Out-of-water detection method and system for robotic pool cleaner, and medium

Abstract

An out-of-water detection method and system for a robotic pool cleaner, and a medium. The out-of-water detection method comprises: when a first out-of-water detection probe comes out of water, controlling the robotic pool cleaner to stop operating for a first preset period of time, and recording an attitude angle θ1 of the robotic pool cleaner at the time (S10); acquiring the state of a second out-of-water detection probe (S20); if the second out-of-water detection probe is in an on state, controlling the robotic pool cleaner to continue to operate (S30); if the second out-of-water detection probe is not in the on state, controlling the robotic pool cleaner to continue to remain stopped for a second preset period of time, and recording an attitude angle θ2 of the robotic pool cleaner at the time (S40); comparing the attitude angle θ2 with the attitude angle θ1 (S401); determining an operating state of the robotic pool cleaner on the basis of the change of the attitude angle θ2 relative to the attitude angle θ1 (S402); and on the basis of the operating state, controlling the robotic pool cleaner to continue to operate or remain stopped (S403). According to the out-of-water detection method, an out-of-water state of a robotic pool cleaner can be determined to analyze whether the out-of-water state is caused by intentional removal or accidental departure from water, thereby reducing the misjudgment rate.

Description

A method and system for detecting the exit of a swimming pool cleaning robot and a medium TECHNICAL FIELD

[0001] The present application relates to the technical field of robots, in particular to a method and system for detecting the exit of a swimming pool cleaning robot and a medium. BACKGROUND

[0002] A swimming pool cleaning robot is a household-level consumer robot, which is used to clean a swimming pool and has similar functions to a floor cleaning robot. Unlike a floor cleaning robot, the swimming pool cleaning robot is applied underwater and needs to work in a swimming pool. There has been a pain point in cleaning a swimming pool, that is, manual cleaning is tedious and time-consuming. The industry has generally started to use machines to clean swimming pools. Many companies are researching path-related algorithms to make the machine clean the swimming pool according to the set route to achieve higher cleaning efficiency.

[0003] The current swimming pool cleaning robot has the problems of misjudgment, missed judgment or insensitivity in the method for detecting the exit. For example, the robot is still in the running state after entering the water, or the robot accidentally interrupts the work after accidentally driving out of the water.

[0004] SUMMARY

[0005] The main purpose of the present application is to provide a method for detecting the exit of a swimming pool cleaning robot, which aims to accurately determine the exit state of the swimming pool cleaning robot and analyze whether the exit is caused by human moving or accidental driving out of the water to reduce the misjudgment rate.

[0006] To achieve the above purpose, the present application provides a method for detecting the exit of a swimming pool cleaning robot, wherein the top of the swimming pool cleaning robot is provided with a first exit detection probe, the bottom of the swimming pool cleaning robot is provided with a second exit detection probe, and the inside of the swimming pool cleaning robot is provided with a gyroscope sensor for detecting the three-axis attitude angle of the swimming pool cleaning robot. The method for detecting the exit of the swimming pool cleaning robot comprises the following steps:

[0007] Step S10, when the first exit detection probe exits, the swimming pool cleaning robot is controlled to stop running for a first preset time, and the attitude angle θ1 of the swimming pool cleaning robot at this time is recorded;

[0008] Step S20, the state of the second exit detection probe is acquired;

[0009] Step S30, if the second exit detection probe is in the on state, the swimming pool cleaning robot is controlled to continue running;

[0010] Step S40, if the second water outlet detection probe is not in the on state, the swimming robot is controlled to keep stopping running for a second preset time, and the attitude angle θ2 of the pool cleaning robot at this time is recorded.

[0011] Step S401, the attitude angle θ2 is compared with the attitude angle θ1.

[0012] Step S402, based on the change size of the attitude angle θ2 relative to the attitude angle θ1, the running state of the pool cleaning robot is judged.

[0013] S403, based on the running state, the pool cleaning robot is controlled to continue running or stop running.

[0014] The further technical scheme of the application is that the running state of the pool cleaning robot is judged based on the change size of the attitude angle θ2 relative to the attitude angle θ1.

[0015] Step S4021, if the change of the attitude angle θ2 relative to the attitude angle θ1 is greater than a preset threshold, the running state of the pool cleaning robot is accidental stop running.

[0016] Step S4022, if the change of the attitude angle θ2 relative to the attitude angle θ1 is less than or equal to a preset threshold, the running state of the pool cleaning robot is accidental driving off the water surface.

