Automatic pool cleaning apparatus and control method therefor

Abstract

Disclosed in the present application are an automatic pool cleaning apparatus and a control method therefor. The method comprises: monitoring the state of charge of a storage battery; when the state of charge of the storage battery is lower than a first state-of-charge threshold value, determining whether the current time is within a first time interval; if the current time is not within the first time interval, controlling an automatic pool cleaning apparatus to enter a first mode; and if the current time is within the first time interval, controlling the automatic pool cleaning apparatus to operate in a second mode, wherein in the second mode, the automatic pool cleaning apparatus stops traveling when a preset condition is met, such that a solar panel can charge the storage battery. The apparatus can execute the method. In the embodiments described in the present application, the operating mode of the cleaning apparatus is adjusted on the basis of a time interval, such that a solar panel is effectively utilized to charge a storage battery, thereby improving the operational endurance of the cleaning apparatus.

Description

Automatic Water Tank Cleaning Device and Control Method

[0001] This application claims priority to Chinese Patent Application No. 2025107259674, filed May 30, 2025; Chinese Patent Application No. 2025107766240, filed June 11, 2025; Chinese Patent Application No. 2025112067477, filed August 27, 2025; Chinese Patent Application No. 2025115738736, filed October 30, 2025; Chinese Patent Application No. 2025116464907, filed November 10, 2025; and Chinese Patent Application No. 2025118939277, filed December 16, 2025. The disclosures of the aforementioned Chinese patent applications are hereby incorporated herein by reference in their entirety as part of this application. Technical Field

[0002] This disclosure relates to the field of pool cleaning, specifically to an automatic pool cleaning device and its control method. Background Technology

[0003] As people's living standards improve, sinks are becoming increasingly common in daily life. This has led to a surge in the demand for sink cleaning. Consequently, the market has seen the emergence of numerous devices for sink cleaning. Existing automatic sink cleaning devices are primarily used to clean the bottom, side walls, and other areas requiring cleaning.

[0004] In some practical situations, the battery capacity of cleaning devices is limited, and they need to return to the base station to recharge when the power is insufficient during operation. Some cleaning devices are equipped with solar panels to increase their battery life. However, in reality, the effectiveness of solar power is not ideal. Summary of the Invention

[0005] According to one aspect of this disclosure, a control method for an automatic water tank cleaning device is provided. The automatic water tank cleaning device includes a battery and a solar panel; the solar panel is capable of supplying power to the battery. The control method includes: monitoring the battery's charge level; if the battery's charge level is lower than a first charge threshold, determining whether the current time is within a first time interval; wherein, if the current time is not within the first time interval, controlling the automatic water tank cleaning device to enter a first mode; if the current time is within the first time interval, controlling the automatic water tank cleaning device to operate in a second mode; wherein, in the second mode, the automatic water tank cleaning device stops moving when preset conditions are met, so that the solar panel can charge the battery.

[0006] According to a second aspect of this disclosure, a control method for an automatic water tank cleaning device is provided for cleaning a water tank. The control method includes: controlling the automatic water tank cleaning device to move and clean within the water tank; detecting the remaining power of the automatic water tank cleaning device; and controlling the automatic water tank cleaning device to switch from a first cleaning mode to a second cleaning mode based on the remaining power, wherein the first cleaning mode is different from the second cleaning mode.

[0007] According to a third aspect of this disclosure, a control method for an automatic water tank cleaning device is provided, comprising: acquiring a preset cleaning time period of the automatic water tank cleaning device; and controlling the automatic water tank cleaning device to perform water tank cleaning operations according to the preset cleaning time period.

[0008] According to a fourth aspect of this disclosure, a control method for an automatic water tank cleaning device is provided. The automatic water tank cleaning device includes a power acquisition module, which is capable of acquiring the current remaining power of the automatic water tank cleaning device. The control method includes: controlling the automatic water tank cleaning device to move and clean within a water tank; when the current remaining power is less than or equal to a first power threshold, acquiring a cleaning strategy based on the current remaining power and controlling the automatic water tank cleaning device to move according to the cleaning strategy; when the current remaining power is less than or equal to a second power threshold, controlling the automatic water tank cleaning device to return to a base station; wherein the first power threshold is greater than the second power threshold.

[0009] According to a fifth aspect of this disclosure, a method for controlling the charging of an automatic water tank cleaning device is provided. The automatic water tank cleaning device includes a solar cell. The charging method includes: acquiring an environmental image of the water tank using an image acquisition device; identifying, based on the environmental image, whether a rechargeable area exists in the water tank; if so, controlling the automatic water tank cleaning device to move from its current position to the rechargeable area, and controlling the solar cell to perform a charging operation in the rechargeable area.

[0010] According to a sixth aspect of this disclosure, a control method for an automatic pool cleaning device is provided, wherein the automatic pool cleaning device includes a solar cell and a storage battery, the solar cell being capable of supplying power to the storage battery, the method comprising: acquiring the charge of the storage battery during the movement of the automatic cleaning device; if the charge is lower than a first threshold, determining whether the light intensity at the current location of the solar cell meets the charging conditions of the solar cell; if the charging conditions are met, controlling the automatic cleaning device to stop moving, so that the solar cell charges the storage battery.

[0011] According to a seventh aspect of this disclosure, a method for cleaning the waterline of an automatic water tank cleaning device is provided. The automatic water tank cleaning device is configured with a first movement mode and a second movement mode, and the automatic water tank cleaning device performs a waterline cleaning task in either the first movement mode or the second movement mode. The method includes: during the waterline cleaning task performed by the automatic water tank cleaning device, detecting whether a preset condition is met; if the preset condition is met, controlling the automatic water tank cleaning device to switch the current movement mode to a target movement mode, wherein the current movement mode is one of the first movement mode and the second movement mode, and the target movement mode is the other.

[0012] According to the eighth aspect of this disclosure, an automatic water tank cleaning device is provided, which is capable of performing any of the control methods described above.

[0013] According to a ninth aspect of this disclosure, a non-volatile computer storage medium is provided, wherein a computer program is stored therein, and the computer program, when executed by a processor, implements the method described in any of the preceding claims. Attached Figure Description

[0014] Figure 1 is a schematic diagram of the automatic water tank cleaning device of this application.

[0015] Figure 2 is a schematic flowchart of the control method of the automatic water tank cleaning device of this application;

[0016] Figure 3 is a schematic flowchart of the control method of the automatic water tank cleaning device of this application.

[0017] Figure 4 is a flowchart of the control method of the automatic water tank cleaning device of this application;

[0018] Figure 5 is a schematic diagram of the automatic water tank cleaning device of this application.

[0019] Figure 6 is a flowchart of a control method for an automatic water tank cleaning device provided in this application;

[0020] Figure 7 is a schematic diagram of an interactive interface provided in this application;

[0021] Figure 8 is a flowchart of the control method of the automatic water tank cleaning device of this application;

[0022] Figure 9 is a schematic diagram of the automatic water tank cleaning device of this application.

[0023] Figure 10 is a schematic diagram of the cleaning path of the automatic water tank cleaning device of this application;

[0024] Figure 11 is a flowchart of the method for charging the battery of the automatic water tank cleaning device of this application;

[0025] Figures 12A and 12B are schematic diagrams showing the automatic pool cleaning device of this application moving to the rechargeable area;

[0026] Figure 13 is a schematic flowchart of the control method of the automatic water tank cleaning device of this application.

[0027] Figure 14 is a schematic diagram of the automatic water tank cleaning device of this application.

[0028] Figure 15 is a structural schematic diagram of the automatic water tank cleaning device of this application.

[0029] Figure 16 is a schematic diagram of the control electronic equipment of the automatic water tank cleaning device of this application;

[0030] Figure 17 is a schematic diagram of the automatic water tank cleaning device of this application.

[0031] Figure 18 is a schematic diagram of the waterline cleaning method of the automatic water tank cleaning device of this application;

[0032] Figure 19 is a schematic flowchart of the waterline cleaning method of the automatic water tank cleaning device of this application; and

[0033] Figure 20 is a schematic flowchart of the waterline cleaning method of the automatic water tank cleaning device provided in another embodiment of this application.

[0034] Explanation of reference numerals in the attached figures

[0035] 10. Automatic pool cleaning device; 11. Solar panel; 210. Control system; 211. Power detection module; 212. Mode switching module; 201. Power acquisition module; 30. Base station; 2. Solar cell; 3. Flexible cord; 900. Electronic equipment; 910. Central processing unit; 920. Storage medium; 921. Operating system; 922. Data; 923. Application program; 930. Memory; 940. Input / output interface; 950. Wired or wireless network interface; 960. Power supply; 110. Body; 120. Cleaning component; 130. Drive module; 140. Sensing component. Embodiments of the present invention

[0036] To make the objectives, technical solutions, and advantages of this application clearer, the technical solutions of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0037] This application provides an automatic pool cleaning device 10 and its control method. The automatic pool cleaning device 10 and its control method can be used to clean a pool. The pool is, for example, a pool-shaped structure. The pool-shaped structure can be a swimming pool, a water storage tank, a spa pool, a water storage tank, a water storage trough, etc. The automatic pool cleaning device can be a device such as an automatic cleaning device or a pool cleaning robot, capable of cleaning the pool-shaped structure. This application does not limit the specific presentation of the automatic pool cleaning device or the pool-shaped structure, as long as the principle of this application is achieved. In the following description, unless otherwise specified, a robot will be used as an example of the automatic pool cleaning device, and a swimming pool will be used as an example of a pool or pool-shaped structure. In the following description, unless otherwise specified, the terms "pool bottom," "pool bottom surface," and "bottom" all refer to the bottom surface of the pool.

[0038] The following will be explained with reference to Figures 1-3.

[0039] As shown in Figure 1, the automatic pool cleaning device 10 may include, for example, a battery and a solar panel 11. That is, the automatic pool cleaning device 10 may be a robot carrying a solar panel, and the solar panel is mounted on the robot's body. The automatic pool cleaning device provided in this application may also have the solar panel separately mounted from the robot's body. For example, the solar panel may float on the water surface and be connected to the underwater robot via a cable to charge the robot. The solar panel of the automatic pool cleaning device provided in this application is not limited to the above-described mounting method; any arrangement that achieves the technical principles of this application is acceptable.

[0040] The solar panel 11 can power the battery. The battery can be, for example, a lithium iron phosphate battery or a ternary lithium battery, providing the power required for the automatic water cleaning device 10 to move and operate. The solar panel 11 can use solar energy to charge the battery, thereby increasing the robot's endurance. The solar panel 11 can be, for example, a monocrystalline silicon solar panel, a polycrystalline silicon solar panel, or a flexible thin-film solar panel. The solar panel 11 can be encapsulated as a waterproof module integrated into the robot's back, or it can be mounted on a support floating on the water surface and electrically connected to the battery via flexible cables. This application does not limit the specific presentation of the battery and solar panel, as long as the principle of this application is achieved.

[0041] For example, when cleaning a pool, robot 10 can include multiple cleaning operation modes, such as a pool bottom cleaning mode, a pool wall cleaning mode, and a water surface cleaning mode. The pool bottom cleaning mode can include a pool bottom edge cleaning mode and a pool bottom surface cleaning mode; the water surface cleaning mode can include a water surface edge cleaning mode and a random water surface cleaning mode. In the pool wall cleaning mode, the robot uses the suction principle of a water pump to adhere to the side wall, thereby cleaning the pool wall.

[0042] When the battery is low, the robot charges it using solar panels to extend its range. The charging efficiency of the solar panels is affected by sunlight conditions. Therefore, choosing the right time to charge is crucial for optimal charging. For example, if the solar panels are used to charge the battery at night, they are unlikely to receive sufficient sunlight. Similarly, if used on a cloudy day, or if the solar panels are located in the shade of buildings, trees, or pool walls, they will not receive enough sunlight. In these situations, the solar panels will be almost useless for charging and extending the battery's range. Therefore, in such cases, the time the robot spends searching for sunlight can be reduced, or even the robot can be kept out of charging mode altogether, making the robot's charging and operational logic more rational and efficient.

[0043] The automatic water tank cleaning device and its control method 1200 of this application will be described below with reference to the accompanying drawings. Figure 2 shows a schematic flowchart of the control method of the automatic water tank cleaning device provided in this application. As shown in Figure 2, the control method 1200 of the automatic water tank cleaning device provided in this application includes steps 1201 to 1204. Steps 1201 to 1203 will be described in detail below with reference to specific embodiments.

