Pool cleaning robot control method, and apparatus

Abstract

Disclosed in the present application are a pool cleaning robot control method, and an apparatus. The method comprises: starting a first water pump of a pool cleaning robot, so as to cause the pool cleaning robot to move in a first direction at the bottom of a pool, the first water pump being used for pumping a liquid from a sewage suction port of the pool cleaning robot to a first water outlet of the pool cleaning robot, the orientation of the first water outlet being a second direction, and the first direction and the second direction being opposite to each other; when the pool cleaning robot moves to a pool wall of the pool, starting a second water pump of the pool cleaning robot to increase a liquid flow speed of the sewage suction port, the second water pump being used for pumping the liquid from the sewage suction port to a second water outlet of the pool cleaning robot, and the orientation of the second water outlet being the first direction; and, adjusting the power of the first water pump and the power of the second water pump, so as to cause the pool cleaning robot to be in contact with the pool wall.

Description

Control method and device for pool cleaning robot

[0001] This application claims priority to Chinese patent application No. 2023117140817, filed on December 13, 2023, entitled “Control Method and Device for Pool Cleaning Robot,” the entire contents of which are incorporated herein by reference. Technical Field

[0002] The present application relates to the field of robotics, and in particular to a control method and device for a pool cleaning robot. Background Art

[0003] With the development of science and technology, robotics technology has also developed rapidly. There are more and more types of robots available on the market. For example, users use sweeping robots to clean the floor of the house, use window cleaning robots to clean the windows of the house, and use pool cleaning robots to clean the pool. Summary of the Invention

[0004] The embodiments of the present application provide a control method and device for a pool cleaning robot, a pool cleaning robot, and a computer-readable storage medium, which can improve the cleaning effect of the pool cleaning robot. The technical solution is as follows:

[0005] In one aspect, a control method for a pool cleaning robot is provided, the method comprising:

[0006] activating a first water pump of the pool cleaning robot so that the pool cleaning robot moves in a first direction at the bottom of the pool, the first water pump being configured to pump liquid from a sewage suction port of the pool cleaning robot to a first water outlet of the pool cleaning robot, the first water outlet being oriented in a second direction, the first direction and the second direction being opposite to each other, and the sewage suction port being located at the bottom of the pool cleaning robot;

[0007] When the pool cleaning robot moves to the wall of the pool, starting a second water pump of the pool cleaning robot to increase the flow rate of the liquid at the sewage suction port, the second water pump being used to pump the liquid from the sewage suction port to a second water outlet of the pool cleaning robot, the second water outlet being oriented in the first direction;

[0008] The power of the first water pump and the second water pump is adjusted so that the pool cleaning robot maintains contact with the pool wall.

[0009] In one aspect, a control device for a pool cleaning robot is provided, the device comprising:

[0010] a first starting module, configured to start a first water pump of the pool cleaning robot, so that the pool cleaning robot moves in a first direction at the bottom of the pool, the first water pump being configured to pump liquid from a sewage suction port of the pool cleaning robot to a first water outlet of the pool cleaning robot, the first water outlet being oriented in a second direction, the first direction and the second direction being opposite to each other, and the sewage suction port being located at the bottom of the pool cleaning robot;

[0011] a second starting module, configured to start a second water pump of the pool cleaning robot when the pool cleaning robot moves to the wall of the pool, so as to increase the flow rate of liquid at the sewage suction port, wherein the second water pump is configured to pump liquid from the sewage suction port to a second water outlet of the pool cleaning robot, and the second water outlet is oriented in the first direction;

[0012] A power adjustment module is used to adjust the power of the first water pump and the second water pump so that the pool cleaning robot maintains contact with the pool wall.

[0013] On the one hand, a pool cleaning robot is provided, which includes one or more processors and one or more memories, wherein at least one computer program is stored in the one or more memories, and the computer program is loaded and executed by the one or more processors to implement a control method of the pool cleaning robot.

[0014] In one aspect, a computer-readable storage medium is provided, wherein at least one computer program is stored in the computer-readable storage medium, and the computer program is loaded and executed by a processor to implement the control method of the pool cleaning robot.

[0015] On the one hand, a computer program product or computer program is provided, which includes a program code, and the program code is stored in a computer-readable storage medium. The processor of the pool cleaning robot reads the program code from the computer-readable storage medium, and the processor executes the program code, so that the pool cleaning robot performs the above-mentioned control method of the pool cleaning robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following is a brief introduction to the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0017] FIG1 is a schematic diagram of a pool cleaning robot provided in an embodiment of the present application;

[0018] FIG2 is a schematic diagram of a pool cleaning robot provided in an embodiment of the present application moving in a pool;

[0019] FIG3 is a flow chart of a control method of a pool cleaning robot provided in an embodiment of the present application;

[0020] FIG4 is a flow chart of another method for controlling a pool cleaning robot provided by an embodiment of the present application;

[0021] FIG5 is a schematic diagram of another pool cleaning robot provided in an embodiment of the present application moving in a pool;

[0022] FIG6 is a schematic diagram of another pool cleaning robot provided in an embodiment of the present application moving in a pool;

[0023] FIG7 is a flow chart of another method for controlling a pool cleaning robot provided in an embodiment of the present application;

[0024] FIG8 is a flow chart of another method for controlling a pool cleaning robot provided in an embodiment of the present application;

[0025] FIG9 is a schematic structural diagram of a control device of a pool cleaning robot provided in an embodiment of the present application;

[0026] FIG10 is a schematic structural diagram of a pool cleaning robot provided in an embodiment of the present application. DETAILED DESCRIPTION

[0027] In order to make the objectives, technical solutions and advantages of this application clearer, the implementation methods of this application will be further described in detail below with reference to the accompanying drawings.

[0028] In this application, the terms "first", "second", etc. are used to distinguish identical or similar items with substantially the same effects and functions. It should be understood that there is no logical or temporal dependency between "first", "second", and "nth", nor is there any limitation on the quantity and execution order.

[0029] First, the nouns involved in the embodiments of the present application are introduced.

[0030] Pool cleaning robot: A robot used to perform underwater cleaning tasks. For example, when placed in a pool, the pool cleaning robot can clean the bottom and walls of the pool.

[0031] A water pump is a machine that transports or pressurizes liquids. It transfers the mechanical energy of a prime mover or other external energy to the liquid, increasing its energy. Its primary function is to transport liquids. In this embodiment, the water pump is used to propel the pool cleaning robot and to vacuum waste.

[0032] Radar, a transliteration of the English term "Radio Detection and Ranging," refers to the use of radio technology to detect targets and determine their spatial position. Therefore, radar is also called "radio positioning." Radar is an electronic device that uses electromagnetic waves to detect targets. Radar transmits electromagnetic waves to illuminate the target and receives the echoes, thereby obtaining information such as the distance from the target to the point of emission, the rate of change of distance (radial velocity), direction, and altitude.

[0033] Ultrasonic waves: Ultrasonic waves are mechanical waves with extremely short wavelengths, typically less than 2 cm in air. They rely on a medium to propagate and cannot exist in a vacuum (such as space). They travel farther in water than in air, and in some scenarios, can reach hundreds of meters in water.