[0017] The further technical scheme of the application is that the step S30 further includes:

[0018] Step S301, the pool cleaning robot is controlled to execute a retreat program to retreat into the water for subsequent work.

[0019] The further technical scheme of the application is that the step S403 includes:

[0020] Step S4031, if the running state of the pool cleaning robot is accidental stop running, the pool cleaning robot is controlled to keep the stop running state.

[0021] The further technical scheme of the application is that the step S403 includes:

[0022] Step S4032, if the running state of the pool cleaning robot is accidental driving off the water surface, the pool cleaning robot is controlled to execute a retreat program to return to the water for subsequent work.

[0023] To achieve the above object, the application further provides a swimming pool cleaning robot water-out detection system, which comprises a first water-out detection probe arranged on the top of the swimming pool cleaning robot, a second water-out detection probe arranged on the bottom of the swimming pool cleaning robot, and a gyroscope sensor arranged inside the swimming pool cleaning robot, and further comprises a memory, a processor and a swimming pool cleaning robot water-out detection program stored in the processor, wherein the swimming pool cleaning robot water-out detection program performs the following steps when executed by the processor:

[0024] When the first water-out detection probe is out of water, the swimming pool cleaning robot is controlled to stop running for a first preset time, and the attitude angle θ1 of the swimming pool cleaning robot at this time is recorded;

[0025] The on-off state of the second water-out detection probe is acquired;

[0026] If the second water-out detection probe is in the on-off state, the swimming pool cleaning robot is controlled to continue running;

[0027] If the second water-out detection probe is not in the on-off state, the swimming pool robot is controlled to keep stopping running for a second preset time, and the attitude angle θ2 of the swimming pool cleaning robot at this time is recorded;

[0028] The attitude angle θ2 is compared with the attitude angle θ1;

[0029] Based on the change of the attitude angle θ2 relative to the attitude angle θ1, the running state of the swimming pool cleaning robot is determined;

[0030] Based on the running state, the swimming pool cleaning robot is controlled to continue running or stop running.

[0031] The further technical solution of the application is that the swimming pool cleaning robot water-out detection program executed by the processor further performs the following steps:

[0032] If the change of the attitude angle θ2 relative to the attitude angle θ1 is greater than a preset threshold, the running state of the swimming pool cleaning robot is accidental stop running;

[0033] If the change of the attitude angle θ2 relative to the attitude angle θ1 is less than or equal to the preset threshold, it is determined that the running state of the swimming pool cleaning robot is accidental running off the water surface.

[0034] The further technical solution of the application is that the step of controlling the swimming pool cleaning robot to continue running if the second water-out detection probe is in the on-off state further comprises the following steps:

[0035] Control the swimming pool cleaning robot to execute a return program to return to the water for subsequent work.

[0036] The further technical solution of the present application is that the step of controlling the swimming pool cleaning robot to continue running or stop running based on the running state further comprises the following steps:

[0037] If the running state of the swimming pool cleaning robot is accidental stop running, the swimming pool cleaning robot is controlled to remain in the stop running state.

[0038] To achieve the above-mentioned purpose, the present application further provides a computer readable storage medium storing a swimming pool cleaning robot water exit detection program, which is called by a processor to execute the steps of the method as described above.

[0039] The swimming pool cleaning robot water exit detection method, system and medium have the following advantages:

[0040] The present application has the following advantages: the swimming pool cleaning robot is controlled to stop running for a first preset time when the first water exit detection probe exits the water, and the attitude angle θ1 of the swimming pool cleaning robot at this time is recorded; the conduction state of the second water exit detection probe is obtained; if the second water exit detection probe is in the conduction state, the swimming pool cleaning robot is controlled to continue running; if the second water exit detection probe is not in the conduction state, the swimming robot is controlled to remain in the stop running state for a second preset time, and the attitude angle θ2 of the swimming pool cleaning robot at this time is recorded; the attitude angle θ2 and the attitude angle θ1 are compared, the running state of the swimming pool cleaning robot is judged based on the change size of the attitude angle θ2 relative to the attitude angle θ1, and the swimming pool cleaning robot is controlled to continue running or stop running based on the running state, which can accurately judge the water exit state of the swimming pool cleaning robot, analyze the cause of the water exit, and reduce the misjudgment rate. BRIEF DESCRIPTION OF DRAWINGS

[0041] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings in the following description are only some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained from the structures shown in the drawings without creative labor.