[0044] First, proceed to step 1201. In step 1201, monitor the battery's charge level.

[0045] Understandably, the battery provides the power required for the robot 10 to walk and / or perform cleaning operations. As the automatic pool cleaning device walks and / or performs cleaning operations, the battery's power gradually decreases. Monitoring the battery's power level can be done, for example, by monitoring the remaining battery power or by monitoring the power consumed by the robot from a fully charged state. Monitoring can be performed by referring to the battery percentage or by monitoring the battery's actual power level.

[0046] It should be noted that the above description of the battery is merely exemplary, and the battery protected by this application is not limited to the contents listed above. Those skilled in the art can select the battery power monitoring method according to the actual situation, as long as it can achieve the technical principle of this application.

[0047] Next, proceed to step 202. In step 202, if the battery charge is lower than a first charge threshold, determine whether the current time is within a first time interval.

[0048] It is understood that the first power threshold can be a threshold input by the user beforehand, or it can be determined by the automatic pool cleaning device based on power consumption efficiency, or it can be a power threshold preset by the automatic pool cleaning device at the factory. The first power threshold can vary depending on parameters such as the total capacity of the battery, the weight of the robot, and the power of the water pump carried by the robot. For example, the first power threshold can be 20% of the total battery capacity, or it can be 10Ah.

[0049] It should be noted that the automatic pool cleaning device 10 needs to retain sufficient power for ongoing maintenance operations. For example, these maintenance operations could include controlling the automatic pool cleaning device to return to the base station for charging, controlling the device to move to the nearest shore for easy retrieval by users, or controlling the device to move and seek sunlight to activate solar charging for the battery. Therefore, one purpose of setting the first power threshold is to ensure that the automatic pool cleaning device 10 retains a certain amount of remaining power for ongoing maintenance operations.

[0050] It should be noted that charging a battery via a solar panel typically requires the solar panel to receive certain sunlight conditions. In other words, the solar panel will only generate a charging current when the external sunlight conditions are met. In this application, unless otherwise specified, the external sunlight conditions required for the solar panel to generate a charging current are referred to as the "solar panel charging conditions." As mentioned above, to meet the solar panel charging conditions, weather conditions such as day-night cycles and cloudy days need to be considered. The automatic water tank cleaning device and control method of this application can adopt different control modes according to weather conditions such as day-night cycles and cloudy days, thereby optimizing the solar charging control strategy of the automatic water tank cleaning device. Therefore, it can be understood that the first time interval is used to distinguish whether the solar panel may charge the battery or whether the solar panel may receive sunlight. For example, within the first time interval, the robot may receive sufficient sunlight (e.g., during the daytime); outside the first time interval, the robot may not receive sufficient sunlight (e.g., during the nighttime). The first time interval will be further explained below with specific examples.

[0051] In step 202, the first time interval may be, for example, a user-defined first time interval; or, the first time interval may be a time interval from sunrise to sunset; or, the first time interval may be a time interval in which the light intensity in a predetermined area of ​​the pool meets the charging conditions of the solar panel.

[0052] For example, the first time interval can be a time interval where the light intensity is sufficient for the solar panel to charge the battery. For instance, based on user selection, the entire period from 8:00 AM to 6:00 PM local time, or a segment of that period, can be defined as the first time interval. Another example is that, based on the local season, the sunrise and sunset times can be obtained online, and the period from sunrise to sunset, or a segment thereof, can be defined as the first time interval. Yet another example is that, based on historical light intensity over a period of time at the location of the pool, a time period that may meet the charging conditions for the solar panel can be selected as the first time interval.

[0053] It should be noted that the first time interval is not a fixed time interval and can vary depending on the weather and season. For example, in summer, when sunlight intensity is high, the light intensity at dawn and / or dusk may be sufficient to charge the solar panels, so the first time interval can cover the entire period from dawn to dusk, such as 6:00 to 19:30. In winter, when sunlight intensity is low, the light intensity at dawn and / or dusk may not be sufficient to charge the solar panels, so the first time interval may be, for example, 7:20 to 17:40.

[0054] In step 202, before determining whether the current time is within the first time interval, if the automatic water tank cleaning device is connected to the network, the control method 1200 further includes: obtaining the current time through the network; and if the automatic water tank cleaning device is not connected to the network, the control method 1200 further includes: using the time of the real-time clock chip of the automatic water tank cleaning device as the current time.

[0055] It is understood that the network can be a local area network (LAN) or the Internet. Determining the current time based on the network time ensures that the time of the automatic cleaning device is consistent with the network. For example, the automatic pool cleaning device can be controlled to periodically or irregularly establish data exchange with a network server through its own communication module and obtain the current time from the network server. For example, the robot can send instructions to the network server through the communication module, and the network server will send back time data to the robot. The robot can determine the current time based on the time data fed back from the current network.

[0056] It is also understandable that if the automatic water tank cleaning device is not connected to the network and cannot obtain the current time through the network, the current time can be obtained from the real-time clock (RTC) chip of the automatic water tank cleaning device.

[0057] It should be noted that the current time is the actual basis for judging different situations, and it only needs to correspond to the first time interval. Therefore, time errors of the real-time clock chip are permissible when not connected to the network.

[0058] Next, proceed to step 1203. In step 1203, if the current time is not within the first time interval, control the automatic water tank cleaning device to enter the first mode.

[0059] It is understandable that if the current time is not within the first time interval, it means that the light intensity at the current time is unlikely to meet the charging conditions of the solar panel. For example, if the current time is nighttime and not within the first time interval, the light intensity at night is insufficient for the solar panel to charge the battery.

[0060] In step 1203, the first mode is either standby mode or low-power mode.

[0061] Understandably, the first mode corresponds to periods of insufficient light intensity, such as nighttime. In the first mode, the power consumption of the automatic pool cleaning device can be reduced to extend the battery life. Simultaneously, the noise of the automatic pool cleaning device is significantly reduced in the first mode, avoiding disturbance to the user's rest or sleep at night.

[0062] For example, the first mode can be a standby mode. In standby mode, the automatic cleaning device of the pool turns off high-power modules (such as walking drive modules, water pumps, etc.) to reduce power consumption, and keeps the communication module and some sensors so that they can quickly resume working state in response to wake-up commands (such as APP commands, timed task triggers, manual button start-up) (wake-up time is usually less than 5 seconds).

[0063] For example, the first mode could be a low-power mode. In low-power mode, the automatic water tank cleaning device maintains only the most basic circuit power (such as clock, minimal storage capacity), shutting down communication modules, sensors, drive modules, water pumps, etc., to achieve lower power consumption than in standby mode.

[0064] It is worth noting that in the first mode, the robot extends its working time by reducing power consumption. The descriptions of the standby mode and low-power mode above are merely exemplary, and the first mode protected by this application is not limited to the contents listed above. Those skilled in the art can selectively set the connotation of the first mode according to the actual situation, as long as it can achieve the technical principles of this application.

[0065] Next, proceed to step 1204. In step 1204, if the current time is within the first time interval, control the automatic water tank cleaning device to operate in the second mode. In the second mode, the automatic water tank cleaning device stops moving when preset conditions are met, so that the solar panel can charge the battery.

[0066] It is understandable that if the current time falls within the first time interval, the light intensity at the location of the solar panel at that time may meet the charging conditions for the solar panel. For example, if the current time is 12:00, within the first time interval (8:00 to 18:00), and the solar panel is within the sun's range with sufficient light intensity, then the charging conditions for the solar panel are met, allowing the robot to stop moving and charge the battery at its current location using the solar panel. If the location of the solar panel is unsuitable, the charging conditions for the solar panel will not be met.

[0067] For example, if the current time is 10:00, although it is within the first time interval, the solar panel is in the shadow of a building, and the light intensity at the current location is insufficient, thus failing to meet the charging conditions for the solar panel. Alternatively, the solar panel may be in the shadow of clouds, and the light intensity at the current location may also be insufficient, failing to meet the charging conditions for the solar panel. In this case, the robot can be controlled to operate in a second mode (i.e., the robot moves in a second mode), thereby allowing the robot to move out of the shadow area, or the robot can operate while (e.g., cleaning the bottom of a pool) to wait for the light intensity to increase (e.g., waiting for the clouds to disperse).

[0068] It is worth noting that the second mode corresponds to the situation where the current time is within the first time interval. This situation includes: the light intensity at the location of the solar panel meets the charging requirements; and the light intensity at the location of the solar panel does not meet the charging requirements. For example, during the first time interval, on a sunny day with no obstructions, while the automatic water cleaning device is operating in the second mode, the solar panel can charge the battery to increase the robot's battery life. For example, during the first time interval, on a cloudy day or with building shadows, the light intensity is insufficient when the solar panel is in the shaded area.

[0069] The control of the automatic pool cleaning device in the second mode includes controlling the movement of the automatic pool cleaning device. In other words, the second mode can be a robot's mobile cleaning mode, such as a pool bottom cleaning mode, a pool wall cleaning mode, or a water surface cleaning mode. By controlling the movement of the automatic pool cleaning device, the solar panels can be moved out of the shaded area and into an area with sufficient light intensity, thereby charging the battery.

[0070] It is worth noting that during the operation of the automatic pool cleaning device in the second mode, the automatic pool cleaning device can perform cleaning operations on the water surface or bottom.

[0071] Understandably, in the second mode, the automatic pool cleaning device stops moving to prepare for charging the solar panels or to charge the battery via the solar panels. When the automatic pool cleaning device is stopped, the posture and position of the solar panels are relatively stable, thus obtaining a relatively stable light intensity, allowing the solar panels to continuously generate charging current. The relatively stable light intensity means that the light intensity does not change or changes within an allowable range. A relatively stable light intensity ensures that the power of the solar panels charging the battery is relatively stable.

[0072] In step 1204, the preset conditions may include the light intensity at the current location of the solar panel meeting the charging conditions of the solar panel.

[0073] It is understood that the current location of the solar panel is where it can receive sunlight. If the light intensity at the current location of the solar panel is not lower than a preset threshold (e.g., 100W / m²), it is determined that the light intensity at the current location of the solar panel meets the charging conditions of the solar panel.

[0074] In step 1204, the control method further includes: in the second mode, determining whether the light intensity at the current location of the solar panel meets the charging conditions of the solar panel; if the charging conditions of the solar panel are met, controlling the automatic cleaning device to stop moving and charging the battery through the solar panel.

[0075] It is worth noting that, under the condition that the solar panel's charging conditions are met, the solar panel is already capable of charging the battery. Controlling the automatic cleaning device of the pool to stop moving can ensure that the charging efficiency of the solar panel to the battery is stable, as described above, and will not be repeated here.

[0076] In step 1204, the preset conditions include the automatic water tank cleaning device traveling for a first predetermined duration in the second mode.

[0077] It is understood that the automatic pool cleaning device, in the second mode, can move on the water surface, at the bottom of the pool, or against the pool wall. The mode of movement can be one or more of forward, backward, or turning. The path of movement can be a straight line or a curved path. When the automatic pool cleaning device is in the second mode, it can activate the cleaning module to clean the pool, or it can deactivate the cleaning module to save power.

[0078] It can also be understood that the first predetermined duration is the travel time of the automatic pool cleaning device. For example, the first predetermined duration can be a user-defined duration, such as 20 minutes. Alternatively, the first predetermined duration can also be determined based on the operating data of the automatic pool cleaning device. For instance, based on daily data or the robot's operational history data, if the automatic pool cleaning device can move out of the building's shadow after 25 minutes of travel, then the first predetermined duration can be determined to be 25 minutes.

[0079] It is worth noting that if the travel time of the automatic pool cleaning device meets the first predetermined time, it means that the automatic pool cleaning device has moved a relatively long distance in the pool, which helps the automatic pool cleaning device to move out of the shaded area mentioned above or to a position that meets the charging conditions of the solar panel.

[0080] In step 1204, if the automatic water tank cleaning device travels for a first predetermined duration in the second mode, the automatic water tank cleaning device is controlled to stop traveling; if the duration for which the automatic water tank cleaning device stops traveling meets a second predetermined duration, the automatic water tank cleaning device is controlled to run again in the second mode.