[0034] In the related art, when a pool cleaning robot cleans a pool, it is unable to effectively clean the pool bottom below the pool wall, resulting in poor cleaning effect of the pool cleaning robot.

[0035] After introducing the nouns involved in the embodiments of the present application, the application scenarios of the embodiments of the present application are described below.

[0036] The technical solution provided by the embodiments of the present application can be applied to the scenario of controlling a pool cleaning robot having at least two water pumps. Taking a pool cleaning robot having two water pumps as an example, referring to FIG1 , the pool cleaning robot 100 includes a first water pump 101 and a second water pump 102. The first water pump 101 is used to pump liquid toward the left side of the pool cleaning robot 100 and spray it out from the left side of the pool cleaning robot 100; the second water pump 102 is used to pump liquid toward the right side of the pool cleaning robot 100 and spray it out from the right side of the pool cleaning robot 100. Referring to FIG2 , the pool cleaning robot 100 also includes a sewage suction port 103. The sewage suction port 103 is oriented downwardly of the pool cleaning robot. Dirt from the bottom of the pool cleaning robot 100 can be sucked into the filter unit of the pool cleaning robot 100 through the sewage suction port 103 to clean the pool. When the first water pump 101 is activated, liquid is pumped from the sewage suction port 103 to the left side of the pool cleaning robot 100, allowing the pool cleaning robot 100 to inhale liquid from the sewage suction port 103. At the same time, the liquid ejected from the left side of the pool cleaning robot 100 can also push the pool cleaning robot 100 to move to the right, achieving simultaneous movement and sewage suction. When the second water pump 102 is activated, liquid is pumped from the sewage suction port 103 to the right side of the pool cleaning robot 100, allowing the pool cleaning robot 100 to inhale liquid from the sewage suction port 103. At the same time, the liquid ejected from the right side of the pool cleaning robot 100 can also push the pool cleaning robot 100 to move to the left, achieving simultaneous movement and sewage suction. The pool cleaning robot 100 also includes running wheels 104, and the number of the running wheels 104 can be two, four, or more, which is not limited in this embodiment of the present application.

[0037] Without the control method for the pool cleaning robot provided in the embodiments of the present application, when the pool cleaning robot moves to the pool wall, if it comes into contact with the pool wall, it will be bounced away from the pool wall, thus failing to effectively clean the connection between the pool wall and the pool bottom. However, by using the control method for the pool cleaning robot provided in the embodiments of the present application, when the pool cleaning robot 100 moves to the pool wall, two water pumps can be simultaneously activated to increase the suction force of the dirt suction port 102. In addition, activating the two water pumps can also keep the pool cleaning robot 100 at the location of the pool wall, thereby improving the cleaning effect of the connection between the pool bottom and the pool wall, and improving the overall cleaning effect of the pool cleaning robot on the pool.

[0038] After introducing the application scenarios of this application, the control method of the pool cleaning robot provided by this application will be introduced below. Referring to Figure 3, taking the execution subject as the robot controller as an example, the method includes the following steps.

[0039] 301. The robot controller starts a first water pump of the pool cleaning robot to move the pool cleaning robot in a first direction at the bottom of the pool. The first water pump is used to pump liquid from a sewage suction port of the pool cleaning robot to a first water outlet of the pool cleaning robot. The first water outlet is oriented in a second direction. The first direction and the second direction are opposite to each other. The sewage suction port is located at the bottom of the pool cleaning robot.

[0040] The robot controller is built into the pool cleaning robot and is used to control the pool cleaning robot. The pool cleaning robot is used to clean the bottom and walls of a pool. When the pool cleaning robot is located on the bottom of the pool, it can move on the bottom of the pool and perform cleaning actions. The first water pump is built into the pool cleaning robot and connects the sewage suction port and the first water outlet. That is, the first water pump pumps liquid from the sewage suction port to the first water outlet, and the liquid is ejected from the first water outlet. In some embodiments, a filter unit is provided between the sewage suction port and the first water pump. Liquid sucked from the sewage suction port passes through the filter unit, and dirt in the liquid is retained in the filter unit and does not reach the first water outlet with the liquid, thereby cleaning the pool. The first water outlet is oriented in a second direction, that is, liquid ejected from the first water outlet is ejected in the second direction, thereby generating a reaction force in the first direction, thereby driving the pool cleaning robot to move in the first direction. The sewage suction port is located at the bottom of the pool cleaning robot, that is, the pool cleaning robot will extract the liquid below, thereby cleaning the position where the pool cleaning robot passes.

[0041] 302. When the pool cleaning robot moves to the wall of the pool, the robot controller starts the second water pump of the pool cleaning robot to increase the liquid flow rate of the sewage suction port. The second water pump is used to pump liquid from the sewage suction port to the second water outlet of the pool cleaning robot, and the second water outlet is oriented in the first direction.

[0042] The pool cleaning robot moving to the pool wall means that the pool cleaning robot contacts the pool wall, or that the pool cleaning robot moves to a distance less than or equal to a predetermined distance from the pool wall. The pool wall is located in a first direction of the pool cleaning robot. The second water pump is built into the pool cleaning robot and connects the sewage suction port and the second water outlet. That is, the second water pump pumps liquid from the sewage suction port to the second water outlet, and the liquid is ejected from the second water outlet. In some embodiments, a filter unit is provided between the sewage suction port and the second water pump. Liquid drawn from the sewage suction port passes through the filter unit, and dirt in the liquid remains in the filter unit and does not reach the second water outlet with the liquid, thereby cleaning the pool. The second water outlet is oriented in a first direction, that is, liquid ejected from the second water outlet is ejected in the first direction, thereby generating a reaction force in the second direction, thereby driving the pool cleaning robot to move in the second direction. Compared to starting a single first water pump, starting the first water pump and the second water pump at the same time can increase the liquid flow rate of the sewage suction port, thereby enhancing the cleaning ability of the pool cleaning robot.

[0043] 303. The robot controller adjusts the power of the first water pump and the second water pump so that the pool cleaning robot maintains contact with the pool wall.

[0044] Among them, when the first water pump and the second water pump are both started, the first water pump will drive the pool cleaning robot to move in the first direction, and the second water pump will drive the pool cleaning robot to move in the second direction. In order to make the pool cleaning robot maintain contact with the pool wall, it is necessary to adjust the power of the first water pump and the second water pump so that the pool cleaning robot maintains the trend of moving in the first direction.

[0045] Through the technical solution provided in the embodiments of the present application, the first water pump of the pool cleaning robot is started to pump liquid from the sewage suction port of the pool cleaning robot to the first water outlet. The first water outlet is oriented in the second direction, so that the pool cleaning robot moves in a first direction opposite to the second direction at the bottom of the pool. When the pool cleaning robot moves to the pool wall, the second water pump of the pool cleaning robot is started to increase the liquid flow rate of the sewage suction port, that is, to improve the cleaning ability of the pool cleaning robot. The power of the first water pump and the second water pump is adjusted to ensure that the pool cleaning robot maintains contact with the pool wall, thereby effectively cleaning the connection between the pool wall and the pool bottom and improving the cleaning ability of the pool cleaning robot.