[0042] Fig. 1 is a flowchart of the swimming pool cleaning robot water exit detection method according to the first embodiment of the present application;

[0043] Fig. 2 is a structural diagram related to the swimming pool cleaning robot water exit detection method according to the present application;

[0044] Fig. 3 is a flowchart of a second embodiment of the water exit detection method of the swimming pool cleaning robot according to the present application;

[0045] Fig. 4 is a flowchart of a third embodiment of the water exit detection method of the swimming pool cleaning robot according to the present application.

[0046] The implementation, functional features and advantages of the present application will be further described with reference to the embodiments and the accompanying drawings. DETAILED DESCRIPTION

[0047] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application.

[0048] In view of the fact that the current swimming pool cleaning robots have the phenomenon of misjudgment, missed judgment or insensitivity in water exit detection, the present application proposes a solution.

[0049] Specifically, the present application proposes a water exit detection method for a swimming pool cleaning robot. The technical solution adopted by the present application is mainly to determine which water exit state the swimming pool cleaning robot is in by means of a gyroscope sensor and two groups of water exit detection probes arranged on the swimming pool cleaning robot. If the swimming pool cleaning robot accidentally drives off the water surface, the swimming pool cleaning robot is controlled to perform a return program to return to the water to continue the remaining work. If the swimming pool cleaning robot accidentally stops running, the swimming pool cleaning robot is controlled to remain in the stopped running state.

[0050] Specifically, the top of the swimming pool cleaning robot in the present application is provided with a first water exit detection probe, and the bottom of the swimming pool cleaning robot is provided with a second water exit detection probe. When the first water exit detection probe and the second water exit detection probe are below the water surface, they are in a conduction state. When the first water exit detection probe and the second water exit detection probe leave the water surface, they are not in a conduction state.

[0051] The swimming pool cleaning robot is internally provided with a gyroscope sensor for detecting the three-axis attitude angle of the swimming pool cleaning robot.

[0052] Please refer to Fig. 1. The first embodiment of the water exit detection method of the swimming pool cleaning robot according to the present application includes the following steps:

[0053] Step S10: When the first water exit detection probe exits the water, the swimming pool cleaning robot is controlled to stop running for a first preset time, and the attitude angle θ1 of the swimming pool cleaning robot at this time is recorded.

[0054] When the first water-out detection probe is out of water and is not in the conducting state, the pool cleaning robot can be accidentally driven out of water or can be accidentally stopped running. Therefore, the embodiment controls the pool cleaning robot to stop running for a first preset time when the first water-out detection probe is out of water.

[0055] In addition, the embodiment considers that the change in the attitude angle is obviously different when the pool cleaning robot is accidentally driven out of water and is accidentally stopped running. In order to further accurately determine whether the pool cleaning robot is accidentally driven out of water or is accidentally stopped running, the embodiment records the attitude angle θ1 of the pool cleaning robot at this time while controlling the pool cleaning robot to stop running for a first preset time.

[0056] In step S20, whether the second water-out detection probe is in the conducting state is acquired.

[0057] In the embodiment, if the second water-out detection probe is in the conducting state, it indicates that the second water-out detection probe is below the water surface. If the second water-out detection probe is not in the conducting state, it indicates that the second water-out detection probe is out of water.

[0058] In step S30, if the second water-out detection probe is in the conducting state, the pool cleaning robot is controlled to continue running.

[0059] The second water-out detection probe being in the conducting state indicates that the second water-out detection probe is below the water surface. When the first water-out detection probe is out of water and the second water-out detection probe is still in the conducting state, it can be determined that the pool cleaning robot is accidentally driven out of water. As shown in FIG. 2, when the bottom of the pool is a slope, the pool cleaning robot can be driven up along the slope, and then the first water-out detection probe can be out of water and the second water-out detection probe can be below the water surface. At this time, the pool cleaning robot is accidentally driven out of water.

[0060] In step S40, if the second water-out detection probe is not in the conducting state, the pool cleaning robot is controlled to stop running for a second preset time, and the attitude angle θ2 of the pool cleaning robot at this time is recorded.