[0081] It is understandable that, on the one hand, during the period when the automatic pool cleaning device is not moving, the solar panel can charge the battery. During the second predetermined duration, for example, the solar panel can charge the battery with a preset amount of power. For example, assuming it takes 40 minutes for the solar panel to charge the battery to 30% while meeting the minimum light intensity requirement for charging, the second predetermined duration can be defined as, for example, 40 minutes. On the other hand, during the period when the automatic pool cleaning device is not moving, the current position of the solar panel may be in shadow, insufficient to charge the battery. It is understood that the shadow area may change (e.g., wind causing cloud shadows to move, changes in the sun's angle causing building shadows to move, etc.). If the duration of the automatic pool cleaning device's stoppage meets the second duration, the change in the shadow area may cause the current position of the solar panel to no longer be in shadow.

[0082] Therefore, by having the robot "progress for the first predetermined time," then "stop for the second predetermined time," and then "progress" again, and then "stop" again, repeating this process, the robot can utilize the limited remaining power in the battery to extend its working or standby time to a certain extent. This prevents the robot from working in the working mode (i.e., the second mode) until the battery is depleted or quickly depleted. Furthermore, due to the extended working or standby time, the amount of power the robot uses to charge the battery through the solar panel is likely to increase. This also helps the robot wait in the pool for the solar panel's charging conditions to be met. Once the solar panel's charging conditions are met, the robot can charge itself through the solar panel.

[0083] For example, after the automatic pool cleaning device stops moving for a period of time that meets the second predetermined time, the solar panel has charged the battery to a certain level, so that the remaining battery power is greater than the first power threshold mentioned above. Controlling the automatic pool cleaning device to operate again in the second mode allows the device to perform cleaning operations while moving.

[0084] For example, after the automatic pool cleaning device stops moving for a period of time that meets the second predetermined time, the solar panel has already charged the battery to a certain level or the solar panel has not charged the battery. At this time, the automatic pool cleaning device can use the remaining power of the battery to operate in the second mode.

[0085] In step 1204, the second predetermined duration may, for example, be greater than the first predetermined duration.

[0086] It is understood that the charging efficiency of the solar panel for the battery is limited. The power consumption efficiency of the automatic pool cleaning device during operation is not less than the charging efficiency. While ensuring that the amount of power the solar panel charges the battery is not less than the power consumption of the automatic pool cleaning device during operation, the second predetermined duration is longer than the first predetermined duration. For example, if the first predetermined duration is set to 20 minutes, the second predetermined duration is set to 40 minutes.

[0087] In step 1204, in the second mode, the control method 1200 further includes: detecting whether the battery power has reached a second power threshold; if the battery power has reached the second power threshold, controlling the automatic water tank cleaning device to continue moving to perform cleaning operations.

[0088] It is understood that the second power threshold is higher than the first power threshold. When the battery power is not lower than the second power threshold, it can support the cleaning operations of the automatic pool cleaning device.

[0089] It should be noted that when the battery has sufficient charge, the solar panels no longer need to charge the battery. Therefore, the automatic pool cleaning device can be controlled to continuously move forward to perform cleaning operations.

[0090] The automatic water tank cleaning device and its control method 1200 of this application will be described below with reference to Figure 3. Figure 3 shows a schematic flowchart of the control method of the automatic water tank cleaning device provided in this application.

[0091] As shown in Figure 3, firstly, the robot is started. Starting the robot can, for example, involve controlling it to move and clean within the pool. As mentioned above, the robot can execute different cleaning modes, which will not be elaborated further here. During the robot's cleaning process, the battery level can be monitored in real time, for example, through a power detection system, i.e., step S1201, monitoring the battery's charge level.

[0092] When monitoring based on battery percentage, if the battery level is less than 20%, the robot triggers a sunlight-finding mode, proceeding to steps S1202-S1204. If the battery level is below a first battery threshold (i.e., less than 20%), the robot determines whether the current time falls within a first time interval and, based on the determination, controls the robot to enter either the first or second mode (i.e., sunlight-finding mode). During the sunlight-finding mode, the robot can continuously feed back battery level data to the working mode control system. If the battery level reaches the second battery threshold, the automatic water tank cleaning device is controlled to continue moving to perform cleaning operations. The control methods for steps S1202-S1204 have been described in detail above and will not be repeated here.

[0093] If the robot's battery level is greater than 20%, meaning the battery level is greater than the first power threshold, the robot can still be controlled to change cleaning modes based on different times of day, thereby improving the robot's cleaning efficiency.

[0094] For example, the current time can be obtained through a network or a real-time clock (RTC) chip. For instance, it can be determined whether the robot is connected to an app. If the robot is connected to the app, it means it is connected to the network and can obtain the current time through the network. The robot can send a time request command to the app via a communication protocol. After receiving the time request command, the app can send its time back to the robot via the communication protocol. If the robot is not connected to the app, it can read the time from the real-time clock (RTC) chip as the current time.

[0095] Users can preset a time range, such as 8:00 AM to 6:00 PM. If the robot determines that the current time falls within this time range, it can further determine that it is daytime. If the robot determines that the current time does not fall within this time range, it can further determine that it is nighttime. The time range can also be 6:00 PM to 8:00 PM. If the robot determines that the current time falls within this time range, it can further determine that it is nighttime; otherwise, it is daytime. The time range can vary depending on weather and season, as described above, as long as the robot can distinguish between day and night. The period of light intensity below a predetermined threshold or from sunset to sunrise can be considered nighttime.

[0096] Because of the low light intensity at night, the solar panels cannot charge the batteries. Therefore, if the robot operates at night and its battery is low, it cannot recharge in time, causing interruptions in cleaning operations and reducing cleaning efficiency. Furthermore, nighttime operation may generate noise that disturbs users' rest. Therefore, if the robot determines that it is nighttime, it can be controlled to enter either the standby mode or the low-power mode described above. These modes have already been described in detail and will not be repeated here.

[0097] During the day, when sunlight is intense, the robot's solar panels can effectively absorb energy to charge its battery. Therefore, if the robot determines that it is currently daytime, it will enter daytime working mode. Daytime working mode could involve the robot working for twenty minutes and then pausing for ten minutes. During these pauses, the robot can recharge using sunlight. This intermittent charging during cleaning operations helps prevent the battery from dropping below 20%, extending its working time and improving its efficiency.

[0098] When the robot enters its daytime working mode, it can initially be controlled to move and clean the water surface for 20 minutes. After 20 minutes of cleaning, the robot can be brought to a standstill, for example, by maintaining only its battery monitoring function so that it can monitor the battery level in real time while charging. For instance, the robot could be controlled to pause for ten minutes. If the light intensity in the area where the robot is paused meets the charging requirements of the solar panels (e.g., there are no shadows blocking the light), the robot can charge in that area until the 10-minute pause is reached, and then it can resume its 20-minute cleaning cycle. This cycle of cleaning and pausing can be repeated until the robot completes its cleaning task.

[0099] This application also provides an automatic water tank cleaning device. The automatic water tank cleaning device is capable of performing the control methods described above with reference to the various embodiments. Descriptions of the control methods performed by the automatic water tank cleaning device according to the various embodiments are omitted here. The principles and schemes of the control methods are described above in conjunction with the various embodiments and accompanying drawings, and will not be repeated here.

[0100] The following will be explained with reference to Figures 4-5.

[0101] This application provides a control method for an automatic water tank cleaning device 10, the automatic water tank cleaning device 10 using this control method, and a computer storage medium. The control method 2200 of the automatic water tank cleaning device 10 provided in this application will be described in detail below with reference to FIG4.

[0102] The control method 2200 for an automatic water tank cleaning device 10 provided in this application is used for cleaning water tanks. The control method 2200 includes: step S2201, controlling the automatic water tank cleaning device 10 to move and clean within the water tank; step S2202, detecting the remaining power of the automatic water tank cleaning device 10; and step S2203, controlling the automatic water tank cleaning device 10 to switch from a first cleaning mode to a second cleaning mode based on the remaining power, wherein the first cleaning mode is different from the second cleaning mode. Steps S2201 to S2203 of the control method 2200 will be described below.

[0103] First, proceed to step S2201. In step S2201, the automatic pool cleaning device 10 is controlled to move and clean within the pool. This movement can include cleaning from the pool bottom, the water surface, or the pool wall. The movement can be random or along a planned path (e.g., a "bow-shaped" path). During this movement, the automatic pool cleaning device 10 can be powered and its direction adjusted by drive wheels, tracks, water pumps, or other devices on its body.

[0104] Next, proceed to step S2202. In step S2202, the remaining power of the automatic water tank cleaning device 10 is detected.

[0105] During the cleaning operation, the automatic pool cleaning device 10 consumes electricity in its drive system, cleaning system, communication module, and other components. The remaining power of the automatic pool cleaning device 10 can be detected using the power detection module 211 (described in detail below) during the cleaning process.

[0106] Next, proceed to step S2203. In step S2203, based on the remaining power, the automatic water tank cleaning device 10 is controlled to switch from a first cleaning mode to a second cleaning mode, wherein the first cleaning mode is different from the second cleaning mode.

[0107] The automatic pool cleaning device 10 switches between the first and second cleaning modes based on its remaining power level. The cleaning modes of the automatic pool cleaning device 10 include: surface cleaning mode, bottom cleaning mode, and wall cleaning mode. In the surface cleaning mode, the automatic pool cleaning device 10 moves randomly or along a planned path (e.g., a "bow-shaped" path) on the water surface. While the automatic pool cleaning device 10 moves, the water inlet of the automatic pool cleaning device 10 is used to suck up the water and the object to be cleaned in front of the automatic pool cleaning device 10. In the bottom cleaning mode, the automatic pool cleaning device 10 moves randomly or along a planned path (e.g., a "bow-shaped" path) on the bottom of the pool. While the automatic pool cleaning device 10 moves, the water inlet at the bottom of the robot 10 is used to clean the bottom of the pool. In the wall cleaning mode, the automatic pool cleaning device 10 moves randomly or along a planned path (e.g., a "bow-shaped" path) on the walls of the pool. While the robot 10 moves, the water inlet at the bottom of the robot 10 is used to clean the walls of the pool.

[0108] Robot 10 changes its cleaning mode based on its remaining battery power. For example, the user can set a predetermined battery power threshold according to actual needs. For instance, when the remaining battery power of Robot 10 is less than the predetermined threshold, Robot 10 switches from a first cleaning mode to a second cleaning mode. The first and second cleaning modes are different; the first cleaning mode can be one of three modes: surface cleaning, bottom cleaning, or wall cleaning. The second cleaning mode can be one of two different cleaning modes. For example, the first cleaning mode can be wall cleaning, and the second cleaning mode can be bottom cleaning; the first cleaning mode can be surface cleaning, and the second cleaning mode can be wall cleaning, or a combination of both. It is understood that Robot 10 cleans in the first cleaning mode for a certain period until its remaining battery power is less than the predetermined threshold, at which point Robot 10 changes its cleaning mode, switching from the first cleaning mode to the second cleaning mode.

[0109] In step S2203, controlling the automatic pool cleaning device 10 to switch from a first cleaning mode to a second cleaning mode based on the remaining power includes: the first cleaning mode includes a pool wall cleaning mode or a water surface cleaning mode; the second cleaning mode includes a pool bottom cleaning mode; determining whether the remaining power is greater than or equal to a predetermined power threshold; if not, controlling the automatic pool cleaning device 10 to switch from the water surface cleaning mode or the pool wall cleaning mode to the pool bottom cleaning mode.

[0110] In one scenario, the first cleaning mode includes either a pool wall cleaning mode or a water surface cleaning mode, and the second cleaning mode includes a pool bottom cleaning mode. The control system of the automatic pool cleaning device 10 analyzes and judges the detected remaining power. If the remaining power of the automatic pool cleaning device 10 is less than a predetermined power threshold, the automatic pool cleaning device 10 switches from the water surface cleaning mode or the pool wall cleaning mode to the pool bottom cleaning mode. For example, when the robot 10 starts cleaning the pool with a full charge, given that the robot 10 has sufficient power, there is no concern about the risk of the robot falling off the pool wall / water surface due to power depletion. The robot 10 can first clean the water surface or the pool wall. During the cleaning operation, the robot 10 consumes power. When the robot 10's power is depleted to below the predetermined power threshold, the risk of the robot 10 falling off the pool wall or water surface to the pool bottom due to power depletion increases. In this case, the robot 10 can switch to the pool bottom cleaning mode, that is, the robot 10 can move from the pool wall or water surface to the pool bottom and clean the pool bottom. If the remaining power is exhausted during the bottom cleaning mode of robot 10, robot 10 can remain at the bottom of the pool and wait for the user to retrieve it, without robot 10 falling from the bottom of the pool or the water surface to the bottom.

