the target water tank, and the climbing information of the automatic water tank cleaning device is generated. Based on the climbing information, the automatic water tank cleaning device is controlled to climb along the water tank wall; Based on the climbing information, the water surface line of the target pool is detected, and water surface line detection information is generated; Based on the water level detection information, the automatic cleaning equipment for the water tank is controlled to stop moving; When the automatic water tank cleaning device stops moving, it sends a first notification message indicating that the task is completed to the target terminal.

[0005] In this embodiment, by automatically generating directional parameters, the device can automatically reach any pool wall after cleaning, without the need for pre-installation or reliance on fixed docking base stations, significantly reducing hardware costs. By controlling the device to climb up the pool wall and stop at the waterline, part of the device, especially the communication antenna, is removed from the water, avoiding severe attenuation of radio waves by the water and improving communication stability. At the same time, the device stops on the water surface at the edge of the pool, making it convenient for users to retrieve and salvage the device, thus improving the convenience of device retrieval.

[0006] In one feasible implementation, generating the orientation parameters of the automatic water tank cleaning device based on the task completion information includes: Based on the task completion information, the orientation parameters of the automatic water tank cleaning device are generated using a random algorithm or a pseudo-random algorithm, or; Obtain the current position information of the automatic water tank cleaning device, and determine the direction parameters of the automatic water tank cleaning device based on the current position information.

[0007] In one feasible implementation, controlling the automatic water tank cleaning device to move according to the direction parameters until it touches the water tank wall of the target water tank, and generating climbing information for the automatic water tank cleaning device, includes: According to the direction parameters, the automatic water tank cleaning equipment is adjusted to the target direction indicated by the direction parameters; The automatic water tank cleaning device is controlled to move in a straight line in the target direction until it touches the water tank wall of the target water tank, and the climbing information of the automatic water tank cleaning device is generated.

[0008] In one feasible implementation, the step of detecting the water surface line of the target pool based on the climbing information and generating water surface line detection information includes: Based on the climbing information, a water surface line detection sensor is used to detect the water surface line of the target pool and generate water surface line detection information. The water level detection sensor includes at least one of the following: optical water inlet sensor, electrode water inlet sensor, capacitive water inlet sensor, distance sensor, and image sensor.

[0009] In one feasible implementation, controlling the automatic water tank cleaning device to stop moving based on the water level detection information includes: Based on the water surface detection information, determine the height difference between the automatic water cleaning equipment and the water surface of the target water pool; When the height difference is less than the height threshold, the automatic cleaning device for the water tank is controlled to stop moving.

[0010] In one feasible implementation, the automatic pool cleaning device includes a wireless communication module, and the method further includes: When the automatic water cleaning device stops moving, the antenna portion of the wireless communication module is located above the water surface of the target water pool.

[0011] In one feasible implementation, it further includes: The wireless communication module employs one or more of the following wireless communication methods: Bluetooth communication, Wi-Fi communication, and Sub-1GHz band radio communication.

[0012] In one feasible implementation, the automatic water tank cleaning device includes an audio-visual interaction module, and the method further includes: When the automatic water tank cleaning equipment stops moving, a second prompt message is sent through the audio-visual interaction module. The audio-visual interaction module includes an LED indicator group and / or a buzzer and / or a voice broadcast module; Sending the second prompt message through the audio-visual interaction module includes: Control the LED indicator group to light up in a preset mode, and / or control the buzzer to sound in a preset mode, and / or control the voice broadcast module to broadcast a preset voice.

[0013] In this embodiment, local prompts are sent via an audio-visual interaction module. Since the device is partially submerged, the emitted light and sound propagate directly through the air, avoiding scattering, absorption, and refraction losses that occur underwater. This allows the audio-visual signals to reach the user at the poolside with minimal attenuation. Upon receiving the wireless notification, the user can immediately and quickly locate the device's position at the pool edge visually and audibly, based on clear, bright lights and loud prompts, thus improving the convenience of retrieving the cleaning equipment.

[0014] In one feasible implementation, it further includes: Detect the signal strength between the automatic water tank cleaning device and the external terminal; If the signal strength is lower than a preset threshold, the automatic water tank cleaning device is controlled to increase its transmission power, or the automatic water tank cleaning device is controlled to switch from a first communication mode to a second communication mode, wherein the signal penetration of the second communication mode is greater than that of the first communication mode.

[0015] One embodiment of this application provides a water tank cleaning device, which may include: The information acquisition unit is used to acquire task completion information of the automatic water tank cleaning equipment for the target water tank, wherein the task completion information indicates the water tank cleaning task of the target water tank. The parameter generation unit is used to generate the directional parameters of the automatic water tank cleaning device based on the task completion information. The motion control unit is used to control the automatic pool cleaning device to move according to the direction parameters until it touches the pool wall of the target pool, and generate climbing information of the automatic pool cleaning device; and / or control the automatic pool cleaning device to climb along the pool wall; and / or control the automatic pool cleaning device to stop moving according to the water surface detection information. A water surface line detection unit is used to detect the water surface line of the target pool based on the climbing information and generate water surface line detection information. The information sending unit is used to send a first prompt message indicating that the task is completed to the target terminal when the automatic water tank cleaning equipment stops moving.