[0046] The above steps 301-303 are a brief introduction to the control method of the pool cleaning robot provided in the embodiment of the present application. The following will combine some examples to more clearly illustrate the technical solution provided in the embodiment of the present application. Referring to Figure 4, taking the execution subject as the robot controller as an example, the method includes the following steps.

[0047] 401. The robot controller obtains a cleaning instruction for the pool cleaning robot, where the cleaning instruction is used to instruct the pool cleaning robot to perform a cleaning task.

[0048] The robot controller is built into the pool cleaning robot and is used to control the pool cleaning robot. The pool cleaning robot is used to clean the bottom and walls of the pool. When the pool cleaning robot is located on the bottom of the pool, the pool cleaning robot can move on the bottom of the pool and perform cleaning actions. In an embodiment of the present application, performing a cleaning action refers to starting the water pump of the pool cleaning robot, using the water pump to extract liquid from the pool and filter it, thereby cleaning the pool. Cleaning tasks include temporary cleaning tasks and scheduled cleaning tasks. Temporary cleaning tasks are cleaning tasks that are temporarily triggered, and scheduled cleaning tasks are periodic cleaning tasks.

[0049] 402. In response to the cleaning instruction, the robot controller starts the first water pump of the pool cleaning robot to move the pool cleaning robot in a first direction at the bottom of the pool. The first water pump is used to pump liquid from the sewage suction port of the pool cleaning robot to the first water outlet of the pool cleaning robot. The first water outlet is oriented in a second direction. The first direction and the second direction are opposite to each other. The sewage suction port is located at the bottom of the pool cleaning robot.

[0050] The first water pump is built into the pool cleaning robot and connects the sewage suction port to the first water outlet. This means the first water pump pumps liquid from the sewage suction port to the first water outlet, where it is ejected. In some embodiments, a filter unit is provided between the sewage suction port and the first water pump. Liquid drawn from the sewage suction port passes through the filter unit, trapping dirt within the liquid and preventing it from reaching the first water outlet, thereby cleaning the pool. The first water outlet is oriented in a second direction, meaning liquid ejected from the first water outlet is ejected in the second direction, generating a reaction force in the first direction, thereby driving the pool cleaning robot in the first direction. The sewage suction port is located at the bottom of the pool cleaning robot, meaning the robot extracts liquid from below, thereby cleaning the areas it passes through. The number of first water pumps may be one or more, though this is not a limitation in the present embodiments. For ease of illustration, the following description will use a single first water pump as an example.

[0051] In one possible embodiment, in response to the cleaning instruction, the robot controller obtains a cleaning gear from the cleaning instruction, where the cleaning gear is used to indicate the cleaning power of the pool cleaning robot. The robot controller determines a first power corresponding to the cleaning gear. The robot controller sends a start instruction to the first water pump, where the start instruction carries the first power, and the start instruction is used to instruct the first water pump to start and operate at the first power. When the first water pump is started, liquid below the pool cleaning robot is pumped toward the first water outlet of the pool cleaning robot, and liquid is ejected from the first water outlet, thereby driving the pool cleaning robot to move in the first direction.

[0052] The correspondence between the cleaning gear and the first power is determined by technicians based on actual conditions and is not limited in this embodiment of the present application. The greater the power of the first water pump, the faster the liquid is extracted from the bottom of the pool cleaning robot, and the stronger the cleaning ability. Correspondingly, the greater the liquid flow rate ejected from the first water outlet, the faster the movement speed of the pool cleaning robot.

[0053] In this embodiment, in response to a cleaning instruction, a cleaning gear is obtained from the cleaning instruction, a first power corresponding to the cleaning gear is determined, and the first water pump is controlled to start and operate at the first power, thereby driving the pool cleaning robot to move and clean the pool bottom.

[0054] In one possible embodiment, in response to the cleaning instruction, the robot controller determines the remaining battery power of the pool cleaning robot. If the remaining battery power is greater than or equal to a battery threshold, the robot controller sends a start instruction to the first water pump, instructing the first water pump to start. When the first water pump is activated, liquid beneath the pool cleaning robot is pumped toward the first water outlet of the pool cleaning robot, whereupon the liquid is ejected from the first water outlet, thereby driving the pool cleaning robot to move in the first direction.

[0055] Among them, the power threshold is set by technical personnel according to actual conditions, and the embodiments of the present application do not limit this.

[0056] In this embodiment, before starting the first water pump, the remaining power of the pool cleaning robot is first determined, and the first water pump is started when the remaining power is greater than or equal to the power threshold, thereby ensuring the normal operation of the pool cleaning robot.

[0057] 403. The robot controller determines whether the pool cleaning robot moves to the pool wall.

[0058] The pool cleaning robot moving to the pool wall means that the pool cleaning robot contacts the pool wall, or that the pool cleaning robot moves to a distance less than or equal to a preset distance from the pool wall. The pool wall is located in the first direction of the pool cleaning robot.

[0059] In one possible implementation, when the pool cleaning robot includes a collision detection unit, the robot controller determines whether the pool cleaning robot has moved to the pool wall of the pool through the collision detection unit.

[0060] The collision detection unit is used to detect the collision between the pool cleaning robot and the pool wall. There are multiple collision detection units, which are installed around the pool cleaning robot.

[0061] In this embodiment, the collision detection unit can be used to determine whether the pool cleaning robot has moved to the pool wall of the pool, which is more efficient.

[0062] For example, if the pool cleaning robot includes a collision detection unit, the robot controller determines collision parameters collected by the collision detection unit. If the collision parameters meet a preset collision condition, the robot controller determines that the pool cleaning robot has moved to the pool wall. If the collision parameters do not meet the preset collision condition, the robot controller determines that the pool cleaning robot has not moved to the pool wall.

[0063] Among them, the collision parameter meeting the preset collision condition means that the pool cleaning robot has collided. In the scenario of cleaning a pool, it means that it has collided with the pool wall. In some embodiments, the collision parameter meeting the preset collision condition means that the collision parameter is greater than or equal to the collision parameter threshold. In this case, the collision parameter can reflect the degree of collision and the collision parameter is positively correlated with the degree of collision. The collision parameter threshold is set by technicians based on actual conditions and is not limited in the embodiments of this application.

[0064] For example, the pool cleaning robot includes multiple collision detection units, and the robot controller determines the collision parameters collected by each collision detection unit. When the collision parameters collected by the target collision detection unit among the multiple collision detection units meet the preset collision conditions, the robot controller determines that the pool cleaning robot has moved to the wall of the pool. The target collision detection unit is the collision detection unit corresponding to the forward direction (first direction) of the pool cleaning robot. For example, if the forward direction of the pool cleaning robot is forward, the target collision detection unit is the collision detection unit installed in front of the pool cleaning robot. When the collision parameters of the target collision detection unit do not meet the preset collision conditions, the robot controller determines that the pool cleaning robot has not moved to the wall of the pool.