[0111] Therefore, when robot 10 is cleaning on the water surface or pool wall, it requires electrical energy to provide mechanical power to the water pump and other components mounted on it, maintaining the robot 10's cleaning movement and preventing it from falling. If robot 10 continues to operate in water surface or pool wall cleaning mode when its battery level is below a predetermined threshold, it will eventually run out of power and be unable to provide mechanical power to the water pump and other components, thus failing to maintain its operation. Robot 10 will then fall from the water surface or pool wall, potentially colliding with the pool and causing damage to both.

[0112] In one scenario, the first cleaning mode of robot 10 is the pool wall cleaning mode. Robot 10 can use a path planning algorithm to plan the optimal path for robot 10 to move from the pool wall to the bottom of the pool (e.g., the path with the shortest distance between the position of robot 10 on the pool wall and the bottom of the pool). Robot 10 moves to the bottom of the pool along this path and switches to the second cleaning mode.

[0113] In another scenario, the first cleaning mode of robot 10 is the water surface cleaning mode. Robot 10 can descend directly from the water surface to the bottom of the pool to start the second cleaning mode. Alternatively, robot 10 can move from the water surface to the nearby pool wall first, and then move through the pool wall to the bottom of the pool to start the second cleaning mode.

[0114] The selection of the first cleaning mode and the path for switching from the first cleaning mode to the second cleaning mode can be determined according to the actual situation; the description above is merely an example.

[0115] In step S2203, controlling the automatic water tank cleaning device 10 to switch from a first cleaning mode to a second cleaning mode based on the remaining power includes: the first cleaning mode includes a bottom cleaning mode; the second cleaning mode includes a wall cleaning mode or a surface cleaning mode; determining whether the remaining power is greater than or equal to a predetermined power threshold, and if so, controlling the automatic water tank cleaning device 10 to switch from the bottom cleaning mode to the wall cleaning mode or the surface cleaning mode.

[0116] In one scenario, the first cleaning mode includes a pool bottom cleaning mode; the second cleaning mode includes a pool wall cleaning mode or a water surface cleaning mode. When the control system of robot 10 determines that the remaining battery power of robot 10 is greater than a predetermined battery power threshold, robot 10 switches to either the pool wall cleaning mode or the water surface cleaning mode.

[0117] For example, when robot 10 operates in the first cleaning mode until the remaining power is insufficient for robot 10 to continue cleaning, robot 10 automatically finds a charging station and charges (the charging station is set at the bottom of the pool, for example). When robot 10 finishes charging or when robot 10 charges until the remaining power is greater than or equal to a predetermined power threshold, in this case, robot 10 has sufficient power, so there is no concern about the risk of robot falling off the pool wall / water surface due to power depletion. Robot 10 can then switch to the second cleaning mode, such as the pool wall cleaning mode or the water surface cleaning mode.

[0118] For example, robot 10 may be connected to a solar panel floating on the water surface. During cleaning operations in the first cleaning mode, the solar panel charges robot 10. Robot 10 can monitor the remaining power in real time. For example, if the control system of robot 10 detects that the remaining power is greater than or equal to a predetermined power threshold due to the solar panel charging robot 10, robot 10 can switch to a second cleaning mode, such as a pool wall cleaning mode or a water surface cleaning mode.

[0119] The examples above are not exhaustive; other situations in practical applications are also within the scope of protection of this application.

[0120] Based on the principle described above, it can be understood that when the remaining power of robot 10 is greater than the predetermined power threshold, it will perform the pool wall cleaning mode or the water surface cleaning mode; when the remaining power of robot 10 is less than the predetermined power threshold, it will perform the pool bottom cleaning mode.

[0121] The cleaning mode before switching cleaning modes is the first cleaning mode, and the cleaning mode after switching cleaning modes is the second cleaning mode. This application does not limit the specific cleaning modes of the first cleaning mode and the second cleaning mode, as long as they can achieve the technical principles of this application.

[0122] For example, the predetermined power threshold is 40%-60% of the total battery capacity of the automatic pool cleaning device 10.

[0123] For example, the predetermined power threshold is 40%-60% of the total battery capacity of the automatic pool cleaning device 10. This means the robot 10 can operate in either pool wall cleaning mode or surface cleaning mode until its remaining power drops below 40%-60% of the total battery capacity, at which point it switches to pool bottom cleaning mode. This prevents the robot 10 from continuously cleaning the pool walls or surface until its power is depleted, thus avoiding damage to the pool and robot 10 as described above. It also allows the robot 10 to perform comprehensive cleaning of the pool during its working hours, preventing situations where only a portion of the pool is repeatedly cleaned (e.g., only the pool bottom or only the pool walls) until the power is exhausted.

[0124] The specific value of the predetermined power threshold can be selected based on the actual pool wall area, water surface area, pool bottom area, and the degree of dirtiness of the area to be cleaned. For example, when the pool wall area is larger than the pool bottom area, the predetermined power threshold can be set to 40% of the total battery capacity of robot 10, meaning that robot 10 can use more power to clean the pool wall; when the remaining power of robot 10 is less than 40% of the total battery capacity, robot 10 switches from pool wall cleaning mode to pool bottom cleaning mode. The above exemplary description of the setting of the predetermined power threshold is not an exhaustive list.

[0125] In one scenario, the predetermined power threshold is 50% of the total battery capacity of the automatic pool cleaning device 10. If the pool bottom area is equal to or substantially equal to the pool wall area, the predetermined power threshold can be set to 50% of the total battery capacity of the robot 10, so that the robot 10 first cleans the pool wall when fully charged, and switches to pool bottom cleaning mode when the remaining power is less than 50% of the total battery capacity.

[0126] For example, after controlling the automatic water tank cleaning device 10 to switch cleaning modes based on the remaining power, the control method further includes: generating a cleaning path according to the current cleaning mode, and controlling the automatic water tank cleaning device 10 to move and clean according to the cleaning path.

[0127] When robot 10 switches to cleaning mode, it can use components such as lidar, ultrasonic sensors or cameras installed on its body to scan and measure the image in the direction of robot 10's movement, identify obstacles in front of robot 10 through AI analysis and depth estimation, and use path planning algorithms to plan the path.

[0128] For example, a lidar can emit a light signal (e.g., a laser) in the direction of movement of the automatic pool cleaning device 10. When the light signal encounters an object (e.g., an obstacle in front of the automatic pool cleaning device 10), the light signal is reflected back to the lidar. The lidar then calculates the distance between the automatic pool cleaning device 10 and the object based on the time difference or phase difference between the emission and return of the light signal. The lidar can also measure the deflection angle of the reflected light signal. The controller of the automatic pool cleaning device 10 can convert the measured distance and angle information into three-dimensional coordinates using the lidar, further generating a point cloud of the object. The controller can then analyze the collected point cloud data to determine the contour and position information of the obstacle in front of the automatic pool cleaning device 10.

[0129] The ultrasonic sensor emits ultrasonic waves in the direction of travel of the automatic pool cleaning device 10 and receives the reflected echoes. Based on the data collected by the ultrasonic sensor, the automatic pool cleaning device 10 can use artificial intelligence software to analyze the data and further generate an image of the target object.

[0130] The camera is used to collect image data in the pool environment to achieve functions such as obstacle recognition, path planning, and cleaning target detection. It should be noted that the camera used should be waterproof to ensure stable operation when submerged in water for extended periods.

[0131] Robot 10 can use the aforementioned components and combine them with AI analysis or path planning algorithms to plan a cleaning path, such as a "bow-shaped" path.

[0132] As the robot 10 moves along the planned cleaning path, the automatic pool cleaning device 10 can be powered and its direction adjusted by the drive wheels, tracks, water pumps and other devices on the robot body.

[0133] For example, tracks and / or drive wheels of robot 10 are located on both sides of robot 10. The rotation of the tracks and / or drive wheels causes the automatic pool cleaning device 10 to move forward or rotate against the friction of the pool bottom or wall. Robot 10 can change its heading angle by the difference in wheel speed between its two tracks and / or drive wheels, thereby turning robot 10. The walking components of robot 10 can be, for example, propellers, which can be located on both sides of the rear of robot 10 or on both sides of the body. The reaction force generated by the rotation of the propellers pushing the water flow can provide power for robot 10 to move, and the difference in rotational speed between the propellers on both sides of robot 10 can change the direction of robot 10. A water pump can be located at the rear of automatic pool cleaning device 10 or on top of robot 10. The water pump can use the reaction force of the water spray to provide power for robot 10 to move. The water pump changes the angle of the water spray, thereby changing the movement path and heading angle of robot 10. The water pump can also drain water from the cavity of robot 10, allowing robot 10 to float on the water surface for cleaning. The water pump described above is merely an example; the position and number of water pumps can be set according to actual conditions, as long as the technical principles of this application are achieved.

[0134] For example, the pool bottom cleaning mode includes at least one of the following modes: step mode, high coverage mode, low coverage mode, high efficiency mode, spot cleaning mode, full coverage cleaning mode, and supplementary cleaning mode.

[0135] For example, pool bottoms typically have steps for users to use. Robot 10 can identify the steps using components such as lidar, ultrasonic sensors, or cameras, as described above, and enter step mode. In step mode, robot 10 can, for example, increase the power of the water pump, thereby enabling robot 10 to climb the steps.

[0136] For example, when the sensor detects a high level of dirt on the pool bottom or when the robot 10 has a large amount of remaining battery power, the robot 10 can adopt a high coverage mode. In high coverage mode, the robot 10 achieves a higher coverage rate for cleaning the pool bottom. The robot 10 can achieve high coverage mode, for example, by increasing the power of the cleaning components and using various sensors on the robot 10 to accurately map the pool bottom and plan the cleaning path.

[0137] For example, when the sensor detects that the level of dirt on the bottom of the pool is low or the remaining battery power of robot 10 is low, robot 10 can adopt a low coverage mode. In low coverage mode, robot 10 has a lower coverage rate for cleaning the bottom of the pool. Typically, robot 10 uses random cleaning, the power of the cleaning components is reduced, and robot 10 in low coverage mode misses a larger area of ​​the bottom of the pool. However, low coverage mode consumes less power than high coverage mode.

[0138] For example, if robot 10 has low remaining battery power but a large pool bottom area, robot 10 can adopt a high-efficiency mode. In high-efficiency mode, robot 10 can achieve low-energy, high-efficiency cleaning operations through intelligent path planning, power system optimization, and adaptive adjustment of cleaning parameters. Path planning has been described in detail above and will not be repeated here. Power system optimization includes, for example, intermittent operation of the cleaning components; adaptive adjustment of cleaning parameters includes, for example, robot 10 adjusting the power of the cleaning components in real time according to water quality conditions.

[0139] For example, if the robot 10 has low remaining battery power or the dirty areas on the bottom of the pool are particularly prominent (such as algae accumulation in the pool corners, sediment accumulation near the pool bottom railings, etc.), the robot 10 can adopt a fixed-point cleaning mode. In the fixed-point cleaning mode, the robot 10 can use the aforementioned components such as lidar and ultrasonic sensors to scan the dirt condition on the bottom of the pool, generate the coordinates of the severely dirty areas on the bottom of the pool, and plan the path for the robot 10 to travel to the severely dirty areas.

[0140] For example, if the robot 10 has a lot of battery power remaining or the pool area is large and the structure is complex, the robot 10 can adopt a full-coverage cleaning mode. In the full-coverage cleaning mode, the robot 10 can use high-precision ranging components such as LiDAR to scan the bottom of the pool, generate point cloud information of the pool bottom through the control system, and perform deep learning to construct a three-dimensional model of the pool bottom, and intelligently plan the cleaning path of the robot 10.

[0141] For example, the supplementary cleaning mode can be used in conjunction with the above-mentioned cleaning modes. In the supplementary cleaning mode, after the robot 10 completes the main cleaning task, it scans the bottom of the pool with sensors to check for any missed areas or localized stains. If any are found, the robot 10 cleans the missed areas or localized stains again according to the path planning method described above, making up for the deficiencies in the main cleaning task.