[0016] In one feasible implementation, the parameter generation unit is used for: Based on the task completion information, the orientation parameters of the automatic water tank cleaning device are generated using a random algorithm or a pseudo-random algorithm, or; Obtain the current position information of the automatic water tank cleaning device, and determine the direction parameters of the automatic water tank cleaning device based on the current position information.

[0017] In one feasible implementation, the motion control unit is configured to: According to the direction parameters, the automatic water tank cleaning equipment is adjusted to the target direction indicated by the direction parameters; The automatic water tank cleaning device is controlled to move in a straight line in the target direction until it touches the water tank wall of the target water tank, and the climbing information of the automatic water tank cleaning device is generated.

[0018] In one feasible implementation, the water level detection unit is used for: Based on the climbing information, a water surface line detection sensor is used to detect the water surface line of the target pool and generate water surface line detection information. The water level detection sensor includes at least one of the following: optical water inlet sensor, electrode water inlet sensor, capacitive water inlet sensor, distance sensor, and image sensor.

[0019] In one feasible implementation, the motion control unit is configured to: Based on the water surface detection information, determine the height difference between the automatic water cleaning equipment and the water surface of the target water pool; When the height difference is less than the height threshold, the automatic cleaning device for the water tank is controlled to stop moving.

[0020] In one feasible implementation, the automatic pool cleaning device includes a wireless communication module: When the automatic water cleaning device stops moving, the antenna portion of the wireless communication module is located above the water surface of the target water pool.

[0021] In one feasible implementation, it further includes: The wireless communication module employs one or more of the following wireless communication methods: Bluetooth communication, Wi-Fi communication, and Sub-1GHz band radio communication.

[0022] In one feasible implementation, the automatic water tank cleaning device includes an audio-visual interaction module, and the device is further used for: When the automatic water tank cleaning equipment stops moving, a second prompt message is sent through the audio-visual interaction module. The audio-visual interaction module includes an LED indicator group and / or a buzzer and / or a voice broadcast module; Sending the second prompt message through the audio-visual interaction module includes: Control the LED indicator group to light up in a preset mode, and / or control the buzzer to sound in a preset mode, and / or control the voice broadcast module to broadcast a preset voice.

[0023] In one feasible implementation, the device is further used for: Detect the signal strength between the automatic water tank cleaning device and the external terminal; If the signal strength is lower than a preset threshold, the automatic water tank cleaning device is controlled to increase its transmission power, or the automatic water tank cleaning device is controlled to switch from a first communication mode to a second communication mode, wherein the signal penetration of the second communication mode is greater than that of the first communication mode.

[0024] One embodiment of this application provides a computer-readable storage medium storing a computer program adapted to be loaded by a processor and executed by the above-described method steps.

[0025] One embodiment of this application provides an automatic water tank cleaning device, including: a processor, a memory, and a network interface; the processor is connected to the memory and the network interface, wherein the network interface is used to provide network communication functions, the memory is used to store program code, and the processor is used to call the program code to execute the above-described method steps.

[0026] One embodiment of this application provides a computer program product or computer program, which includes computer instructions stored in a computer-readable storage medium. The processor of an automatic pool cleaning device reads the computer instructions from the computer-readable storage medium and executes the computer instructions, causing the automatic pool cleaning device to perform the method steps described above.

[0027] In this embodiment, the automatic water cleaning device acquires task completion information for a target water pool, generates directional parameters for the automatic water cleaning device based on the task completion information, and further controls the automatic water cleaning device to move according to the directional parameters until it touches the water wall of the target water pool, generating climbing information for the automatic water cleaning device. Based on the climbing information, the automatic water cleaning device is then controlled to climb along the water wall. Further, based on the climbing information, water surface line detection is performed on the target water pool, generating water surface line detection information. Finally, based on the water surface line detection information, the automatic water cleaning device is controlled to stop moving. When the automatic water cleaning device stops moving, a first task completion notification is sent to the target terminal. By automatically generating directional parameters, the device can automatically reach any pool wall after cleaning, eliminating the need for pre-installation and reliance on fixed docking base stations, thus significantly reducing hardware costs. By controlling the device to climb up the pool wall and stop at the waterline, the main body of the device, especially the communication antenna, is detached from the water, avoiding severe attenuation of radio waves by the water and improving communication stability. At the same time, the device stops on the water surface at the edge of the pool, making it convenient for users to retrieve and salvage the device, thus improving the convenience of device recovery. Attached Figure Description

[0028] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0029] Figure 1 This is a schematic flowchart of a water tank cleaning method provided in an embodiment of this application; Figure 2 This is a schematic flowchart of a water tank cleaning method provided in an embodiment of this application; Figure 3 This is a schematic diagram of the structure of an automatic water tank cleaning device provided in an embodiment of this application; Figure 4 This is a schematic diagram of the structure of a water tank cleaning device provided in an embodiment of this application; Figure 5 This is a structural schematic diagram of an automatic water tank cleaning device provided in an embodiment of this application. Detailed Implementation

[0030] The technical solutions of the embodiments 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, and 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.

[0031] Currently, commercially available automated cleaning robots for pools (such as swimming pools and landscape pools) typically need to return to a pre-set docking station at the edge of the pool to recharge or wait for users to retrieve them after completing their cleaning tasks. Existing technology has the following significant drawbacks: The cost of installing base stations is high and limited: base stations need to be fixedly installed next to the pool, which increases hardware costs and installation complexity; and if the pool is irregularly shaped or has obstacles on the edges, the base station often cannot cover the entire scene.