[0065] In one possible embodiment, when the pool cleaning robot includes a sonic transceiver unit, the robot controller controls the sonic transceiver unit to transmit a sonic signal in the first direction. The robot controller determines whether the pool cleaning robot has moved to the pool wall based on the first echo signal received by the sonic transceiver unit and the sonic signal.

[0066] The sound wave transceiver unit is used to transmit and receive sound waves. In some embodiments, the sound waves refer to ultrasonic waves.

[0067] In this embodiment, the acoustic wave transceiver unit can be used to determine whether the pool cleaning robot has moved to the pool wall of the pool, which is more efficient.

[0068] For example, if the pool cleaning robot includes a sonic transceiver unit, the robot controller controls the sonic transceiver unit to transmit a sonic signal in the first direction. The robot controller determines the distance between the pool cleaning robot and the pool wall based on the time difference between the first echo signal received by the sonic transceiver unit and the sonic signal. Based on the distance between the pool cleaning robot and the pool wall, the robot controller determines whether the pool cleaning robot has moved to the pool wall.

[0069] For example, if the pool cleaning robot includes a sonic transceiver unit, the robot controller controls the sonic transceiver unit to transmit a sonic signal in the first direction. The robot controller determines the distance between the pool cleaning robot and the pool wall based on the time difference between the first echo signal received by the sonic transceiver unit and the sonic signal, and the propagation speed of sonic waves underwater. If the distance is greater than or equal to a preset distance, the robot controller determines that the pool cleaning robot has not moved to the pool wall. If the distance is less than the preset distance, the robot controller determines that the pool cleaning robot has moved to the pool wall.

[0070] In one possible embodiment, when the pool cleaning robot includes an image acquisition unit, the robot controller controls the image acquisition unit to acquire an image in the first direction. Based on the image, the robot controller determines whether the pool cleaning robot has moved to the pool wall.

[0071] In this embodiment, the image captured by the image acquisition unit is used to determine whether the pool cleaning robot has moved to the pool wall, thereby fully utilizing the image acquisition unit.

[0072] For example, if the pool cleaning robot includes an image acquisition unit, the robot controller controls the image acquisition unit to capture an image in the first direction. The robot controller recognizes the image and determines the distance between the pool cleaning robot and the pool wall. If the distance is greater than or equal to a preset distance, the robot controller determines that the pool cleaning robot has not moved to the pool wall. If the distance is less than the preset distance, the robot controller determines that the pool cleaning robot has moved to the pool wall.

[0073] In one possible embodiment, when the pool cleaning robot includes a radar, the robot controller controls the radar to transmit a detection signal in the first direction. The robot controller determines whether the pool cleaning robot has moved to the wall of the pool based on the second echo signal received by the radar and the detection signal.

[0074] The radar is a laser radar or a millimeter wave radar, which is not limited in the present embodiment. Accordingly, the detection signal is a laser detection signal or a millimeter wave detection signal, where a millimeter wave refers to an electromagnetic wave with a wavelength of 1 to 10 mm.

[0075] In this embodiment, the radar can be used to determine whether the pool cleaning robot has moved to the pool wall of the pool, which is more efficient.

[0076] For example, if the pool cleaning robot includes a radar, the robot controller controls the radar to transmit a detection signal in the first direction. The robot controller determines the distance between the pool cleaning robot and the pool wall based on the time difference between the second echo signal received by the radar and the detection signal. Based on the distance between the pool cleaning robot and the pool wall, the robot controller determines whether the pool cleaning robot has reached the pool wall.

[0077] For example, if the pool cleaning robot includes a radar, the robot controller controls the radar to transmit a detection signal in the first direction. The robot controller determines the distance between the pool cleaning robot and the pool wall based on the time difference between the second echo signal received by the radar and the detection signal, and the speed of sound waves propagating underwater. If the distance is greater than or equal to a preset distance, the robot controller determines that the pool cleaning robot has not reached the pool wall. If the distance is less than the preset distance, the robot controller determines that the pool cleaning robot has reached the pool wall.

[0078] It should be noted that the robot controller can determine whether the pool cleaning robot has moved to the wall of the pool by any of the above methods, and the embodiments of the present application are not limited to this.

[0079] 404. When the pool cleaning robot moves to the wall of the pool, the robot controller starts the second water pump of the pool cleaning robot to increase the liquid flow rate of the sewage suction port. The second water pump is used to pump liquid from the sewage suction port to the second water outlet of the pool cleaning robot, and the second water outlet is oriented in the first direction.

[0080] The second water pump is built into the pool cleaning robot and connects the sewage suction port and the second water outlet. This means the second water pump pumps liquid from the sewage suction port to the second water outlet, where it is ejected. In some embodiments, a filter unit is provided between the sewage suction port and the second water pump. Liquid drawn from the sewage suction port passes through the filter unit, retaining dirt within the liquid and preventing it from reaching the second water outlet, thereby cleaning the pool. The second water outlet is oriented in a first direction, meaning liquid ejected from the second water outlet is ejected in the first direction, thereby generating a reaction force in the second direction, driving the pool cleaning robot in the second direction. Compared to activating a single first water pump, activating both the first and second water pumps simultaneously increases the liquid flow rate at the sewage suction port, thereby enhancing the pool cleaning robot's cleaning capability. The number of second water pumps may be one or more, though this is not limited in the present embodiments. For ease of illustration, the following description uses a single second water pump as an example. In the embodiment of the present application, the first water pump is also referred to as a forward water pump, and the second water pump is also referred to as a reverse water pump.

[0081] In one possible embodiment, when the pool cleaning robot moves to the pool wall, the robot controller turns off the first water pump. The robot controller starts the first water pump and the second water pump simultaneously after a first preset time.

[0082] Among them, the first preset duration is set by technical personnel according to actual conditions, and the embodiments of the present application do not limit this.

[0083] In this embodiment, when the pool cleaning robot moves to the wall of the pool, the robot controller turns off the first water pump and waits for a first preset time before starting the first water pump and the second water pump at the same time, so as to avoid sudden changes in force that may cause sudden changes in the posture of the pool cleaning robot, thereby allowing the pool cleaning robot to maintain a stable posture.

[0084] For example, when the pool cleaning robot moves to the pool wall, the robot controller sends a shutdown command to the first water pump. The first water pump receives the shutdown command and, in response to the shutdown command, shuts down the first water pump. After the first preset time, the robot controller simultaneously sends a start command to the first water pump and the second water pump. The first water pump and the second water pump receive the start command and, in response to the start command, start the first water pump and the second water pump.

[0085] In one possible implementation, when the pool cleaning robot moves to the pool wall, the robot controller increases the power of the first water pump and starts the second water pump.

[0086] In this embodiment, when the pool cleaning robot moves to the wall of the pool, the robot controller increases the power of the first water pump and starts the second water pump to ensure that the pool cleaning robot has a tendency to move in the first direction and ensures the relative position relationship between the pool cleaning robot and the pool wall.

[0087] For example, when the pool cleaning robot moves to the pool wall, the robot controller sends a power increase command to the first water pump and a start command to the second water pump. The first water pump receives the power increase command and, in response to the power increase command, increases its power. The second water pump receives the start command and, in response to the start command, starts the second water pump.