[0142] The descriptions above regarding the step cleaning mode, high coverage mode, low coverage mode, high efficiency mode, spot cleaning mode, full coverage cleaning mode, and supplementary cleaning mode are merely illustrative and not exhaustive. When the robot 10 performs pool bottom cleaning, it may adopt one or more of the above cleaning modes depending on the actual situation. This application does not limit the mode selection in actual situations, as long as the technical principles of this application can be achieved.

[0143] This application also provides an automatic water tank cleaning device 10, wherein the automatic water tank cleaning device 10 is capable of performing any of the control methods described above.

[0144] The automatic pool cleaning device 10 can be, for example, a pool cleaning robot or a pool sweeping robot. The automatic pool cleaning device 10 can execute the control program described above, which has been explained in detail above and will not be repeated here.

[0145] The automatic water tank cleaning device 10 also includes a power detection module 211 and a mode switching module 212. The power detection module 211 is used for power detection, and the mode switching module 212 is used for switching cleaning modes.

[0146] As shown in Figure 5, the power detection module 211 and mode switching module 212 of the automatic water tank cleaning device 10 are usually integrated into the control system 210 of the automatic water tank cleaning device 10.

[0147] For example, the power detection module 211 monitors physical quantities such as voltage and current in real time. For instance, the power detection module 211 can measure the battery voltage using a voltage detection circuit, which reflects the remaining battery power. The power detection module 211 processes the voltage detection data and runs a power estimation algorithm to calculate the real-time power level of the robot 10.

[0148] For example, the real-time power level detected by the power detection module 211 is fed back to the control system 210. The control system 210 compares the real-time power level with a predetermined power threshold. If the real-time power level of the robot 10 is greater than or less than the predetermined power threshold, the mode switching module 212 will be triggered to run the corresponding logic. For example, when the real-time power level of the robot 10 is less than the predetermined power threshold, the mode switching module 212 controls the robot 10 to switch to the pool bottom cleaning mode.

[0149] This application also provides a non-volatile computer storage medium storing a computer program that, when executed by a processor, implements any of the methods described above.

[0150] It should be understood that the non-volatile computer storage medium may be located on at least one of the multiple network servers in a computer network. For example, in this application, the aforementioned storage medium may include, but is not limited to, various media capable of storing program code, such as USB flash drives, read-only memory (ROM), random access memory (RAM), portable hard drives, magnetic disks, or optical disks.

[0151] It should be noted that in practice, the term "path planning" does not necessarily require the robot 10 to pre-plan a movement trajectory and store the corresponding information in the robot 10's memory. In this field, path planning generally refers to planning a movement rule, which can be a trajectory planned according to a global map. This movement rule can also be a movement rule that controls the movement of the robot 10, such as a bow-shaped path movement rule. For example, controlling the robot 10 to move continuously in a predetermined direction (i.e., moving along the long side of the bow shape), turning 90 degrees to the right after encountering an obstacle, then moving forward a preset distance or for a preset time (i.e., moving along the short side of the bow shape), turning 90 degrees to the right again, and so on.

[0152] The following explanation will refer to Figures 6 and 7.

[0153] This application provides a control method for the aforementioned automatic water tank cleaning device. The embodiments disclosed in this application will be described below with reference to the accompanying drawings. Figure 6 shows a flowchart of a control method 3200 for the aforementioned automatic water tank cleaning device. The control method 3200 includes steps S3201 to S3202. Steps S3201 to S3202 will be described below.

[0154] In step S3201, the preset cleaning time period of the automatic water tank cleaning device is obtained.

[0155] The automatic water tank cleaning device can acquire a preset cleaning time period and store the acquired preset cleaning time period in the storage device of the automatic water tank cleaning device for later retrieval.

[0156] For example, the preset cleaning time period can be set by the user through the interactive interface.

[0157] For example, as shown in Figure 7, the interactive interface can be the interface of an APP (Application). The APP can receive user operation commands through the interactive interface and generate corresponding preset cleaning time periods based on the operation commands. The automatic pool cleaning device can communicate with the smart terminal to which the APP belongs through a communication module (such as Bluetooth, WIFI, or underwater acoustic communication module) to obtain the preset cleaning time periods. The automatic pool cleaning device can also store the preset cleaning time periods through a storage device.

[0158] For example, an automatic sink cleaning device can be equipped with an operation panel, and the user interface can also be the interface of this operation panel. The automatic sink cleaning device can receive user operation commands through the operation panel and generate corresponding preset cleaning time periods based on the operation commands, thereby enabling the automatic sink cleaning device to obtain the preset cleaning time periods. The preset cleaning time periods can also be stored in the storage device of the automatic sink cleaning device.

[0159] It should be noted that the above description of the setting method of the preset cleaning time period and the method of the automatic pool cleaning device obtaining the preset cleaning time period are merely exemplary. The specific setting method of the preset cleaning time period and the method of the automatic pool cleaning device obtaining the preset cleaning time period can be set according to the experience of those skilled in the art, or according to the functional components provided by the automatic pool cleaning device, as long as they can meet the technical principles of this application, and are not specifically limited here.

[0160] For example, the start and end times of a preset cleaning period can be set through the interactive interface, as well as the start time and duration of the preset cleaning period, so that the automatic pool cleaning device can perform pool cleaning operations within a suitable time period.

[0161] For example, the preset cleaning time period may include a cycle. When setting the cleaning time of the automatic sink cleaning device, a periodic cleaning time period can be defined. For example, the sink cleaning operation can be set to repeat at specific time intervals, such as daily, weekly, monthly, or other intervals.

[0162] For example, the preset cleaning time slots can be 9:00 AM to 11:00 AM every day, 9:00 AM to 11:00 AM every Monday, 9:00 AM to 11:00 AM on the 1st, 11th, and 21st of each month, or 9:00 AM to 11:00 AM every 15 days. Multiple preset cleaning time slots can be used periodically, such as 9:00 AM to 11:00 AM every day and 3:00 PM to 5:00 PM every day.

[0163] It is understood that the above description of the preset cleaning time period is merely illustrative. The preset cleaning time period can be set according to the user's needs or the actual cleaning needs of the pool, and is not specifically limited here.

[0164] In step S3202, the automatic water tank cleaning device is controlled to perform water tank cleaning operations according to a preset cleaning time period.

[0165] After obtaining the preset cleaning time period, the automatic pool cleaning device can be controlled to perform pool cleaning operations according to the preset cleaning time period. For example, the automatic pool cleaning device can be controlled to start cleaning the pool at the beginning of the preset cleaning time period and to stop cleaning the pool at the end of the preset cleaning time period.

[0166] For example, the cleaning operation mode of a pool cleaning operation can include at least one of the following: surface cleaning, bottom cleaning, and wall cleaning. When the automatic pool cleaning device acquires a preset cleaning time period, it can simultaneously acquire the corresponding cleaning operation mode for that time period, and then perform the pool cleaning operation according to the preset cleaning time period and cleaning operation mode.

[0167] This application can obtain a preset cleaning time period and control the automatic pool cleaning device to perform pool cleaning operations according to the preset cleaning time period. In this way, the automatic pool cleaning device can automatically start within the preset cleaning time period set by the user to perform pool cleaning operations, reducing user operation, improving the intelligence level and flexibility of the automatic pool cleaning device, and enhancing the user experience.

[0168] For example, step S3202 may include: acquiring the power value of the automatic water tank cleaning device in real time; and controlling the automatic water tank cleaning device to perform water tank cleaning operations according to a preset cleaning time period when the power value of the automatic water tank cleaning device is greater than a first preset power threshold at the current moment.

[0169] The first preset power threshold can be the minimum power required for the automatic pool cleaning device to complete the pool cleaning operation according to a preset cleaning time period, as estimated in advance. The first preset power threshold can be stored in the storage device of the automatic pool cleaning device by the operator during its manufacture, or it can be generated based on the acquired preset cleaning time period. For example, with other factors (such as the cleaning operation mode) remaining constant, the longer the preset cleaning time period, the larger the first preset power threshold can be; the shorter the preset cleaning time period, the smaller the first preset power threshold can be.

[0170] It is understood that the foregoing description of the first preset power threshold is merely exemplary. As long as the technical principle of this application can be achieved, the specific value of the first preset power threshold and the specific method of obtaining it are not specifically limited here.

[0171] For example, if the battery level of the automatic pool cleaning device is less than or equal to a first preset battery threshold at the current moment, the automatic pool cleaning device can be controlled not to respond to the pool cleaning operation, and the automatic pool cleaning device can be controlled to issue a low battery alarm to remind the user to charge the automatic pool cleaning device. Alternatively, the automatic pool cleaning device can be controlled to move to the charging area for charging.

[0172] By acquiring the battery level of the automatic pool cleaning device, the system can control the device to perform pool cleaning operations when the current battery level is greater than a first preset battery threshold, and control the device to not respond to cleaning operations and to issue a low battery alarm and / or perform charging operations when the current battery level is less than the first preset battery threshold. This ensures that the automatic pool cleaning device has sufficient battery level during the cleaning process, reduces the occurrence of cleaning interruptions due to low battery level or depletion of battery, improves the continuity and integrity of the pool cleaning operation, and achieves better cleaning results.

[0173] For example, the control method 3200 further includes: acquiring the power value of the automatic water tank cleaning device in real time; and controlling the automatic water tank cleaning device to move to the charging area for charging when the power value of the automatic water tank cleaning device is less than a second preset power threshold at the current moment.

[0174] The second preset power threshold can be greater than or equal to the minimum power required for the automatic pool cleaning device to move to the charging area. For example, the second preset power threshold can be stored in the automatic pool cleaning device's storage device during manufacturing, or it can be generated based on the distance between the automatic pool cleaning device and the charging area. For instance, assuming other factors (such as the automatic pool cleaning device's moving speed or power) remain constant, the longer the distance between the automatic pool cleaning device and the charging area, the larger the second preset power threshold; conversely, the shorter the distance, the smaller the second preset power threshold. The second preset power threshold can be less than or equal to the first preset power threshold. Setting the second preset power threshold helps ensure that the automatic pool cleaning device retains a certain amount of power even when its battery is low, allowing it to smoothly return to the charging area.

[0175] It is understood that the foregoing description of the second preset power threshold is merely exemplary. As long as the technical principle of this application can be achieved, the specific value of the second preset power threshold and the specific method of obtaining it are not specifically limited here.

[0176] If the battery level of the automatic pool cleaning device is currently below a second preset threshold, the device can be controlled to move to the charging area for recharging. This allows the automatic pool cleaning device to automatically recharge when its battery level is low, improving its intelligence. Furthermore, it reduces the likelihood of the device stopping at any location due to depleted battery, thus enhancing its operational reliability.

[0177] For example, if the current power level of the automatic pool cleaning device is greater than or equal to a second preset power threshold, the automatic pool cleaning device can be controlled to maintain its current operating state. For instance, if the current operating state of the automatic pool cleaning device is standby, the device can be controlled to remain in standby mode; if the current operating state of the automatic pool cleaning device is performing pool cleaning operations, the device can be controlled to remain in the pool cleaning operation state.

[0178] For example, controlling the automatic water tank cleaning device to move to the charging area for charging may include: controlling the automatic water tank cleaning device to move to the base station for charging.

[0179] The automatic pool cleaning device may be equipped with a charging interface or a wireless charging sensor. The charging area may include a base station. When the battery level of the automatic pool cleaning device is less than a second preset battery threshold, the device is controlled to move to the base station so that its charging interface connects to the base station's adapter interface, or the wireless charging sensor of the automatic pool cleaning device is correspondingly configured with the base station's charging sensor adapter, thereby enabling the base station to charge the automatic pool cleaning device through the charging interface or the wireless charging sensor.

[0180] It is understood that the aforementioned specific charging method for the automatic water tank cleaning device is merely exemplary. The specific charging method for the automatic water tank cleaning device can be set based on the experience of those skilled in the art, or based on the specific structure of the automatic water tank cleaning device and the base station, as long as the base station can supply power to the automatic water tank cleaning device. No specific limitations are made here.

[0181] For example, controlling the automatic pool cleaning device to move to the charging area for charging may include: controlling the automatic pool cleaning device to move to a position where the light intensity is sufficient for charging.