[0032] "Unable to find home": When the base station is blocked, malfunctions, or the robot's positioning is off, the robot is very likely to spin aimlessly in the pool and eventually sink to the bottom due to power exhaustion, forcing users to go into the water to retrieve it, resulting in a poor user experience.

[0033] Underwater communication is extremely unstable: some robots without base stations cannot send completion signals directly underwater, and radio waves (especially 2.4G Wi-Fi / Bluetooth) are severely attenuated in water, causing users to frequently fail to receive "cleaning completed" notifications.

[0034] After cleaning is completed, the robot is located at the bottom of the pool: Existing base station-free solutions often remain at the bottom or underwater of the pool after cleaning. Due to the large area of ​​the pool and the possible turbidity of the water, it is extremely difficult for users standing on the edge of the pool to locate the robot's exact position with the naked eye.

[0035] To address the shortcomings and pain points of the existing technologies, this application provides a water pool cleaning method that does not rely on preset docking base stations, offers stable communication, and facilitates easy user location of the robot. This invention solves the industry problems of traditional robots—difficulty in finding base stations, lack of signal underwater, and difficulty in locating the robot at the bottom of the pool—through a novel "random wall-finding + water surface hovering" control logic, achieving a low-cost, highly reliable post-cleaning experience.

[0036] It is understood that the method provided in the embodiments of this application can be executed by a central processing unit (CPU) in the cleaning equipment or a computer device integrated in the cleaning equipment. The computer device includes, but is not limited to, a terminal or a server, which is not limited here.

[0037] Furthermore, for ease of understanding, please refer to Figure 1 , Figure 1 This is a flowchart illustrating a water tank cleaning method provided in an embodiment of this application. The method can be executed by a central processing unit or by a device terminal. For ease of understanding, this embodiment will be described using the method executed by the aforementioned device terminal as an example. The water tank cleaning method may include at least the following steps S101-S107: S101, Obtain task completion information of the automatic water tank cleaning device for the target water tank, wherein the task completion information indicates the water tank cleaning task of the target water tank; Specifically, the terminal device obtains task completion information from the automatic pool cleaning device for the target pool. This task completion information indicates the cleaning task for the target pool, which can be any pool. After the user publishes a pool cleaning task, the automatic pool cleaning device executes the cleaning task along a preset path within the pool. The control module within the cleaning device can monitor the task progress in real time, for example, by calculating the coverage area or determining whether the task is complete. When the task is completed, the terminal device can obtain the task completion information for the target pool through the control module.

[0038] S102, Generate the directional parameters of the automatic water tank cleaning device based on the task completion information; Specifically, the terminal device generates the direction parameters of the automatic pool cleaning device based on the task completion information. This can be understood as the terminal device randomly generating the direction parameters (which may be the same as the current direction) or finding the closest / optimal direction to the pool based on the current location information. Specifically, based on the task completion information, the direction parameters of the automatic pool cleaning device are generated using a random or pseudo-random algorithm. For example, a pseudo-random direction angle between 0° and 360° can be generated as the direction parameter. Alternatively, the current location information of the automatic pool cleaning device can be obtained, and the direction parameters can be determined based on this information. For example, the terminal device can recall the pool wall contact points remembered during the cleaning process and select the direction closest to the pool wall.

[0039] S103, according to the direction parameters, control the automatic water tank cleaning device to move until it touches the water tank wall of the target water tank, and generate the climbing information of the automatic water tank cleaning device; Specifically, the terminal device controls the automatic water cleaning device to move according to the direction parameters. This means the terminal device adjusts the automatic water cleaning device to the target direction indicated by the direction parameters, and controls it to move in a straight line along that direction until it touches the wall of the target water tank, generating climbing information for the automatic water cleaning device. This process can be understood as the cleaning device randomly searching for a wall in a straight line. The terminal device controls the cleaning device to rotate in place to the direction determined in step S102, and then maintains that direction while moving forward in a straight line. No obstacle avoidance or path replanning is performed during this process until the cleaning device physically collides with the pool wall. At this point, the cleaning device's posture typically changes from horizontal to vertical, close to the pool wall, generating a climbing command.

[0040] S104, based on the climbing information, control the automatic water tank cleaning device to climb along the water tank wall; Specifically, the terminal device controls the automatic water cleaning device to climb along the water tank wall based on the climbing information. It can be understood that during the climbing process, a water surface detection sensor will be used to detect the water surface so that the automatic water cleaning device reaches the horizontal line position (i.e., the water surface line) of the water tank.

[0041] S105, Based on the climbing information, perform water surface line detection on the target pool and generate water surface line detection information; Specifically, the terminal device performs water surface line detection on the target pool based on the climbing information, generating water surface line detection information. This means the terminal device uses a water surface line detection sensor to detect the water surface line of the target pool based on the climbing information, generating water surface line detection information. This information represents the distance between the cleaning equipment and the water surface, ensuring the cleaning equipment ultimately stops near the water level. The water surface line detection sensor includes at least one of the following: an optical water ingress sensor, an electrode water ingress sensor, a capacitive water ingress sensor, a distance sensor, and an image sensor. The principles of each sensor are as follows: Optical water immersion sensor: It uses the difference in refractive index of light in water and air to detect whether the cleaning equipment has partially left the water body; Electrode-type water ingress sensor: Utilizes the conductivity of water to detect changes in resistance between electrodes to determine whether the cleaning equipment has left the water body; Capacitive water immersion sensor: detects the change in dielectric constant of the medium (water to air) on the sensor surface; Distance sensor: It emits probe waves (such as ultrasonic waves, light waves, etc.) to the water surface and receives the reflected waves to calculate the distance to the water surface boundary; Image sensor: Uses a camera to extract image features (such as reflective bands) at the interface between water and the pool wall / air to determine the water surface boundary.