[0088] In one possible implementation, when the pool cleaning robot moves to the pool wall of the pool, the robot controller directly starts the second water pump.

[0089] In this embodiment, the second water pump is directly started without controlling the first water pump, and the control method is relatively simple.

[0090] For example, when the pool cleaning robot moves to the pool wall of the pool, the robot controller sends a start instruction to the second water pump. The second water pump receives the start instruction and starts the second water pump in response to the start instruction.

[0091] It should be noted that the robot controller can start the second water pump in any of the above-mentioned ways, and this embodiment of the present application does not limit this.

[0092] 405. The robot controller adjusts the power of the first water pump and the second water pump so that the pool cleaning robot maintains contact with the pool wall.

[0093] Among them, when the first water pump and the second water pump are both started, the first water pump will drive the pool cleaning robot to move in the first direction, and the second water pump will drive the pool cleaning robot to move in the second direction. In order to make the pool cleaning robot maintain contact with the pool wall, it is necessary to adjust the power of the first water pump and the second water pump so that the pool cleaning robot maintains the trend of moving in the first direction.

[0094] It should be noted that when the two water pumps are operating simultaneously, the thrust generated is inconsistent due to differences in the structure of the water channel impeller, etc. Referring to Figure 5, when the thrust generated by the second water pump 502 is greater than the thrust generated by the first water pump 501, the pool cleaning robot 500 will move away from the pool wall 503. Although turning on the water pumps at the same time increases the suction force of the sewage suction port, the pool cleaning robot 500 will gradually move away from the pool wall 503 over time, which will weaken the cleaning effect. The first water pump 501 and the second water pump 502 of the pool cleaning robot 500 can both be controlled separately, controlling the output power of the first water pump 501 to be greater than the output power of the second water pump 502. In this way, the thrust generated by the two water pumps will ensure that the pool cleaning robot 500 is close to the pool wall 503, ensuring the cleaning effect.

[0095] In addition, the pool cleaning robot is driven forward by the thrust of the water pump. When the pool cleaning robot approaches the pool wall, it sometimes collides with it. After the collision, the pool cleaning robot will rebound backward. See Figure 6. In order to make the pool cleaning robot 600 approach the pool wall 603 to suck sewage, the above method can still be used to control the output power of the first water pump 601 to be greater than the output power of the second water pump 602. In this way, the thrust generated by the first water pump 601 and the second water pump 602 will ensure that the pool cleaning robot 600 slowly approaches the pool wall 603, thereby ensuring the cleaning effect.

[0096] In a possible implementation, the robot controller increases the power of the first water pump to a first target power, and adjusts the power of the second water pump to a second target power, where the first target power is greater than the second target power.

[0097] The first target power is greater than the second target power in order to maintain the tendency of the pool cleaning robot to move in the first direction so that the pool cleaning robot maintains contact with the pool wall.

[0098] For example, the robot controller sends a first power adjustment instruction to the first water pump and a second power adjustment instruction to the second water pump. The first power adjustment instruction carries the first target power, and the second power adjustment instruction carries the second target power. The first water pump receives the first power adjustment instruction, obtains the first target power from the first power adjustment instruction, and adjusts the power of the first water pump to the first target power. The second water pump receives the second power adjustment instruction, obtains the second target power from the second power adjustment instruction, and adjusts the power of the second water pump to the second target power.

[0099] In order to more clearly illustrate the above embodiment, a method for determining the first target power and the second target power is described below.

[0100] In one possible implementation, the robot controller determines a pitch angle of the pool cleaning robot. Based on the pitch angle, the robot controller determines the first target power and the second target power, wherein the first target power is positively correlated with the pitch angle, and the second target power is negatively correlated with the pitch angle.

[0101] The pitch angle can reflect the slope of the pool bottom where the pool cleaning robot is located, and the accuracy of determining the first target power and the second target power by combining the pitch angle is higher.

[0102] For example, the robot controller obtains the pitch angle of the pool cleaning robot via a posture sensor. If the pitch angle is greater than or less than a first preset angle, the robot controller determines the first target power and the second target power based on the cleaning gear of the pool cleaning robot, the pitch angle, and the mass of the pool cleaning robot. If the pitch angle is equal to the first preset angle, the robot controller determines the first target power and the second target power based on the cleaning gear of the pool cleaning robot.

[0103] The first preset angle is set by a technician based on actual conditions. For example, setting the first preset angle to 0° means that the slope of the pool wall where the pool cleaning robot is located is 0°. This embodiment of the present application is not limited to this. The cleaning gear is used to reflect the cleaning power of the pool cleaning robot. For example, the larger the cleaning gear, the greater the cleaning power. The mass of the pool cleaning robot is pre-stored in the robot controller by a technician.

[0104] In order to explain the content of the above example more clearly, the method of determining the first target power and the second target power in the above example will be described in several parts below.

[0105] Part 1: When the pitch angle is greater than or less than a first preset angle, the robot controller determines the first target power and the second target power based on the cleaning gear of the pool cleaning robot, the pitch angle and the mass of the pool cleaning robot.

[0106] In one possible embodiment, when the pitch angle is greater than the first preset angle, it indicates that the pool cleaning robot is going uphill, and the robot controller determines the gravity component of the pool cleaning robot in the second direction based on the pitch angle and the mass of the pool cleaning robot. The robot controller determines the cleaning power corresponding to the cleaning gear. Based on the cleaning power and the gravity component, the robot controller determines the first target power and the second target power, so that the first thrust generated in the first direction when the first water pump operates at the first target power is greater than the sum of the gravity component and the second thrust, the second thrust being the thrust generated in the second direction when the second water pump operates at the second target power, and the sum of the first target power and the second target power being the cleaning power. When the pitch angle is less than the first preset angle, it indicates that the pool cleaning robot is going downhill, and the robot controller determines the gravity component of the pool cleaning robot in the first direction based on the pitch angle and the mass of the pool cleaning robot. The robot controller determines the first target power and the second target power based on the cleaning power and the gravity component, so that the sum of the first thrust generated in the first direction by the first water pump when operating at the first target power and the gravity component is greater than the second thrust, and the sum of the first target power and the second target power is the cleaning power.

[0107] Part 2: When the pitch angle is equal to the first preset angle, the robot controller determines the first target power and the second target power based on the cleaning gear of the pool cleaning robot.

[0108] In one possible implementation, when the pitch angle is equal to the first preset angle, the robot controller determines a cleaning power corresponding to the cleaning gear. Based on the cleaning power, the robot controller determines the first target power and the second target power, such that the first target power is equal to the second target power, and the sum of the first target power and the second target power is the cleaning power.

[0109] Optionally, after step 405 , any one of the following steps 406 - 410 can be performed.

[0110] 406. When the pool cleaning robot moves in the second direction, the robot controller increases the power of the first water pump and / or decreases the power of the second water pump.

[0111] Among them, when the pool cleaning robot moves in the second direction, it means that the thrust applied to the pool cleaning robot in the first direction is insufficient, and the pool cleaning robot is gradually moving away from the pool wall. At this time, increasing the power of the first water pump and / or reducing the power of the second water pump can increase the thrust applied to the pool cleaning robot in the first direction, so that the pool cleaning robot continues to stay at the position of the pool wall and cleans the position of the pool wall.