[0182] The automatic water tank cleaning device may be equipped with a solar charging component, which may include a solar panel located at the upper end of the device body. When the current power level of the automatic water tank cleaning device is less than a second preset power threshold, the device is controlled to move to a position where the light intensity is sufficient for charging. At this time, the solar panel absorbs light energy and converts it into electrical energy, which is then stored in the device to power it.

[0183] For example, controlling an automatic pool cleaning device to move to a charging area for charging may include: acquiring the location information of the charging area; and controlling the automatic pool cleaning device to move to the charging area for charging based on the location information.

[0184] The charging area may include the base station or a location where the light intensity is sufficient for charging.

[0185] Taking a charging area including a base station as an example, the automatic water tank cleaning device can be equipped with a signal receiving unit, and the base station can be equipped with a signal transmitting unit. The signal receiving unit can receive the transmitted signal from the signal transmitting unit. The automatic water tank cleaning device can determine the location information of the base station by receiving the transmitted signal from the signal transmitting unit, and further control the automatic water tank cleaning device to move according to the above location information, so as to move to the base station for charging.

[0186] Taking a charging area including locations where the light intensity is sufficient for charging as an example, the automatic pool cleaning device may be equipped with an image acquisition component. The automatic pool cleaning device or the image acquisition component can rotate, and during rotation, it can acquire image information about its surroundings. Furthermore, the automatic pool cleaning device can identify locations where the light intensity is sufficient for charging based on the acquired image information, and determine the location information of those locations. It can then control the automatic pool cleaning device to move according to this location information, moving to the location where the light intensity is sufficient for charging.

[0187] It should be noted that the above-mentioned method for the automatic water tank cleaning device to obtain the location information of the charging area is merely exemplary. As long as the technical principle of this application can be achieved, the specific method of acquisition is not specifically limited here.

[0188] For example, if the power value of the automatic pool cleaning device is less than the second preset power threshold at the current moment, the control method 3200 may further include controlling the automatic pool cleaning device to perform at least one of the following tasks: controlling the automatic pool cleaning device to issue a low power alarm, controlling the automatic pool cleaning device to issue a reminder for cleaning operations that have not been performed for a preset cleaning period, and controlling the automatic pool cleaning device to continue cleaning after charging is completed and the preset cleaning period is met.

[0189] The automatic pool cleaning device can also issue a low battery alarm when the battery level is lower than the second preset battery threshold, so as to remind the user of the battery status of the automatic pool cleaning device and let the user know that the automatic pool cleaning device is moving to the charging area, reducing the user's misjudgment.

[0190] If the automatic sink cleaning device's battery level falls below the second preset threshold, it will be about to perform a cleaning operation or is already performing one. In this case, the device needs to recharge and cannot continue cleaning. At this time, the device can also issue a reminder that a cleaning operation for the preset time period has not been performed, informing the user that the cleaning operation has not been completed and prompting them to reschedule. This enhances the device's interactivity, improves its intelligence, and enhances the user experience.

[0191] This example can also control the automatic pool cleaning device to continue cleaning after charging is completed, provided that a preset cleaning time period is met. In other words, if the automatic pool cleaning device is within the preset cleaning time period after charging is completed, the automatic pool cleaning device can be controlled to perform pool cleaning operations, thereby reducing the interference of the charging process on the pool cleaning operation and improving the stability and reliability of the automatic pool cleaning device.

[0192] The automatic pool cleaning device continues cleaning for a preset time period, ensuring it completes the cleaning operation at the end of that period to avoid interfering with user use. This also ensures the total cleaning time before and after charging is equal to the preset cleaning period, improving cleaning effectiveness and reducing issues caused by insufficient cleaning time.

[0193] For example, the control method 3200 further includes: during the process of controlling the automatic pool cleaning device to perform pool cleaning operations according to a preset cleaning time period, acquiring the power value of the automatic pool cleaning device in real time; and controlling the automatic pool cleaning device to stop performing pool cleaning operations when the power value of the automatic pool cleaning device is less than a third preset power threshold.

[0194] The third preset power threshold can be the minimum power standard that the automatic pool cleaning device should maintain during cleaning operations. This third preset power threshold can be input into the automatic pool cleaning device's storage device by personnel during manufacturing, or it can be generated based on the actual battery power during the device's operation.

[0195] When the automatic pool cleaning device has the function of automatically moving to the charging area for charging, the third preset power threshold can be greater than or equal to the second preset power threshold. After controlling the automatic pool cleaning device to stop performing pool cleaning operations, it can also be controlled to move to the charging area for charging. When the automatic pool cleaning device does not have the function of automatically moving to the charging area for charging, the third preset power threshold can be greater than or equal to the second preset power threshold, or it can be less than the second preset power threshold.

[0196] It should be noted that the above description of the third preset power threshold is merely exemplary. The specific value of the third preset power threshold can be set based on the experience of those skilled in the art, or based on the actual specifications of the battery of the automatic water tank cleaning device, as long as the technical principle of this application can be achieved. No specific limitation is made here.

[0197] For example, control method 3200 further includes: during the process of controlling the automatic water tank cleaning device to perform water tank cleaning operations according to a preset cleaning time period, and when the power value of the automatic water tank cleaning device is greater than or equal to a third preset power threshold, controlling the automatic water tank cleaning device to continue performing water tank cleaning operations.

[0198] During the automatic pool cleaning operation, the device can acquire the battery level in real time. If the battery level is lower than the third preset battery threshold, the device can be stopped from cleaning. This effectively prevents the device from continuing to operate when the battery is low, thus protecting the battery from over-discharge and damage.

[0199] For example, if the power value of the automatic pool cleaning device is less than a third preset power threshold at the current moment, the control method 3200 may further include controlling the automatic pool cleaning device to perform at least one of the following tasks: controlling the automatic pool cleaning device to issue a low power alarm, controlling the automatic pool cleaning device to issue a reminder for cleaning operations that have not been performed within a preset cleaning time period, and controlling the automatic pool cleaning device to continue cleaning after charging is completed and the preset cleaning time period is met.

[0200] For example, the automatic pool cleaning device can issue a low battery alarm when the battery level is below the third preset battery threshold. It can also remind users to charge or replace the battery when the automatic pool cleaning device cannot move to the charging area automatically or does not have the function of automatically moving to the charging area.

[0201] It is understandable that if the battery level of the automatic pool cleaning device is currently less than the third preset battery threshold, the task performed by the automatic pool cleaning device can be the same as the task performed by the automatic pool cleaning device when the battery level is less than the second preset battery threshold. The effect achieved by the task performed by the automatic pool cleaning device when the battery level is less than the third preset battery threshold can also be the same as or similar to the effect achieved when the battery level is less than the second preset battery threshold, and will not be elaborated further here.

[0202] The following will be explained with reference to Figures 8-10.

[0203] Referring to Figures 8 and 9, this application provides a control method 4200 for an automatic water tank cleaning device 10. The automatic water tank cleaning device 10 includes a power acquisition module 201, which is capable of acquiring the current remaining power of the automatic water tank cleaning device 10. The control method 4200 includes: step S4201, controlling the automatic water tank cleaning device 10 to move and clean in the water tank; step S4202, when the current remaining power is less than or equal to a first power threshold, acquiring a cleaning strategy based on the current remaining power, and controlling the automatic water tank cleaning device 10 to move according to the cleaning strategy; step S4203, when the current remaining power is less than or equal to a second power threshold, controlling the automatic water tank cleaning device 10 to return to the base station 30; wherein, the first power threshold is greater than the second power threshold.

[0204] The automatic water tank cleaning device 10 may be equipped with a controller (not shown), which may be fitted with control circuitry such as a microprocessor, digital signal processor (DSP), or microcontroller. The controller may be used to execute control method 4200.

[0205] Referring to Figure 9, the robot 10 includes, for example, a power acquisition module 201. The power acquisition module 201 is, for example, located inside the robot 10, and is capable of acquiring the remaining battery power of the robot 10. The power acquisition module 201 can be, for example, an ADC module, capable of continuously or periodically measuring the voltage across the battery terminals of the robot 10. The controller can calculate the remaining battery power based on the measured voltage values. Alternatively, the power acquisition module 201 can be, for example, a coulomb counter, capable of measuring the amount of charge flowing into and out of the battery. The controller can calculate the remaining battery power based on the amount of charge flowing into and out of the battery.

[0206] The above description of the power acquisition module 201 is not an exhaustive list, and any solution that can implement the technical principles of this application falls within the protection scope of this application.

[0207] First, proceed to step S4201, controlling the automatic water tank cleaning device 10 to move and clean within the water tank. The automatic water tank cleaning device 10 is controlled to move within the water tank. This movement can be random or along a planned path (e.g., a "bow-shaped" path). During the movement of the automatic water tank cleaning device 10, it can be powered and its direction adjusted, for example, by means of drive wheels, tracks, water pumps, or other devices on its body.

[0208] Next, proceed to step S4202. When the current remaining power is less than or equal to the first power threshold, obtain a cleaning strategy based on the current remaining power and control the automatic water tank cleaning device 10 to move according to the cleaning strategy.

[0209] Robot 10 can, for example, acquire its remaining battery power in real time via battery acquisition module 201. Furthermore, the controller can, for example, continuously send the remaining battery power information of robot 10 to the user terminal, or provide real-time feedback on the battery power through feedback components (such as a display screen, buzzer, etc.) installed on robot 10. The controller can also, for example, determine in real time whether the remaining battery power of robot 10 is less than or equal to a first battery threshold. If the controller determines that the remaining battery power of robot 10 is less than or equal to the first battery threshold, it indicates that the remaining battery power of robot 10 is low and may not be able to support robot 10 in completing the cleaning of the area to be cleaned. Therefore, a cleaning strategy needs to be obtained based on the current remaining battery power.

[0210] The first power threshold could be, for example, 30% of the robot 10's total power. Assume that the robot 10 requires 50% of its total power to complete cleaning the entire pool (e.g., the entire cleaning task), and 25% of its total power to complete cleaning half the pool (e.g., half of the entire cleaning task). If the robot 10 starts cleaning the pool with 30% of its total power remaining, its remaining power is insufficient to complete the entire cleaning task. If the robot 10 has already completed cleaning half the pool, and its remaining power is 30% of its total power, then its remaining power is sufficient to clean the remaining area. That is, after cleaning the remaining half of the pool, the robot will still have 5% of its total power remaining, which is enough to allow it to return to the base station 30. Therefore, if the controller determines that the remaining power of the robot 10 is less than or equal to the first power threshold, the controller can, for example, combine the remaining power of the robot 10 with the information of the area to be cleaned (such as area information, dirt information, etc.) to obtain the cleaning strategy stored in the controller and control the robot 10 to execute the obtained cleaning strategy.

[0211] The selection of a cleaning strategy can be, for example, by the controller combining information about the area to be cleaned with a threshold judgment. A cleaning strategy can also be, for example, by controlling the robot 10 to continue cleaning the area. Alternatively, a cleaning strategy can be, for example, by controlling the robot 10 to reduce the output power of cleaning components (e.g., a water pump, a roller brush, etc.) and continue cleaning the area. Specific cleaning strategies will be described in detail below. The above description of the first power threshold is merely illustrative. For example, the first power threshold can be considered a trigger condition for updating the cleaning strategy when the battery is low. In other words, when the battery is low, the robot may be unable to complete the remaining cleaning tasks, therefore a cleaning strategy more suited to actual cleaning needs needs to be adopted to improve the utilization efficiency of the remaining power. Those skilled in the art can set the first power threshold according to actual conditions, and this application does not limit this.

[0212] The cleaning strategy includes: when a first condition is met, controlling the automatic pool cleaning device 10 to perform cleaning actions on all remaining uncleaned areas; when a second condition is met, controlling the automatic pool cleaning device 10 to perform cleaning actions on the remaining uncleaned highly soiled areas; and when a third condition is met, controlling the automatic pool cleaning device 10 to perform cleaning actions on a portion of the remaining uncleaned areas.