[0042] S106, based on the water surface detection information, control the automatic cleaning equipment of the pool to stop moving; Specifically, the terminal device controls the automatic pool cleaning device to stop moving based on the water level detection information. This means that the height difference between the automatic pool cleaning device and the target pool's water surface is determined based on the water level detection information. When the height difference is less than a height threshold, the automatic pool cleaning device stops moving. When the height difference is greater than or equal to the height threshold, the automatic pool cleaning device continues to move towards the water surface until the height difference is less than the height threshold. The height threshold is preset, for example, it can be set to a specific value, such as so that approximately 1 / 5 of the cleaning device's volume is above the water surface. When the automatic pool cleaning device stops moving, the antenna portion of the cleaning device's wireless communication module is located above the water surface of the target pool. The wireless communication module uses any one or more of the following wireless communication methods: Bluetooth communication, Wi-Fi communication, and Sub-1GHz band radio communication. Positioning the antenna portion of the wireless communication module above the water surface avoids severe attenuation of radio waves by the water, improving communication stability.

[0043] S107, when the automatic water tank cleaning device stops moving, a first prompt message indicating task completion is sent to the target terminal.

[0044] Specifically, when the automatic pool cleaning device stops moving, the terminal device sends a first notification message indicating task completion to the target terminal. This target terminal can be a router, computer terminal, mobile terminal, smart home gateway, speaker, self-made audio-visual interactive device, or display device connected to the cleaning device. The first notification message can be a text message sent via a wireless network, specifically a message such as "Cleaning complete, device located at the pool water level," reminding the user to retrieve the cleaning device.

[0045] In this embodiment, the automatic water cleaning device acquires task completion information for a target water pool, generates directional parameters for the automatic water cleaning device based on the task completion information, and further controls the automatic water cleaning device to move according to the directional parameters until it touches the water wall of the target water pool, generating climbing information for the automatic water cleaning device. Based on the climbing information, the automatic water cleaning device is then controlled to climb along the water wall. Further, based on the climbing information, water surface line detection is performed on the target water pool, generating water surface line detection information. Finally, based on the water surface line detection information, the automatic water cleaning device is controlled to stop moving. When the automatic water cleaning device stops moving, a first task completion notification is sent to the target terminal. By automatically generating directional parameters, the device can automatically reach any pool wall after cleaning, eliminating the need for pre-installation and reliance on fixed docking base stations, thus significantly reducing hardware costs. By controlling the device to climb up the pool wall and stop at the waterline, the main body of the device, especially the communication antenna, is detached from the water, avoiding severe attenuation of radio waves by the water and improving communication stability. At the same time, the device stops on the water surface at the edge of the pool, making it convenient for users to retrieve and salvage the device, thus improving the convenience of device recovery.

[0046] Furthermore, for ease of understanding, please refer to Figure 2 , Figure 2 This is a flowchart illustrating a water tank cleaning method provided in an embodiment of this application. The method can be executed by a central processing unit or by a device terminal. For ease of understanding, this embodiment will be described using the method executed by the aforementioned device terminal as an example. The water tank cleaning method may include at least the following steps S201-S209: S201, Obtain task completion information of the automatic water tank cleaning equipment for the target water tank, wherein the task completion information indicates the water tank cleaning task of the target water tank; Wherein, step S201 of the embodiment of the present invention is referred to Figure 1 The specific description of step S101 in the illustrated embodiment will not be repeated here.

[0047] S202, Based on the task completion information, generate the directional parameters of the automatic water tank cleaning device; Wherein, step S202 of the embodiment of the present invention is referred to Figure 1 The specific description of step S102 in the illustrated embodiment will not be repeated here.

[0048] S203, according to the direction parameters, control the automatic water tank cleaning device to move until it touches the water tank wall of the target water tank, and generate the climbing information of the automatic water tank cleaning device; Wherein, step S203 of the embodiment of the present invention is referred to Figure 1 The specific description of step S103 in the illustrated embodiment will not be repeated here.

[0049] S204, Based on the climbing information, control the automatic water tank cleaning device to climb along the water tank wall; In this embodiment of the invention, step S204 is described below. Figure 1 The specific description of step S104 in the illustrated embodiment will not be repeated here.

[0050] S205, Based on the climbing information, perform water surface line detection on the target pool and generate water surface line detection information; In this embodiment of the invention, step S205 is described below. Figure 1 The specific description of step S105 in the illustrated embodiment will not be repeated here.

[0051] S206, based on the water level detection information, control the automatic cleaning equipment of the pool to stop moving; In this embodiment of the invention, step S206 is described below. Figure 1 The specific description of step S106 in the illustrated embodiment will not be repeated here.