[0112] 407. The robot controller increases the power of the first water pump to a third target power at every preset time interval, and adjusts the power of the second water pump to a fourth target power, wherein the power difference between the third target power and the first target power is greater than or equal to the power difference between the fourth target power and the second target power.

[0113] The preset time period is set by a technician based on actual conditions and is not limited in the present embodiment. The power of the first water pump is increased to the third target power at every preset time interval, and the power of the second water pump is adjusted to the fourth target power. That is, the cleaning power of the pool cleaning robot is increased at every preset time interval, thereby improving the cleaning effect of the pool cleaning robot.

[0114] 408. The robot controller turns off the first water pump after a second preset time and keeps the power of the second water pump unchanged, so that the pool cleaning robot moves in the second direction.

[0115] The second preset duration is the duration for the pool cleaning robot to clean the pool bottom below the pool wall. The second preset duration is set by a technician based on actual conditions and is not limited in this embodiment of the present application. After the first water pump is turned off, the second water pump applies a thrust in the second direction to the pool cleaning robot, pushing the pool cleaning robot away from the pool wall to continue cleaning other locations in the pool.

[0116] The technical solution provided by the above steps 401 - 405 and step 408 can be represented by FIG. 7 .

[0117] Referring to FIG7 , the pool cleaning robot, driven by a first water pump, advances in a first direction. If the pool cleaning robot has not reached the pool wall, it continues to advance in the first direction. Once the pool cleaning robot reaches the pool wall, it activates a second water pump and adjusts the power of the first and second water pumps so that the thrust in the first direction is greater than the thrust in the second direction. After a second preset time period, the first water pump is turned off while the power of the second water pump remains unchanged, allowing the pool cleaning robot to move in the second direction.

[0118] 409. The robot controller turns off the first water pump and increases the power of the second water pump after the second preset time period, so that the pool cleaning robot moves in the second direction.

[0119] The principle of step 409 and step 408 belong to the same inventive concept and will not be described in detail here.

[0120] 410. The robot controller turns off the first water pump and the second water pump after the second preset time, and starts the second water pump after a third preset time, so that the pool cleaning robot moves in the second direction.

[0121] The third preset time period is set by a technician based on actual conditions and is not limited in the present embodiment. Waiting for the second preset time period before turning off the first water pump and the second water pump, and starting the second water pump after the third time period, can ensure the stability of the pool cleaning robot's posture.

[0122] The technical solution provided by the above steps 401 - 405 and step 410 can be represented by FIG. 8 .

[0123] Referring to FIG8 , the pool cleaning robot is driven by a first water pump to advance in a first direction. If the pool cleaning robot has not reached the pool wall, the pool cleaning robot continues to advance in the first direction. If the pool cleaning robot reaches the pool wall, the first water pump is turned off. After a first preset time, the first and second water pumps are started. The power of the first and second water pumps is adjusted so that the thrust in the first direction is greater than the thrust in the second direction. After a second preset time, the first and second water pumps are turned off. After a third preset time, the second water pump is started to move the pool cleaning robot in the second direction.

[0124] All of the above optional technical solutions can be combined in any way to form optional embodiments of the present application, and will not be described in detail here.

[0125] Through the technical solution provided in the embodiments of the present application, the first water pump of the pool cleaning robot is started to pump liquid from the sewage suction port of the pool cleaning robot to the first water outlet. The first water outlet is oriented in the second direction, so that the pool cleaning robot moves in a first direction opposite to the second direction at the bottom of the pool. When the pool cleaning robot moves to the pool wall, the second water pump of the pool cleaning robot is started to increase the liquid flow rate of the sewage suction port, that is, to improve the cleaning ability of the pool cleaning robot. The power of the first water pump and the second water pump is adjusted to ensure that the pool cleaning robot maintains contact with the pool wall, thereby effectively cleaning the connection between the pool wall and the pool bottom and improving the cleaning ability of the pool cleaning robot.

[0126] FIG9 is a schematic structural diagram of a control device of a pool cleaning robot provided in an embodiment of the present application. Referring to FIG9 , the device includes: a first starting module 901 , a second starting module 902 and a power adjustment module 903 .

[0127] The first starting module 901 is used to start the first water pump of the pool cleaning robot so that the pool cleaning robot moves in a first direction at the bottom of the pool. The first water pump is used to pump liquid from the sewage suction port of the pool cleaning robot to the first water outlet of the pool cleaning robot. The direction of the first water outlet is the second direction. The first direction and the second direction are opposite to each other. The sewage suction port is located at the bottom of the pool cleaning robot.

[0128] The second starting module 902 is used to start the second water pump of the pool cleaning robot when the pool cleaning robot moves to the wall of the pool to increase the liquid flow rate of the sewage suction port. The second water pump is used to pump liquid from the sewage suction port to the second water outlet of the pool cleaning robot, and the direction of the second water outlet is the first direction.

[0129] The power adjustment module 903 is used to adjust the power of the first water pump and the second water pump so that the pool cleaning robot maintains contact with the pool wall.

[0130] In one possible embodiment, the second activation module 902 is configured to shut down the first water pump when the pool cleaning robot reaches the pool wall, and to simultaneously activate the first and second water pumps after a first preset time period. Alternatively, when the pool cleaning robot reaches the pool wall, the power of the first water pump is increased and the second water pump is activated.

[0131] In a possible implementation, the power adjustment module 903 is configured to increase the power of the first water pump to a first target power and adjust the power of the second water pump to a second target power, where the first target power is greater than the second target power.

[0132] In one possible embodiment, the device further includes a power determination module for determining a pitch angle of the pool cleaning robot. Based on the pitch angle, the first target power and the second target power are determined, wherein the first target power is positively correlated with the pitch angle, and the second target power is negatively correlated with the pitch angle.

[0133] In one possible embodiment, the power determination module is configured to determine the first target power and the second target power based on the cleaning gear of the pool cleaning robot, the pitch angle, and the mass of the pool cleaning robot when the pitch angle is greater than or less than a first preset angle. When the pitch angle is equal to the first preset angle, the first target power and the second target power are determined based on the cleaning gear of the pool cleaning robot.

[0134] In one possible embodiment, the power adjustment module 903 is also used to increase the power of the first water pump to a third target power at every preset time interval, and adjust the power of the second water pump to a fourth target power, and the power difference between the third target power and the first target power is greater than or equal to the power difference between the fourth target power and the second target power.

[0135] In one possible embodiment, the device further includes a detection module for determining, when the pool cleaning robot includes a collision detection unit, whether the pool cleaning robot has moved to the wall of the pool through the collision detection unit. Alternatively, when the pool cleaning robot includes an acoustic wave transceiver unit, the module controls the acoustic wave transceiver unit to transmit an acoustic wave signal in the first direction. Based on the first echo signal received by the acoustic wave transceiver unit and the acoustic wave signal, it is determined whether the pool cleaning robot has moved to the wall of the pool. Alternatively, when the pool cleaning robot includes an image acquisition unit, the module controls the image acquisition unit to capture an image in the first direction. Based on the image, it is determined whether the pool cleaning robot has moved to the wall of the pool. Alternatively, when the pool cleaning robot includes a radar, the module controls the radar to transmit a detection signal in the first direction. Based on the second echo signal received by the radar and the detection signal, it is determined whether the pool cleaning robot has moved to the wall of the pool.