[0213] In one scenario, if the controller determines that robot 10 meets a first condition, it means that robot 10 has sufficient remaining power to clean all remaining uncleaned areas. For example, the controller uses an algorithm to calculate the cleaning area that robot 10 can complete with its remaining power and records it as a first area. The first condition could be, for example, that the first area is greater than or equal to the area of ​​the remaining uncleaned areas. Therefore, if the controller determines that robot 10 meets the first condition, it controls robot 10 to execute a cleaning strategy that involves cleaning all remaining uncleaned areas. The cleaning action could be, for example, robot 10 continuing to move along a predetermined path, or robot 10's water pump operating at a predetermined output power.

[0214] The first condition could also be that the output power of the cleaning component is less than a predetermined power threshold. For example, the output power of the cleaning component can be reduced, i.e., controlled to be less than the predetermined power threshold, thereby utilizing the remaining power to clean a larger area as much as possible. As mentioned above, assuming that the robot 10 requires 50% of its total power to complete the cleaning of the entire pool (e.g., the entire cleaning task) without reducing the output power of the cleaning component, the robot 10 may require only 25% of its total power to complete the cleaning of the entire pool (e.g., the entire cleaning task). Thus, assuming the robot currently has 30% of its total power remaining, if the output power of the cleaning component is not reduced to less than the predetermined power threshold, the robot cannot complete the cleaning of the entire pool; if the output power of the cleaning component is reduced to less than the predetermined power threshold, the robot will still use 5% of its remaining total power for the return trip to the base station after completing the cleaning of the entire pool. Therefore, if the controller determines that the robot 10 meets the first condition, it controls the robot 10 to perform cleaning actions on the remaining uncleaned areas.

[0215] In another scenario, if the controller determines that robot 10 meets the second condition, it indicates that the remaining battery power of robot 10 is insufficient to support cleaning all remaining uncleaned areas. Therefore, selective cleaning of the uncleaned areas is possible. The second condition could be, for example, that the area that the remaining battery power allows robot 10 to clean (i.e., the first area) is smaller than the area of ​​the remaining uncleaned areas. Therefore, if the controller determines that robot 10 meets the second condition, it controls robot 10 to execute a cleaning strategy that involves cleaning the remaining heavily soiled areas. Heavily soiled areas could be, for example, areas with a large amount of dirt (e.g., leaves, twigs, and foam). Robot 10 can acquire dirt information about the uncleaned areas, for example, through sensors (described in detail below). This dirt information could include, for example, the type, location, quantity, volume, density, and / or concentration of dirt. The controller can determine the heavily soiled areas based on the dirt data and control robot 10 to move to and clean these areas.

[0216] The second condition could also be: even if the output power of the robot's cleaning components is reduced, the robot's remaining power is still insufficient to support the robot in completing the cleaning of the area to be cleaned. Therefore, if the controller determines that the robot 10 meets the second predetermined condition, it controls the robot 10 to perform cleaning actions on the remaining uncleaned, heavily soiled areas.

[0217] In another scenario, if the controller determines that robot 10 meets the third condition, it means that robot 10's remaining battery power is insufficient to support robot 10 in cleaning the remaining uncleaned area. The third condition could be, for example, that the area that robot 10 can clean (i.e., the first area) is smaller than the area of ​​the remaining uncleaned area, and that there are no highly soiled areas in the remaining uncleaned area. Therefore, if the controller determines that robot 10 meets the third condition, it controls robot 10 to execute a cleaning strategy that involves cleaning the remaining uncleaned area. The area of ​​the remaining uncleaned area could, for example, be the area that the robot could clean if it exhausted its remaining battery power.

[0218] The third condition is, for example, that even if the output power of the robot's cleaning components is reduced, the robot's remaining power is still insufficient to support the robot in completing the cleaning of the area to be cleaned. Therefore, if the controller determines that the robot 10 meets the third predetermined condition, it controls the robot 10 to perform cleaning actions on a portion of the remaining uncleaned area.

[0219] For example, the partial area could be an area near base station 30 in the remaining uncleaned area, or an area where the average distance to base station 30 is less than or equal to a predetermined distance threshold. This allows the robot to be closer to base station 30 during cleaning of this area, making it easier for the robot to return to base station 30 when its battery level is less than or equal to a second battery threshold. It also helps the robot save more remaining battery power to obtain a larger area in the partial area. Referring to Figure 10, the robot's regular cleaning operation is an arc shape as shown on the left side of Figure 10, where the longer side is longer. When the third condition mentioned above is met, the robot's cleaning operation is an arc shape as shown on the right side of Figure 10, where the longer side is shorter. This means that although the robot is still cleaning the bottom of the pool, it does not travel along the longer side of the arc shape as in a regular cleaning operation, thus avoiding distance from the base station.

[0220] If the power required for robot 10 to return to a location easily accessible to the user, such as the pool bank, pool wall, or base station 30, is 10% of the total power (for example, the robot needs to reserve 10% of the total power for use on its way back to base station 30), and robot 10 currently has 30% of the total power remaining, then controlling robot 10 to perform cleaning actions on the remaining uncleaned areas could be, for example, controlling robot 10 to continue cleaning the uncleaned areas using 20% ​​of the total power, thereby allowing the robot to reserve 10% of the total power for use on its way back to base station 30.

[0221] The above descriptions of the first, second, and third conditions are merely illustrative, and any solution that can implement the technical principles of this application falls within the protection scope of this application.

[0222] The automatic water tank cleaning device 10 also includes a first sensor, which determines in real time the high-soil areas in the uncleaned area that meet the predetermined level of dirt.

[0223] The robot 10 may include, for example, a first sensor capable of acquiring data on dirt levels in the environment in front of the robot 10. The first sensor may be mounted on the robot 10's body. Alternatively, the first sensor may be mounted on the robot 10's head, with the head corresponding to the robot 10's forward direction. This application does not specifically limit the type and location of the first sensor in practical applications; those skilled in the art can choose according to the actual situation, as long as the technical principles of this application are achieved.

[0224] During the mobile cleaning process of robot 10, a first sensor can collect dirt data in real time, and a controller can analyze the degree of dirt based on the data collected by the first sensor. If the controller determines that the degree of dirt in a certain area of ​​the pool meets a predetermined level, then the controller determines that area to be a high-dirt area. Meeting the predetermined level of dirt can be, for example, by the quantity of dirt meeting a predetermined quantity, the volume of dirt meeting a predetermined volume, or the density of dirt meeting a predetermined density.

[0225] The above description of the methods for determining whether a predetermined level of dirtiness is met is not an exhaustive list, and any method that can implement the technical principles of this application falls within the protection scope of this application.

[0226] The first sensor includes at least one of the following: lidar or a vision sensor.

[0227] The first sensor may include, for example, a lidar. The lidar may be mounted on the head of the automatic pool cleaning device 10, and it can detect the outline of a target object in front of the robot 10 to obtain the degree of dirt in various uncleaned areas.

[0228] The first sensor may include, for example, a vision sensor, which may include, for example, a camera. The camera may be, for example, a 3D camera or a depth camera (such as a binocular vision, structured light, or ToF camera) used to acquire three-dimensional spatial information about obstacles. The vision sensor may be mounted, for example, on the head of the robot 10. The vision sensor can convert optical images into electrical signals. For example, the vision sensor can acquire an image of dirt in front of the robot 10 and convert the image into an electrical signal. The controller combines the electrical signal with an algorithm to calculate the required dirt data, thereby obtaining the degree of dirt in various parts of the uncleaned area.

[0229] It should be noted that the camera used should be waterproof to ensure stable operation when submerged in water for extended periods. The camera can be positioned at the front, top, side, and / or rear of the robot 10 as needed to optimize image acquisition from different directions.

[0230] Next, proceed to step S4203, when the current remaining power is less than or equal to the second power threshold, control the automatic water tank cleaning device 10 to return to the base station 30; wherein, the first power threshold is greater than the second power threshold.

[0231] For example, as shown in Figure 10, a base station 30 can be installed on the pool wall or pool bank, and the base station 30 can charge the robot 10. The power acquisition module 201 can continuously acquire the remaining power of the robot 10 in real time. Furthermore, the controller determines whether the remaining power of the robot 10 is less than or equal to a second power threshold.

[0232] If the controller determines that the remaining battery power of robot 10 is less than or equal to a second battery threshold, or equal to a battery threshold, it means that if robot 10 continues to move and clean, the remaining battery power may not be enough to allow robot 10 to return to base station 30 for charging. For example, robot 10 may stop in the middle of the pool due to insufficient battery power, thus increasing the user's need for retrieval. Therefore, if the controller determines that the remaining battery power is less than or equal to the second battery threshold, robot 10 will stop cleaning the pool and return to base station 30 for charging.

[0233] The path for robot 10 to return to base station 30 can be, for example, the path with the shortest distance or the least power consumption calculated by the controller based on information obtained from sensors (image sensor or distance sensor) and a path planning algorithm.

[0234] In one scenario, the second power threshold could be, for example, the amount of power required for the robot 10 to return to the base station 30 from the furthest point in the pool. In other words, the second power threshold could be a constant value that ensures the robot 10 can successfully return to the base station 30 for charging from any point in the pool.

[0235] In another scenario, the controller can, for example, calculate the amount of power required for the robot 10 to return to the base station 30 from its current position based on data collected by sensors (such as LiDAR, cameras, infrared sensors, etc.) and an algorithm. In other words, the second power threshold is not a constant value but can change depending on the robot's position. For example, if the robot needs to consume 5% of its total power to return to the base station 30 from its current position, the second power threshold can be set to 7% of the total power. That is, the controller can set the second power threshold to a value slightly larger than the power required for the robot 10 to return to the base station 30 from its current position (e.g., slightly larger than 2% of the total power). This method of setting the second power threshold allows the robot 10 to dynamically determine the amount of power to reserve for its return journey to the base station 30, thus ensuring that the remaining power is fully utilized for cleaning the pool. This improves cleaning efficiency and also allows the robot 10 to successfully return to the base station 30 for charging, enhancing the robot 10's intelligence. This avoids the robot failing to return to the base station 30 due to errors in the sensors or power acquisition module.

[0236] When the remaining battery power of robot 10 is less than or equal to a first battery threshold, a second battery threshold can be obtained during the cleaning strategy execution. Therefore, the first battery threshold is greater than the second battery threshold. Furthermore, setting the first battery threshold to be greater than the second battery threshold allows for optimization of the cleaning path of robot 10 in a low-battery state, enabling robot 10 to minimize the dirt level in the pool with limited power. Setting the first battery threshold before robot 10 needs to return to base station 30 for charging via the second battery threshold allows the controller to know that robot 10 is in a low-battery state and select a better cleaning strategy for robot 10. For example, it can control robot 10 to first clean the heavily soiled areas, thereby significantly reducing the dirt level in the pool before robot 10 returns to charging, improving the intelligence of robot 10.

[0237] The above description of the second power threshold is merely an exemplary description. Those skilled in the art can set the second power threshold according to actual conditions, and this application does not limit it in this regard.

[0238] The first power threshold is a fixed value. When the current remaining power is less than or equal to the first power threshold, the automatic water tank cleaning device 10 is in a low power stage; and / or, the second power threshold is a variable value, which can be determined based on the distance between the current position of the automatic water tank cleaning device 10 and the base station 30.

[0239] The first power threshold can be a fixed value set by someone skilled in the art. For example, the first power threshold is greater than the power required for robot 10 to return to base station 30 from the furthest point in the pool, but less than the power required for robot 10 to clean the entire pool. The controller determines the first power threshold so that robot 10 can perform the aforementioned cleaning strategy before returning to base station 30 for charging, thereby minimizing the pool's dirtiness and improving power utilization. Therefore, if the remaining power of robot 10 is less than or equal to the first power threshold, the controller determines that robot 10 is in a low-power state and may not be able to successfully complete the cleaning of the entire pool, requiring a replanning of the cleaning strategy.

[0240] As mentioned above, the second power threshold can be a variable value. The second power threshold can vary depending on the distance between the robot 10 and the base station 30. For example, if the distance between the robot 10 and the base station 30 is greater, the second power threshold will be larger to ensure that the robot reserves sufficient power for its return journey to the base station 30. The robot 10 can, for example, obtain its position at the bottom of the pool using various sensors (e.g., using a local or global map of the pool bottom) and calculate the distance between the robot and the base station 30 based on its position. The robot 10 can also calculate the distance between itself and the base station 30 using its own coordinates acquired in real time and pre-stored coordinates of the base station 30. Alternatively, the robot can acquire images of the base station 30 using a binocular camera and calculate the distance based on these images. The controller calculates the power required for the robot 10 to move from its current position to the base station 30 based on the distance between the robot and the base station 30. Specifically, the controller calculates the power required for the robot 10 to move to the base station 30, which could be the power required for the robot's return journey after the cleaning components (e.g., a water pump or roller brush) are turned off. The second power threshold, which changes according to the actual situation, allows the robot to use more power for cleaning the pool, thus improving the utilization rate of power.