[0061] The second water-out detection probe not being in the conducting state indicates that the second water-out detection probe is out of water. At this time, the pool cleaning robot can be accidentally driven out of water or can be accidentally stopped running. Therefore, when the second water-out detection probe is not in the conducting state, the pool cleaning robot is controlled to stop running for a second preset time, and the attitude angle θ2 of the pool cleaning robot at this time is recorded, so as to subsequently determine whether the pool cleaning robot is accidentally driven out of water or is accidentally stopped running according to the change in the attitude angle.

[0062] In step S401, the attitude angle θ2 is compared with the attitude angle θ1.

[0063] Step S402, judging the running state of the pool cleaning robot based on the change size of the attitude angle θ2 relative to the attitude angle θ1.

[0064] Step S403, controlling the pool cleaning robot to continue running or stop running based on the running state of the pool cleaning robot.

[0065] The change size of the attitude angle is obviously different when the pool cleaning robot accidentally drives off the water surface and accidentally stops running, so the embodiment can judge whether the pool cleaning robot accidentally drives off the water surface or accidentally stops running according to the change size of the attitude angle θ2 relative to the attitude angle θ1. For example, when the change of the attitude angle θ2 relative to the attitude angle θ1 is obvious, it can be determined that the pool cleaning robot is accidentally stopped by a person, and when the change of the attitude angle θ2 relative to the attitude angle θ1 is not obvious, it can be determined that the pool cleaning robot accidentally drives off the water surface.

[0066] The embodiment through the above technical solution, when the first water detection probe is out of water, the pool cleaning robot is controlled to stop running for a first preset time, and the attitude angle θ1 of the pool cleaning robot at this time is recorded; the second water detection probe is in a conducting state; if the second water detection probe is in a conducting state, the pool cleaning robot is controlled to continue running; if the second water detection probe is not in a conducting state, the pool cleaning robot is controlled to keep stopping running for a second preset time, and the attitude angle θ2 of the pool cleaning robot at this time is recorded; the attitude angle θ2 is compared with the attitude angle θ1, the running state of the pool cleaning robot is judged based on the change size of the attitude angle θ2 relative to the attitude angle θ1, and the pool cleaning robot is controlled to continue running or stop running based on the running state. The out-of-water state of the pool cleaning robot can be accurately judged, the reason for the out-of-water is analyzed to be moved by a person or accidentally driven off the water area, and the misjudgment rate is reduced.

[0067] As shown in FIG. 3, based on the first embodiment shown in FIG. 1, a second embodiment of the pool cleaning robot out-of-water detection method of the application is proposed.

[0068] The difference between the embodiment and the first embodiment shown in FIG. 1 is that in the embodiment, step S402 includes:

[0069] Step S4021, if the change of the attitude angle θ2 relative to the attitude angle θ1 is greater than a preset threshold, the running state of the pool cleaning robot is accidental stop running.

[0070] Step S4022, if the change of the attitude angle θ2 relative to the attitude angle θ1 is less than or equal to a preset threshold, the running state of the pool cleaning robot is accidental driving off the water surface.

[0071] In the embodiment, the preset threshold value can be set according to actual experience value, for example, set to 15 degrees, that is, when the change of the posture angle θ2 relative to the posture angle θ1 is greater than 15 degrees, the running state of the pool cleaning robot is accidental stop running, and when the change of the posture angle θ2 relative to the posture angle θ1 is greater than 15 degrees, the running state of the pool cleaning robot is accidental driving off the water surface.

[0072] Further, referring to FIG. 4, based on the second embodiment shown in FIG. 3, a third embodiment of the pool cleaning robot water detection method of the application is proposed, and the difference between the third embodiment and the second embodiment shown in FIG. 3 is that the third embodiment further includes the following steps after step S30:

[0073] Step S301: controlling the pool cleaning robot to execute a retreat program to retreat into the water for subsequent work.

[0074] Step S403 includes:

[0075] Step S4031: if the running state of the pool cleaning robot is accidental stop running, controlling the pool cleaning robot to keep the stop running state.

[0076] It should be noted that in the embodiment, after the running state of the pool cleaning robot is accidental stop running and the pool cleaning robot is controlled to keep the stop running state, the pool cleaning robot can be controlled to execute a retreat program to return to the water for subsequent work after the accident is eliminated.

[0077] Step S4032: if the running state of the pool cleaning robot is accidental driving off the water surface, controlling the pool cleaning robot to execute a retreat program to return to the water for subsequent work.