[0136] In a possible implementation, the power adjustment module 903 is further configured to increase the power of the first water pump and / or reduce the power of the second water pump when the pool cleaning robot moves in the second direction.

[0137] In one possible embodiment, the power adjustment module 903 is further configured to shut down the first water pump and maintain the power of the second water pump unchanged after a second preset time period, so that the pool cleaning robot moves in the second direction. Alternatively, after the second preset time period, shut down the first water pump and increase the power of the second water pump, so that the pool cleaning robot moves in the second direction. Alternatively, after the second preset time period, shut down the first water pump and the second water pump, and start the second water pump after a third preset time period, so that the pool cleaning robot moves in the second direction.

[0138] It should be noted that the control device for the pool cleaning robot provided in the above embodiment only uses the division of the above-mentioned functional modules as an example to illustrate the control of the pool cleaning robot. In actual application, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the pool cleaning robot can be divided into different functional modules to complete all or part of the functions described above. In addition, the control device for the pool cleaning robot provided in the above embodiment and the control method embodiment of the pool cleaning robot are based on the same concept. The specific implementation process is detailed in the method embodiment and will not be repeated here.

[0139] Through the technical solution provided in the embodiments of the present application, the first water pump of the pool cleaning robot is started to pump liquid from the sewage suction port of the pool cleaning robot to the first water outlet. The first water outlet is oriented in the second direction, so that the pool cleaning robot moves in a first direction opposite to the second direction at the bottom of the pool. When the pool cleaning robot moves to the pool wall, the second water pump of the pool cleaning robot is started to increase the liquid flow rate of the sewage suction port, that is, to improve the cleaning ability of the pool cleaning robot. The power of the first water pump and the second water pump is adjusted to ensure that the pool cleaning robot maintains contact with the pool wall, thereby effectively cleaning the connection between the pool wall and the pool bottom and improving the cleaning ability of the pool cleaning robot.

[0140] The present invention also provides a pool cleaning robot. Figure 10 is a schematic diagram of the structure of the pool cleaning robot provided by the present invention. Generally, the pool cleaning robot includes a robot controller 1000, which includes one or more processors 1001 and one or more memories 1002.

[0141] The processor 1001 may include one or more processing cores, such as a 4-core processor, an 8-core processor, etc. The processor 1001 may be implemented in at least one hardware form of DSP (Digital Signal Processing), FPGA (Field-Programmable Gate Array), or PLA (Programmable Logic Array). The processor 1001 may also include a main processor and a coprocessor. The main processor is a processor for processing data in the awake state, also known as a CPU (Central Processing Unit); the coprocessor is a low-power processor for processing data in the standby state. In some embodiments, the processor 1001 may be integrated with a GPU (Graphics Processing Unit), which is responsible for rendering and drawing the content to be displayed on the display screen. In some embodiments, the processor 1001 may also include an AI (Artificial Intelligence) processor, which is used to process computing operations related to machine learning.

[0142] The memory 1002 may include one or more computer-readable storage media, which may be non-transitory. The memory 1002 may also include high-speed random access memory and non-volatile memory, such as one or more disk storage devices and flash memory storage devices. In some embodiments, the non-transitory computer-readable storage medium in the memory 1002 is used to store at least one computer program, which is executed by the processor 1001 to implement the control method of the pool cleaning robot provided in the method embodiment of the present application.

[0143] In some embodiments, the pool cleaning robot 1000 may optionally include a peripheral device interface 1003 and at least one peripheral device. The processor 1001, memory 1002, and peripheral device interface 1003 may be connected via a bus or signal lines. Each peripheral device may be connected to the peripheral device interface 1003 via a bus, signal lines, or circuit boards.

[0144] Those skilled in the art will appreciate that the structure shown in FIG. 10 does not limit the pool cleaning robot 1000 , and the pool cleaning robot 1000 may include more or fewer components than shown, or combine certain components, or adopt a different component arrangement.

[0145] In an exemplary embodiment, a computer-readable storage medium is also provided, such as a memory including a computer program. The computer program can be executed by a processor to implement the control method of the pool cleaning robot in the above embodiment. For example, the computer-readable storage medium can be a read-only memory (ROM), a random access memory (RAM), a compact disc (CD-ROM), a magnetic tape, a floppy disk, an optical data storage device, etc.

[0146] In an exemplary embodiment, a computer program product or computer program is also provided, which includes a program code, which is stored in a computer-readable storage medium. A processor of a robot controller reads the program code from the computer-readable storage medium, and the processor executes the program code, so that the robot controller performs the above-mentioned control method of the pool cleaning robot.

[0147] Those skilled in the art will understand that all or part of the steps to implement the above embodiments may be accomplished by hardware, or may be accomplished by a program to instruct the relevant hardware, and the program may be stored in a computer-readable storage medium, and the above-mentioned storage medium may be a read-only memory, a disk or an optical disk, etc.

[0148] The above are only optional embodiments of the present application and are not intended to limit the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application should be included in the scope of protection of the present application.

Claims

1. A control method for a pool cleaning robot, the method comprising: Starting a first water pump of the pool cleaning robot so that the pool cleaning robot moves in a first direction at the bottom of the pool, the first water pump being used to pump liquid from a sewage suction port of the pool cleaning robot to a first water outlet of the pool cleaning robot, the first water outlet being oriented in a second direction, the first direction and the second direction being opposite to each other, and the sewage suction port being located at the bottom of the pool cleaning robot; When the pool cleaning robot moves to the pool wall of the pool, start the second water pump of the pool cleaning robot to increase the liquid flow rate of the sewage suction port, the second water pump is used to pump the liquid from the sewage suction port to the second water outlet of the pool cleaning robot, and the second water outlet is oriented in the first direction; The power of the first water pump and the second water pump is adjusted so that the pool cleaning robot maintains contact with the pool wall.

2. The method according to claim 1, wherein: When the pool cleaning robot moves to the pool wall of the pool, starting the second water pump of the pool cleaning robot comprises: When the pool cleaning robot moves to the pool wall of the pool, the first water pump is turned off; and after a first preset time, the first water pump and the second water pump are started simultaneously; Alternatively, when the pool cleaning robot moves to the pool wall of the pool, the power of the first water pump is increased and the second water pump is started.

3. The method according to claim 1, wherein: The adjusting the power of the first water pump and the second water pump comprises: The power of the first water pump is increased to a first target power, and the power of the second water pump is adjusted to a second target power, wherein the first target power is greater than the second target power.

4. The method according to claim 3, wherein: Before increasing the power of the first water pump to the first target power and adjusting the power of the second water pump to the second target power, the method further includes: determining a pitch angle of the pool cleaning robot; Based on the pitch angle, the first target power and the second target power are determined, wherein the first target power is positively correlated with the pitch angle, and the second target power is negatively correlated with the pitch angle.