[0052] S207, When the automatic cleaning device for the water tank stops moving, a first prompt message indicating task completion is sent to the target terminal; In this embodiment of the invention, step S207 is described below. Figure 1 The specific description of step S107 in the illustrated embodiment will not be repeated here.

[0053] S208, When the automatic cleaning equipment for the water tank stops moving, a second prompt message is sent through the audio-visual interaction module; Specifically, when the automatic water tank cleaning device stops moving, the terminal device sends a second prompt message through the audio-visual interaction module. This second prompt message can be understood to include sound prompts, voice broadcasts, etc. The audio-visual interaction module includes an LED indicator group and / or a buzzer and / or a voice broadcast module. Specifically, the terminal device controls the LED indicator group to light up in a preset mode, and / or controls the buzzer to sound in a preset mode, and / or controls the voice broadcast module to broadcast a preset voice message. The LED group flashes at a specific frequency (1Hz), and the buzzer emits intermittent beeps (1 second beep, 1 second interval), achieving local audio-visual guidance.

[0054] The device sends local notifications via an audio-visual interaction module. Since the device is partially submerged, the emitted light and sound propagate directly through the air, avoiding scattering, absorption, and refraction losses that occur underwater. This allows the audio-visual signals to reach the user at the poolside with minimal attenuation. Upon receiving the wireless notification, the user can immediately and quickly locate the device's exact position at the pool edge using clear, bright lights and loud audio prompts, improving the convenience of retrieving the cleaning equipment.

[0055] S209, detect the signal strength between the automatic water tank cleaning device and the external terminal; if the signal strength is lower than a preset threshold, control the automatic water tank cleaning device to increase the transmission power, or control the automatic water tank cleaning device to switch from a first communication mode to a second communication mode, wherein the signal penetration of the second communication mode is greater than that of the first communication mode.

[0056] Specifically, the preset threshold is a pre-set signal strength, which can be -85dBm. The terminal device detects the signal strength between the automatic water cleaning device and the external terminal. If the signal strength is <-85dBm, the automatic water cleaning device is controlled to increase its transmission power, or the automatic water cleaning device is controlled to switch from the current Wi-Fi communication mode to the Sub-1GHz band radio communication mode. The main advantages of Sub-1GHz band radio communication are longer transmission distance, stronger ability to penetrate obstacles, lower power consumption, and better anti-interference ability.

[0057] In this embodiment, the automatic water cleaning device acquires task completion information for a target water pool, generates directional parameters for the automatic water cleaning device based on the task completion information, and further controls the automatic water cleaning device to move according to the directional parameters until it touches the water wall of the target water pool, generating climbing information for the automatic water cleaning device. Based on the climbing information, the automatic water cleaning device is then controlled to climb along the water wall. Further, based on the climbing information, water surface line detection is performed on the target water pool, generating water surface line detection information. Finally, based on the water surface line detection information, the automatic water cleaning device is controlled to stop moving. When the automatic water cleaning device stops moving, a first task completion notification is sent to the target terminal. By automatically generating directional parameters, the device can automatically reach any pool wall after cleaning, eliminating the need for pre-installation and reliance on fixed docking base stations, thus significantly reducing hardware costs. By controlling the device to climb up the pool wall and stop at the waterline, the main body of the device, especially the communication antenna, is detached from the water, avoiding severe attenuation of radio waves by the water and improving communication stability. At the same time, the device stops on the water surface at the edge of the pool, making it convenient for users to retrieve and salvage the device, thus improving the convenience of device recovery.

[0058] The following will combine Figure 3 This is a structural schematic diagram of an automatic water tank cleaning device provided in an embodiment of this application, as shown below. Figure 3 As shown, the automatic water tank cleaning equipment includes a main body, a walking module, a cleaning module, a water level detection module, a human-machine interaction module, a wireless communication module, and a control module. In this embodiment, the main body of the automatic water tank cleaning equipment is injection molded from ABS engineering plastic, with a waterproof rating of IPX8, allowing it to operate normally in water tanks with a depth ≤3m.

[0059] The walking module is located at the bottom of the main body and adopts a dual-track structure, with each track driven by an independent DC geared motor.

[0060] The cleaning module includes a rotating roller brush, a suction port, a filter chamber, and a miniature water pump. The rotating brush is driven by a DC motor and is used to scrub stubborn stains on the bottom / walls of the pool. The miniature water pump generates negative pressure to suck sewage and stains into the filter chamber, and the filtered clean water is discharged from the device.

[0061] The water level detection module uses a combination of an optical water inlet sensor and a capacitive water inlet sensor, with both sensors installed on the top edge of the main body; the optical sensor uses an infrared tube.

[0062] The human-computer interaction module includes four LED indicator lights (red, green, and blue) and an active buzzer (volume ≥85dB), all of which are installed in a sealed chamber near the top of the main body.

[0063] The wireless communication module integrates three communication methods: Wi-Fi (2.4G), Bluetooth, and Sub-1GHz (433MHz). The communication antenna is an onboard antenna on a printed circuit board (PCB) and is mounted on the inner top of the main body.

[0064] The control module uses a microcontroller as the main control chip and has a built-in 128KB memory for storing control programs and operating parameters; it is electrically connected to each of the above modules.