[0078] The pool cleaning robot water detection method of the application has the following beneficial effects:

[0079] The application has the following technical effects. In the first water detection probe, the pool cleaning robot is controlled to stop running for a first preset time, and the posture angle θ1 of the pool cleaning robot at this time is recorded. It is judged whether the second water detection probe is in the on state. If the second water detection probe is still in the on state, it is determined that the pool cleaning robot is accidentally driven off the water surface. If the second water detection probe is not in the on state, the pool cleaning robot is controlled to continue to keep stop running for a second preset time, and the posture angle θ2 of the pool cleaning robot at this time is recorded. The posture angle θ2 and the posture angle θ1 are compared, and according to the change of the posture angle θ2 relative to the posture angle θ1, it is judged whether the pool cleaning robot is accidentally driven off the water surface or accidentally stopped running. The pool cleaning robot water detection method can accurately judge the water running state of the pool cleaning robot, analyze the water running reason, and reduce the misjudgment rate.

[0080] To achieve the above object, the application further provides a pool cleaning robot water-out detection system, which comprises a first water-out detection probe arranged on the top of the pool cleaning robot, a second water-out detection probe arranged on the bottom of the pool cleaning robot, and a gyroscope sensor arranged inside the pool cleaning robot, and further comprises a memory, a processor and a pool cleaning robot water-out detection program stored in the processor, wherein the pool cleaning robot water-out detection program is executed by the processor to perform the following steps:

[0081] When the first water-out detection probe is out of water, the pool cleaning robot is controlled to stop running for a first preset time, and the attitude angle θ1 of the pool cleaning robot at this time is recorded;

[0082] The on-off state of the second water-out detection probe is acquired;

[0083] If the second water-out detection probe is in the on-off state, the pool cleaning robot is controlled to continue running;

[0084] If the second water-out detection probe is not in the on-off state, the pool cleaning robot is controlled to keep stopping running for a second preset time, and the attitude angle θ2 of the pool cleaning robot at this time is recorded;

[0085] The attitude angle θ2 is compared with the attitude angle θ1;

[0086] Based on the change of the attitude angle θ2 relative to the attitude angle θ1, the running state of the pool cleaning robot is determined;

[0087] Based on the running state, the pool cleaning robot is controlled to continue running or stop running.

[0088] Further, when the pool cleaning robot water-out detection program is executed by the processor, the following steps are further performed:

[0089] If the change of the attitude angle θ2 relative to the attitude angle θ1 is greater than a preset threshold, the running state of the pool cleaning robot is accidental stop running;

[0090] If the change of the attitude angle θ2 relative to the attitude angle θ1 is less than or equal to the preset threshold, the running state of the pool cleaning robot is accidental driving off the water surface.

[0091] Further, if the second water-out detection probe is in the on-off state, the step of controlling the pool cleaning robot to continue running further comprises the following steps:

[0092] The pool cleaning robot is controlled to perform a retreat program to retreat into the water for subsequent work.

[0093] Further, based on the running state, the step of controlling the swimming pool cleaning robot to continue running or stop running further comprises the steps of:

[0094] If the running state of the swimming pool cleaning robot is accidental stop running, the swimming pool cleaning robot is controlled to keep the stop running state.

[0095] The swimming pool cleaning robot water-out detection system has the following advantages:

[0096] The swimming pool cleaning robot water-out detection system has the following advantages:

[0097] To achieve the above object, the application further provides a computer readable storage medium, which stores a swimming pool cleaning robot water-out detection program.

[0098] The above description is only the preferred embodiment of the application, and does not limit the patent scope of the application. Any equivalent structural transformation, direct / indirect application in other related technical fields, or the like within the concept of the application, and the contents of the specification and drawings are included in the patent protection scope of the application.

Claims

1. A method of detecting egress of a swimming pool cleaning robot, characterized by, The top of the swimming pool cleaning robot is provided with a first water outlet detection probe, the bottom of the swimming pool cleaning robot is provided with a second water outlet detection probe, the inside of the swimming pool cleaning robot is provided with a gyroscope sensor for detecting the three-axis attitude angle of the swimming pool cleaning robot, and the swimming pool cleaning robot water outlet detection method comprises the following steps: Step S10, when the first water outlet detection probe is out of water, the swimming pool cleaning robot is controlled to stop running for a first preset time, and the attitude angle θ1 of the swimming pool cleaning robot at this time is recorded; Step S20, the state of the second water outlet detection probe is acquired; Step S30, if the second water outlet detection probe is in the on state, the swimming pool cleaning robot is controlled to continue running; Step S40, if the second water outlet detection probe is not in the on state, the swimming pool robot is controlled to keep stopping running for a second preset time, and the attitude angle θ2 of the swimming pool cleaning robot at this time is recorded; Step S401, the attitude angle θ2 is compared with the attitude angle θ1; Step S402, based on the change size of the attitude angle θ2 relative to the attitude angle θ1, the running state of the swimming pool cleaning robot is judged; Step S403, based on the running state, the swimming pool cleaning robot is controlled to continue running or stop running.