5. The method according to claim 4, wherein: The determining the first target power and the second target power based on the pitch angle includes: When the pitch angle is greater than or less than a first preset angle, determining the first target power and the second target power based on the cleaning gear of the pool cleaning robot, the pitch angle, and the mass of the pool cleaning robot; When the pitch angle is equal to the first preset angle, the first target power and the second target power are determined based on the cleaning gear of the pool cleaning robot.

6. The method according to claim 5, wherein: When the pitch angle is greater than or less than a first preset angle, determining the first target power and the second target power based on the cleaning gear of the pool cleaning robot, the pitch angle, and the mass of the pool cleaning robot includes: In the case where the pitch angle is greater than the first preset angle, based on the pitch angle and the mass of the pool cleaning robot, determine the gravity component of the pool cleaning robot in the second direction; determine the cleaning power corresponding to the cleaning gear; based on the cleaning power and the gravity component, determine the first target power and the second target power, so that when the first water pump operates at the first target power, the first thrust generated in the first direction is greater than the sum of the gravity component and the second thrust, the second thrust is the thrust generated in the second direction when the second water pump operates at the second target power, and the sum of the first target power and the second target power is the cleaning power; When the pitch angle is less than the first preset angle, the gravity component of the pool cleaning robot in the first direction is determined based on the pitch angle and the mass of the pool cleaning robot; the first target power and the second target power are determined based on the cleaning power and the gravity component, so that the sum of the first thrust generated in the first direction by the first water pump when operating at the first target power and the gravity component is greater than the second thrust, and the sum of the first target power and the second target power is the cleaning power.

7. The method according to claim 5, wherein: When the pitch angle is equal to the first preset angle, determining the first target power and the second target power based on the cleaning gear of the pool cleaning robot includes: When the pitch angle is equal to the first preset angle, determining the cleaning power corresponding to the cleaning gear; Based on the cleaning power, the first target power and the second target power are determined so that the first target power is equal to the second target power, and the sum of the first target power and the second target power is the cleaning power.

8. The method according to claim 3, wherein: After increasing the power of the first water pump to the first target power and adjusting the power of the second water pump to the second target power, the method further includes: The power of the first water pump is increased to a third target power at every preset time interval, and the power of the second water pump is adjusted to a fourth target power, and the power difference between the third target power and the first target power is greater than or equal to the power difference between the fourth target power and the second target power.

9. The method according to claim 1, wherein: When the pool cleaning robot moves to the pool wall of the pool, before starting the second water pump of the pool cleaning robot, the method further includes: In the case where the pool cleaning robot includes a collision detection unit, determining whether the pool cleaning robot moves to the wall of the pool by means of the collision detection unit; Alternatively, in the case where the pool cleaning robot includes a sound wave transceiver unit, controlling the sound wave transceiver unit to transmit a sound wave signal in the first direction; determining whether the pool cleaning robot has moved to the pool wall of the pool based on the first echo signal received by the sound wave transceiver unit and the sound wave signal; Alternatively, in the case where the pool cleaning robot includes an image acquisition unit, controlling the image acquisition unit to acquire an image in the first direction; and determining whether the pool cleaning robot moves to the pool wall of the pool based on the image; Alternatively, when the pool cleaning robot includes a radar, the radar is controlled to transmit a detection signal in the first direction; and based on a second echo signal received by the radar and the detection signal, it is determined whether the pool cleaning robot has moved to the wall of the pool.

10. The method according to claim 9, wherein: The step of determining whether the pool cleaning robot moves to the pool wall of the pool by the collision detection unit comprises: Determine the collision parameters collected by the collision detection unit; if the collision parameters meet the preset collision conditions, determine that the pool cleaning robot moves to the pool wall of the pool; if the collision parameters do not meet the preset collision conditions, determine that the pool cleaning robot does not move to the pool wall of the pool; The step of determining whether the pool cleaning robot moves to the pool wall of the pool based on the first echo signal received by the sound wave transceiver unit and the sound wave signal comprises: Determine the distance between the pool cleaning robot and the pool wall based on the time difference between the first echo signal received by the sound wave transceiver unit and the sound wave signal; determine whether the pool cleaning robot has moved to the pool wall based on the distance between the pool cleaning robot and the pool wall; The step of determining, based on the image, whether the pool cleaning robot moves to the pool wall of the pool comprises: Recognize the image to determine the distance between the pool cleaning robot and the pool wall; if the distance is greater than or equal to a preset distance, determine that the pool cleaning robot has not moved to the pool wall of the pool; if the distance is less than the preset distance, determine that the pool cleaning robot has moved to the pool wall of the pool; The step of determining whether the pool cleaning robot moves to the pool wall of the pool based on the second echo signal received by the radar and the detection signal comprises: Based on the time difference between the second echo signal received by the radar and the detection signal, the distance between the pool cleaning robot and the pool wall is determined; based on the distance between the pool cleaning robot and the pool wall, it is determined whether the pool cleaning robot has moved to the pool wall of the pool.

11. The method according to claim 1, wherein: After adjusting the power of the first water pump and the second water pump, the method further includes: When the pool cleaning robot moves in the second direction, the power of the first water pump is increased and / or the power of the second water pump is decreased.

12. The method according to claim 1, wherein: After adjusting the power of the first water pump and the second water pump, the method further includes: After a second preset time, turning off the first water pump and maintaining the power of the second water pump unchanged, so that the pool cleaning robot moves in the second direction; Alternatively, after the second preset time period, the first water pump is turned off and the power of the second water pump is increased so that the pool cleaning robot moves in the second direction; Alternatively, the first water pump and the second water pump are turned off after the second preset time period, and the second water pump is started after a third preset time period, so that the pool cleaning robot moves in the second direction.

13. A control device for a pool cleaning robot, the device comprising: a first starting module, used to start a first water pump of the pool cleaning robot, so that the pool cleaning robot moves in a first direction at the bottom of the pool, the first water pump is used to pump liquid from a sewage suction port of the pool cleaning robot to a first water outlet of the pool cleaning robot, the first water outlet is oriented in a second direction, the first direction and the second direction are opposite directions, and the sewage suction port is located at the bottom of the pool cleaning robot; a second starting module, configured to start a second water pump of the pool cleaning robot to increase the flow rate of the liquid at the sewage suction port when the pool cleaning robot moves to the pool wall of the pool, wherein the second water pump is configured to pump the liquid from the sewage suction port to a second water outlet of the pool cleaning robot, and the second water outlet is oriented in the first direction; The power adjustment module is used to adjust the power of the first water pump and the second water pump so that the pool cleaning robot maintains contact with the pool wall.

14. A pool cleaning robot, comprising one or more processors and one or more memories, wherein at least one computer program is stored in the one or more memories, and the computer program is loaded and executed by the one or more processors to implement the control method of the pool cleaning robot according to any one of claims 1 to claim 12.

15. A computer-readable storage medium, wherein at least one computer program is stored in the computer-readable storage medium, and the computer program is loaded and executed by a processor to implement the control method of the pool cleaning robot according to any one of claims 1 to claim 12.

Images