[0065] After the automatic cleaning device completes its cleaning task, the control module does not search for a base station. Instead, it controls the walking module to move in a straight line in a randomly selected direction until the device climbs onto the pool wall. Then, it continues moving towards the waterline. During the ascent, when the waterline detection module detects that the device has reached the waterline, the control module immediately stops the walking module, allowing the main body to emerge from the water. This ensures the wireless communication module can stably establish a preset communication channel. Subsequently, the control module controls both the human-machine interface module and the wireless communication module to send a cleaning completion notification to the user.

[0066] In this design, the antenna is specifically positioned near the area where the main body emerges from the water after the cleaning task is completed (e.g., the top edge of the main body). When the device reaches the waterline and stops, the communication antenna is positioned near the area where there is no water obstruction, as the main body is partially suspended in the water. The wireless communication module supports one or more of Bluetooth, Wi-Fi, and Sub-1GHz band radio communication.

[0067] This solution also incorporates an adaptive stability maintenance mechanism: after reaching the waterline and stopping, the control module actively detects the signal strength between the wireless communication module and the external terminal. If the signal strength falls below a preset threshold due to excessive distance, the control module will control the communication module to increase its transmission power, or intelligently switch from the first communication mode (such as the interference-prone Wi-Fi) to a second communication mode with stronger signal penetration (such as Sub-1GHz band radio) to ensure the "reminder completion" task.

[0068] Building upon wireless push notifications, to address the issue of "knowing the wash is finished but not being able to see where the robot is," upon reaching the water surface, the LED indicator group of the human-machine interaction module illuminates in a preset mode (such as high-frequency flashing or a specific color remaining on), and / or the buzzer sounds in a preset mode. Since the robot is partially out of the water, the sound and light signals will not be absorbed or refracted by the water, allowing users to achieve precise physical positioning guidance directly through vision and hearing at the poolside.

[0069] Please see Figure 4 , Figure 4 This is a schematic diagram of a water tank cleaning device provided in an embodiment of this application. The water tank cleaning device can be the aforementioned central processing unit or device terminal, or it can be a computer program (including program code) running in an automatic water tank cleaning device; for example, the water tank cleaning device is an application software. This device can be used to execute the corresponding steps in the method provided in the embodiments of this application. Figure 4 As shown, the pool cleaning device 10 of this application embodiment may include: an information acquisition unit 11, a parameter generation unit 12, a motion control unit 13, a water surface detection unit 15, and an information sending unit 17.

[0070] Information acquisition unit 11 is used to acquire task completion information of automatic water tank cleaning equipment for the target water tank, wherein the task completion information indicates the water tank cleaning task of the target water tank. The parameter generation unit 12 is used to generate the directional parameters of the automatic water tank cleaning device based on the task completion information. The motion control unit 13 is used to control the automatic pool cleaning device to move according to the direction parameters until it touches the pool wall of the target pool, and generate climbing information of the automatic pool cleaning device; and / or control the automatic pool cleaning device to climb along the pool wall; and / or control the automatic pool cleaning device to stop moving according to the water surface detection information. The water surface line detection unit 14 is used to perform water surface line detection on the target pool based on the climbing information and generate water surface line detection information. The information sending unit 15 is used to send a first prompt message indicating that the task is completed to the target terminal when the automatic water tank cleaning equipment stops moving.

[0071] In one feasible implementation, the parameter generation unit is used for: Based on the task completion information, the orientation parameters of the automatic water tank cleaning device are generated using a random algorithm or a pseudo-random algorithm, or; Obtain the current position information of the automatic water tank cleaning device, and determine the direction parameters of the automatic water tank cleaning device based on the current position information.

[0072] In one feasible implementation, the motion control unit is configured to: According to the direction parameters, the automatic water tank cleaning equipment is adjusted to the target direction indicated by the direction parameters; The automatic water tank cleaning device is controlled to move in a straight line in the target direction until it touches the water tank wall of the target water tank, and the climbing information of the automatic water tank cleaning device is generated.

[0073] In one feasible implementation, the water level detection unit is used for: Based on the climbing information, a water surface line detection sensor is used to detect the water surface line of the target pool and generate water surface line detection information. The water level detection sensor includes at least one of the following: optical water inlet sensor, electrode water inlet sensor, capacitive water inlet sensor, distance sensor, and image sensor.

[0074] In one feasible implementation, the motion control unit is configured to: Based on the water surface detection information, determine the height difference between the automatic water cleaning equipment and the water surface of the target water pool; When the height difference is less than the height threshold, the automatic cleaning device for the water tank is controlled to stop moving.

[0075] In one feasible implementation, the automatic pool cleaning device includes a wireless communication module: When the automatic water cleaning device stops moving, the antenna portion of the wireless communication module is located above the water surface of the target water pool.

[0076] In one feasible implementation, it further includes: The wireless communication module employs one or more of the following wireless communication methods: Bluetooth communication, Wi-Fi communication, and Sub-1GHz band radio communication.

[0077] In one feasible implementation, the automatic water tank cleaning device includes an audio-visual interaction module, and the device is further used for: When the automatic water tank cleaning equipment stops moving, a second prompt message is sent through the audio-visual interaction module. The audio-visual interaction module includes an LED indicator group and / or a buzzer and / or a voice broadcast module; Sending the second prompt message through the audio-visual interaction module includes: Control the LED indicator group to light up in a preset mode, and / or control the buzzer to sound in a preset mode, and / or control the voice broadcast module to broadcast a preset voice.