2. The pool cleaning robot water exit detection method of claim 1, wherein, The judgment of the running state of the swimming pool cleaning robot based on the change size of the attitude angle θ2 relative to the attitude angle θ1 comprises: Step S4021, if the change of the attitude angle θ2 relative to the attitude angle θ1 is greater than a preset threshold, the running state of the swimming pool cleaning robot is accidental stop running; Step S4022, if the change of the attitude angle θ2 relative to the attitude angle θ1 is less than or equal to a preset threshold, the running state of the swimming pool cleaning robot is accidental driving off the water surface.

3. The pool cleaning robot water exit detection method of claim 2, wherein, The step S30 further comprises: Step S301, the swimming pool cleaning robot is controlled to execute a retreat program to retreat into the water for subsequent work.

4. The pool cleaning robot water exit detection method of claim 2, wherein, The step S403 comprises: Step S4031, if the running state of the swimming pool cleaning robot is accidental stop running, the swimming pool cleaning robot is controlled to keep the stop running state.

5. The pool cleaning robot water exit detection method of claim 2, wherein, The step S403 comprises: Step S4032, if the running state of the swimming pool cleaning robot is accidental driving off the water surface, the swimming pool cleaning robot is controlled to execute a retreat program to return to the water for subsequent work.

6. A swimming pool cleaning robot water outlet detection system, the system comprising a first water outlet detection probe arranged on the top of the swimming pool cleaning robot, a second water outlet detection probe arranged on the bottom of the swimming pool cleaning robot, and a gyroscope sensor arranged inside the swimming pool cleaning robot, the system further comprising a memory, a processor and a swimming pool cleaning robot water outlet detection program stored on the processor, the swimming pool cleaning robot water outlet detection program being executed by the processor when the following steps are performed: controlling the swimming pool cleaning robot to stop running for a first preset time, and recording a posture angle θ1 of the swimming pool cleaning robot at this time; acquiring a conduction state of the second water-out detection probe; if the second water-out detection probe is in the conduction state, controlling the swimming pool cleaning robot to continue running; if the second water-out detection probe is not in the conduction state, controlling the swimming robot to keep stopping running for a second preset time, and recording a posture angle θ2 of the swimming pool cleaning robot at this time; comparing the posture angle θ2 with the posture angle θ1; judging a running state of the swimming pool cleaning robot based on a change of the posture angle θ2 relative to the posture angle θ1; controlling the swimming pool cleaning robot to continue running or stop running based on the running state.

7. The swimming pool cleaning robot water exit detection system of claim 6, wherein, The swimming pool cleaning robot water-out detection program executed by the processor further performs the following steps: if the change of the posture angle θ2 relative to the posture angle θ1 is greater than a preset threshold, the running state of the swimming pool cleaning robot is accidental stop running; if the change of the posture angle θ2 relative to the posture angle θ1 is less than or equal to the preset threshold, it is determined that the running state of the swimming pool cleaning robot is accidental driving off the water surface. The step of controlling the swimming pool cleaning robot to continue running if the second water-out detection probe is in the conduction state further comprises the following steps:

8. The swimming pool cleaning robot water exit detection system of claim 6, wherein, controlling the swimming pool cleaning robot to perform a retreat program to retreat into the water for subsequent work. The step of controlling the swimming pool cleaning robot to continue running or stop running based on the running state further comprises the following steps:

9. The swimming pool cleaning robot water exit detection system of claim 7, wherein, if the running state of the swimming pool cleaning robot is accidental stop running, controlling the swimming pool cleaning robot to keep in the stop running state. The computer readable storage medium stores a swimming pool cleaning robot water-out detection program, and the swimming pool cleaning robot water-out detection program, when called by a processor, performs the steps of the method of any one of claims 1 to 5.

10. A computer-readable storage medium, characterized in that, ​

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