[0078] In one feasible implementation, the device is further used for: Detect the signal strength between the automatic water tank cleaning device and the external terminal; If the signal strength is lower than a preset threshold, the automatic water tank cleaning device is controlled to increase its transmission power, or the automatic water tank cleaning device is controlled to switch from a first communication mode to a second communication mode, wherein the signal penetration of the second communication mode is greater than that of the first communication mode.

[0079] In this embodiment, the automatic water cleaning device acquires task completion information for a target water pool, generates directional parameters for the automatic water cleaning device based on the task completion information, and further controls the automatic water cleaning device to move according to the directional parameters until it touches the water wall of the target water pool, generating climbing information for the automatic water cleaning device. Based on the climbing information, the automatic water cleaning device is then controlled to climb along the water wall. Further, based on the climbing information, water surface line detection is performed on the target water pool, generating water surface line detection information. Finally, based on the water surface line detection information, the automatic water cleaning device is controlled to stop moving. When the automatic water cleaning device stops moving, a first task completion notification is sent to the target terminal. By automatically generating directional parameters, the device can automatically reach any pool wall after cleaning, eliminating the need for pre-installation and reliance on fixed docking base stations, thus significantly reducing hardware costs. By controlling the device to climb up the pool wall and stop at the waterline, the main body of the device, especially the communication antenna, is detached from the water, avoiding severe attenuation of radio waves by the water and improving communication stability. At the same time, the device stops on the water surface at the edge of the pool, making it convenient for users to retrieve and salvage the device, thus improving the convenience of device recovery.

[0080] Please see Figure 5 , Figure 5 This is a structural schematic diagram of an automatic water tank cleaning device provided in an embodiment of this application. Figure 5 As shown, the automatic pool cleaning device 1000 may include: at least one processor 1001, such as a CPU, at least one network interface 1004, a user interface 1003, a memory 1005, and at least one communication bus 1002. The communication bus 1002 is used to enable communication between these components. The user interface 1003 may include a display screen, and optionally, it may also include a standard wired interface or a wireless interface. The network interface 1004 may optionally include a standard wired interface or a wireless interface (such as a Wi-Fi interface). The memory 1005 may be random access memory (RAM) or non-volatile memory (NVM), such as at least one disk storage device. Optionally, the memory 1005 may also be at least one storage device located remotely from the aforementioned processor 1001. Figure 5 As shown, the memory 1005, which serves as a computer storage medium, may include an operating system, a network communication module, a user interface module, and a pool cleaning application.

[0081] exist Figure 5In the automatic pool cleaning device 1000 shown, the network interface 1004 provides network communication functionality, the user interface 1003 is mainly used to provide an input interface for the user, and the processor 1001 can be used to call the pool cleaning application stored in the memory 1005 to achieve the above-mentioned functions. Figures 1-3 The description of the water tank cleaning method in any corresponding embodiment will not be repeated here.

[0082] It should be understood that the automatic water tank cleaning device 1000 described in the embodiments of this application can perform the functions described above. Figures 1-3 The description of the water tank cleaning method in any corresponding embodiment can also be performed as described above. Figure 4 The description of the water tank cleaning device in the corresponding embodiments will not be repeated here. Furthermore, the beneficial effects of using the same method will also not be repeated.

[0083] Furthermore, it should be noted that this application embodiment also provides a computer-readable storage medium, which stores a computer program executed by the aforementioned pool cleaning device. The computer program includes program instructions, and when the processor executes the program instructions, it can execute the aforementioned... Figures 1-3 The description of the water tank cleaning method in any corresponding embodiment is already provided and will not be repeated here. Furthermore, the beneficial effects of using the same method will also not be repeated. For technical details not disclosed in the computer-readable storage medium embodiments related to this application, please refer to the description of the method embodiments of this application. As an example, program instructions may be deployed to execute on a single computing device, or on multiple computing devices located in one location, or on multiple computing devices distributed across multiple locations and interconnected via a communication network. These multiple computing devices distributed across multiple locations and interconnected via a communication network can constitute a blockchain system.

[0084] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The program can be stored in a computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. The computer-readable storage medium can be an internal storage unit of a pool cleaning device or device provided in any of the foregoing embodiments, such as a hard drive or memory of an electronic device. The computer-readable storage medium can also be an external storage device of the electronic device, such as a plug-in hard drive, smart media card (SMC), secure digital (SD) card, flash card, etc., equipped on the electronic device. The computer-readable storage medium can also include magnetic disks, optical disks, read-only memory (ROM), or random access memory, etc. Furthermore, the computer-readable storage medium can include both internal storage units and external storage devices of the electronic device. The computer-readable storage medium is used to store the computer program and other programs and quantities required by the electronic device. The computer-readable storage medium can also be used to temporarily store data that has been output or will be output.

[0085] The terms "first," "second," etc., used in the claims, description, and drawings of this invention are used to distinguish different objects, not to describe a particular order. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or apparatus that comprises a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products, or apparatuses. References to "embodiment" herein mean that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of the invention. The presentation of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments. The term "and / or" as used in this specification and the appended claims refers to any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.

[0086] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of both. To clearly illustrate the interchangeability of hardware and software, the components and steps of the various examples have been generally described in terms of functionality in the foregoing description. Those skilled in the art can implement the described functions using different methods for each specific application, but such implementations should not be considered beyond the scope of this invention.

[0087] In the various embodiments of this application, the functional units can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0088] The above-disclosed embodiments are merely preferred embodiments of this application and should not be construed as limiting the scope of this application. Therefore, any equivalent variations made in accordance with the claims of this application shall still fall within the scope of this application.

Claims

1. A method for cleaning a water tank, characterized in that, include: Obtain task completion information for the target water tank from the automatic water tank cleaning equipment; the task completion information indicates the water tank cleaning task of the target water tank. Based on the task completion information, the directional parameters of the automatic water tank cleaning device are generated; According to the directional parameters, the automatic water tank cleaning device is controlled to move until it touches the water tank wall of the target water tank, and the climbing information of the automatic water tank cleaning device is generated. Based on the climbing information, the automatic water tank cleaning device is controlled to climb along the water tank wall; Based on the climbing information, the water surface line of the target pool is detected, and water surface line detection information is generated; Based on the water level detection information, the automatic cleaning equipment for the water tank is controlled to stop moving; When the automatic water tank cleaning device stops moving, it sends a first notification message indicating that the task is completed to the target terminal.

2. The method according to claim 1, characterized in that, The step of generating the directional parameters of the automatic water tank cleaning device based on the task completion information includes: Based on the task completion information, the orientation parameters of the automatic water tank cleaning device are generated using a random algorithm or a pseudo-random algorithm, or; Obtain the current position information of the automatic water tank cleaning device, and determine the direction parameters of the automatic water tank cleaning device based on the current position information.

3. The method according to claim 1, characterized in that, The step of controlling the automatic water tank cleaning device to move according to the direction parameters until it touches the water tank wall of the target water tank, and generating the climbing information of the automatic water tank cleaning device, includes: According to the direction parameters, the automatic water tank cleaning equipment is adjusted to the target direction indicated by the direction parameters; The automatic water tank cleaning device is controlled to move in a straight line in the target direction until it touches the water tank wall of the target water tank, and the climbing information of the automatic water tank cleaning device is generated.

4. The method according to claim 1, characterized in that, The step of detecting the water surface line of the target pool based on the climbing information and generating water surface line detection information includes: Based on the climbing information, a water surface line detection sensor is used to detect the water surface line of the target pool and generate water surface line detection information. The water level detection sensor includes at least one of the following: optical water inlet sensor, electrode water inlet sensor, capacitive water inlet sensor, distance sensor, and image sensor.

5. The method according to claim 1, characterized in that, The step of controlling the automatic water tank cleaning device to stop moving based on the water level detection information includes: Based on the water surface detection information, determine the height difference between the automatic water cleaning equipment and the water surface of the target water pool; When the height difference is less than the height threshold, the automatic cleaning device for the water tank is controlled to stop moving.

6. The method according to claims 1-5, characterized in that, The automatic water tank cleaning device includes a wireless communication module, and the method further includes: When the automatic water cleaning device stops moving, the antenna portion of the wireless communication module is located above the water surface of the target water pool.

7. The method according to claim 6, characterized in that, Also includes: The wireless communication module employs one or more of the following wireless communication methods: Bluetooth communication, Wi-Fi communication, and Sub-1GHz band radio communication.

8. The method according to claim 1, characterized in that, The automatic water tank cleaning device includes an audio-visual interaction module, and the method further includes: When the automatic water tank cleaning equipment stops moving, a second prompt message is sent through the audio-visual interaction module. The audio-visual interaction module includes an LED indicator group and / or a buzzer and / or a voice broadcast module; Sending the second prompt message through the audio-visual interaction module includes: Control the LED indicator group to light up in a preset mode, and / or control the buzzer to sound in a preset mode, and / or control the voice broadcast module to broadcast a preset voice.

9. The method according to claim 1, characterized in that, Also includes: Detect the signal strength between the automatic water tank cleaning device and the external terminal; If the signal strength is lower than a preset threshold, the automatic water tank cleaning device is controlled to increase its transmission power, or the automatic water tank cleaning device is controlled to switch from a first communication mode to a second communication mode, wherein the signal penetration of the second communication mode is greater than that of the first communication mode.

10. A water tank cleaning device, characterized in that, include: The information acquisition unit is used to acquire task completion information of the automatic water tank cleaning equipment for the target water tank, wherein the task completion information indicates the water tank cleaning task of the target water tank. The parameter generation unit is used to generate the directional parameters of the automatic water tank cleaning device based on the task completion information. The motion control unit is used to control the automatic pool cleaning device to move according to the direction parameters until it touches the pool wall of the target pool, and generate climbing information of the automatic pool cleaning device; and / or control the automatic pool cleaning device to climb along the pool wall; and / or control the automatic pool cleaning device to stop moving according to the water surface detection information. A water surface line detection unit is used to detect the water surface line of the target pool based on the climbing information and generate water surface line detection information. The information sending unit is used to send a first prompt message indicating that the task is completed to the target terminal when the automatic water tank cleaning equipment stops moving.

11. An automatic water tank cleaning device, characterized in that, include: Processor, memory, and network interface; The processor is connected to the memory and the network interface, wherein the network interface is used to provide network communication functions, the memory is used to store program code, and the processor is used to call the program code to execute the method according to any one of claims 1-9.

12. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program adapted to be loaded by a processor and to execute the method of any one of claims 1-9.

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