[0241] Available power is the amount of electricity that the robot can use during the execution of the cleaning strategy, and the available power is determined based on the first power threshold and the second power threshold.

[0242] The available power of robot 10 in executing the above cleaning strategy can be determined, for example, based on a first power threshold and a second power threshold. As mentioned above, the first power threshold is greater than the second power threshold, and the available power can be, for example, the difference between the first and second power thresholds. This allows robot 10 to improve power utilization while executing the cleaning strategy, and also ensures that it can successfully return to base station 30 for charging. It is worth noting that since the second power threshold is, for example, a variable value, the available power can also be a variable value.

[0243] The first condition is satisfied when the cleanable area corresponding to the available power is greater than or equal to all remaining uncleaned areas; and / or, the second condition is satisfied when the cleanable area corresponding to the available power is less than all remaining uncleaned areas and there are highly soiled areas in the remaining uncleaned areas; and / or, the third condition is satisfied when the cleanable area corresponding to the available power is less than all remaining uncleaned areas and there are no highly soiled areas in the remaining uncleaned areas.

[0244] Whether the first, second, and third conditions are met can be determined, for example, by checking the available power.

[0245] The controller can, for example, calculate the cleaning area corresponding to the available power. As mentioned above, the available power can be a variable value; therefore, the area corresponding to the available power can also be a variable value.

[0246] In one scenario, if the controller determines that the cleaned area corresponding to the available power is greater than or equal to the remaining uncleaned area, meaning the robot 10 can complete the cleaning of the remaining uncleaned area and return to the base station 30 for charging after cleaning, then the robot 10 meets the first condition. The controller can then control the robot 10 to execute the cleaning strategy corresponding to the first condition.

[0247] In another scenario, if the controller determines that the cleaned area corresponding to the available power is less than the remaining uncleaned area, that is, the robot 10 cannot return to the base station 30 after cleaning the uncleaned area, or the robot 10 cannot complete the cleaning of the uncleaned area. If the controller further determines that there is a highly contaminated area in the uncleaned area, the controller determines that the robot 10 meets the second condition, and the controller controls the robot 10 to execute the cleaning strategy corresponding to the second condition.

[0248] In another scenario, if the controller determines that the cleaned area corresponding to the available power is less than the remaining uncleaned area, that is, the robot 10 cannot return to the base station 30 after cleaning the uncleaned area, or the robot 10 cannot complete the cleaning of the uncleaned area. If the controller further determines that there is no highly contaminated area in the uncleaned area, then the controller determines that the robot 10 meets the third condition, and the controller controls the robot 10 to execute the cleaning strategy corresponding to the third condition.

[0249] Judging the first, second, and third conditions by the available power supply can improve the robot's power utilization rate, allowing the robot to automatically return to base station 30 for charging without manual intervention, thus improving the user experience.

[0250] It is worth noting that, since the available power is a variable value, when robot 10 executes a certain cleaning strategy, the controller can, for example, determine whether robot 10 has switched to meeting another condition. If so, the controller can control robot 10 to change the corresponding cleaning strategy. For example, while robot 10 meets the first condition and executes the corresponding cleaning strategy, as the distance between robot 10 and base station 30 increases, the controller can, for example, determine that robot 10 has switched to meeting the second or third condition. As another example, while robot 10 meets the second condition and executes the corresponding cleaning strategy, if the heavily soiled area has been completely cleaned, and the remaining power of robot 10 is still greater than the second power threshold, the controller can, for example, determine that robot 10 has switched to meeting the third condition.

[0251] Before the automatic water tank cleaning device 10 is controlled to return to the base station 30, the control method further includes: controlling the automatic water tank cleaning device 10 to record its own position as a first position; and after the automatic water tank cleaning device 10 is controlled to return to the base station 30, the control method further includes: controlling the automatic water tank cleaning device 10 to return to the first position and continue to perform mobile cleaning.

[0252] In step S4203, before the robot 10 returns to the base station 30, the controller may, for example, record the position of the robot 10 as a first position. The first position may be, for example, the position of the robot when it ceases its mobile cleaning operation of the pool. The first position may be, for example, the coordinates of the robot 10 within the pool. The first position may be obtained, for example, through a positioning system such as GPS; the first position may also be recorded by the controller on a local map constructed by the robot 10 for the pool, the specific construction method of which will be described in detail below.

[0253] After recording the first position, the controller controls the robot 10 to return to the base station 30 for charging. If the controller determines that the robot 10 is fully charged, or if the robot 10 receives a user's instruction to return to the pool, the controller can, for example, control the robot 10 to return to the first position and continue performing the cleaning task from there. The path for the robot 10 to return from the base station 30 to the first position can, for example, be the shortest path planned by the controller according to a path planning algorithm.

[0254] The above control method can prevent the robot 10 from repeatedly cleaning the pool, thus improving the cleaning efficiency of the robot 10.

[0255] Before controlling the automatic pool cleaning device 10 to move and clean the pool, the control method further includes controlling the automatic pool cleaning device 10 to construct a map of the pool.

[0256] Before or during cleaning operations on a pool, robot 10 needs to construct a map of the pool to enable localization, relocation, and path planning during the cleaning process. For example, robot 10 can be controlled to travel along the edge of the pool (e.g., along the boundary between the pool bottom and the pool wall, referred to as "edge-side travel"), and point cloud information of the pool edge can be collected in real time during this process to obtain the contour and shape of the pool bottom. This process is also known as "edge-side mapping" or "mapping." Typically, edge-side mapping can be achieved using predetermined sensors. These predetermined sensors can be, for example, ultrasonic sensors, infrared sensors, lidar, inertial measurement units, etc. This embodiment does not impose specific limitations, as long as they can acquire environmental information surrounding robot 10.

[0257] During edge mapping, the robot 10 maintains a distance from the pool wall. This serves two purposes: firstly, it prevents the robot 10 from colliding with the pool wall or obstacles on it; secondly, it allows the predetermined sensors mentioned above to obtain the required measurement angle or conditions.

[0258] The map of the pool constructed by robot 10 facilitates robot 10 in obtaining the aforementioned first location and the distance between robot 10 and base station 30.

[0259] The control method for the automatic water tank cleaning device provided in this application enables the automatic water tank cleaning device to select whether to perform cleaning or recharge based on the remaining power, thereby optimizing the power distribution of the automatic water tank cleaning device, improving cleaning efficiency and reducing energy waste.

[0260] The following will be explained with reference to Figures 11-12.

[0261] The charging method for the automatic pool cleaning device provided in some embodiments of this specification includes a solar cell that can charge the automatic pool cleaning device. By using the solar cell to automatically charge the automatic pool cleaning device, the user does not need to recycle the automatic pool cleaning device. This dedicated charging of the automatic pool cleaning device can improve its working efficiency and extend its battery life.

[0262] In some embodiments of this specification, the solar cell can be mounted on top of the automatic pool cleaning device. In other embodiments, the solar cell can be electrically connected to the automatic pool cleaning device via a flexible wire. The solar cell can be mounted on a floating base, allowing it to float on the water surface when the automatic pool cleaning device is performing cleaning work on or under the water, thus enabling the solar cell to charge the battery of the automatic pool cleaning device.

[0263] The following describes a charging method for an automatic water tank cleaning device according to an embodiment of this specification. Figure 11 is a schematic flowchart of a charging method for an automatic water tank cleaning device according to an embodiment of this specification. This specification provides the method operation steps as shown in the embodiment or flowchart, but based on conventional or non-inventive labor, more or fewer operation steps may be included. The order of steps listed in the embodiment is only one of many possible execution orders and does not represent the only execution order. In actual system or server products, the method can be executed sequentially or in parallel (e.g., in a parallel processor or multi-threaded processing environment) as shown in the embodiment or the accompanying drawings. This method can be applied to the controller of the automatic cleaning device, and this specification does not specifically limit it. Specifically, as shown in Figure 11, the method may include:

[0264] S5201: Acquire environmental images of the water tank using an image acquisition device.

[0265] In the specific implementation process, environmental images of the pool can be acquired using image acquisition equipment. These acquired environmental images include visual features such as color, texture, and edges. When acquiring environmental images using image acquisition equipment, the automatic pool cleaning device can collect image information of the pool either above or below the water surface.

[0266] The image acquisition device may include at least one camera. The camera can be positioned at the front, top, side, and / or rear of the automatic pool cleaning device, or suspended above the pool, as needed, to optimize image acquisition from different directions. When the image acquisition device is suspended above the pool, it can shoot towards the water surface or at an angle to the water surface to capture environmental images of the pool. When the image acquisition device is mounted on the automatic pool cleaning device, the robot can use it to acquire environmental images of the pool around it.

[0267] For example, the image acquisition device may be a monocular image acquisition component, a binocular image acquisition component, or a surround view image acquisition component, and there may be one or more image acquisition devices.

[0268] In some embodiments of this specification, acquiring environmental images of the pool using an image acquisition device includes:

[0269] Control the automatic water tank cleaning device or the image acquisition device to rotate by a predetermined angle;

[0270] During the rotation of the automatic water tank cleaning device or the image acquisition device, environmental images of the water tank are acquired by the image acquisition device.

[0271] In specific implementation, the number of automatic pool cleaning devices or image acquisition devices can be one or more. When there is only one automatic pool cleaning device or image acquisition device, environmental images within the current visible range can be acquired using only the image acquisition device (i.e., the acquired environmental image does not necessarily have to be a complete image of the pool). Alternatively, the number of automatic pool cleaning devices or image acquisition devices can be controlled to rotate by a predetermined angle, thereby acquiring environmental images from multiple angles during the rotation of the automatic pool cleaning device or image acquisition device. The predetermined angle can be 180 degrees or 360 degrees. Of course, other methods can be used to set the value of the predetermined angle according to actual needs; this specification does not specifically limit the embodiments.

[0272] Alternatively, if there are multiple automatic pool cleaning devices or image acquisition devices, rotation is not required; environmental images from different angles can be captured by multiple automatic pool cleaning devices or image acquisition devices.

[0273] Alternatively, if there is only one automatic pool cleaning device or the image acquisition device, and the visible range exceeds the first visible value, there is no need to rotate. The automatic pool cleaning device or the image acquisition device can capture environmental images within the visible range. For example, if the visible range of the automatic pool cleaning device or the image acquisition device exceeds 180 or 360 degrees, the environmental images within the visible range can be captured directly by the automatic pool cleaning device or the image acquisition device.

[0274] S5202: Based on the environmental image, identify whether there is a rechargeable area in the pool.

[0275] In the specific implementation process, after acquiring the environmental image, the brightness information of the environmental image can be identified, thereby determining whether there is a rechargeable area in the pool. For example, if there is an area in the environmental image with brightness information greater than a certain threshold, it indicates that the area in the pool is a rechargeable area. The value of the first threshold can be set according to actual needs, such as based on the power of the automatic cleaning device or based on empirical values ​​for solar charging, for example, using 100 as the first threshold value. Of course, other methods can also be used to set the value of the first threshold according to actual needs; this specification does not specifically limit the implementation of the embodiments.

[0276] In some embodiments of this specification, identifying whether a rechargeable area exists in the pool based on the environmental image includes:

[0277] Extract the brightness matrix of the environmental image, and obtain the brightness information of each region of the environmental image based on the brightness matrix;

[0278] Based on the brightness information of each area in the environmental image, the rechargeable areas in the pool are identified.

[0279] In practice, the brightness information of each region of the environmental image can be obtained by extracting its brightness matrix. When the environmental image is grayscale, the brightness matrix is ​​a two-dimensional array; when the environmental image is color, it is a calculated array of grayscale intensities. Each value in the brightness matrix represents the brightness of that pixel.

[0280] After obtaining the brightness matrix of the environmental image, the brightness matrix can be segmented, and then the brightness information of each sub-region can be calculated based on the brightness matrix of each region. For example, the environmental image can be uniformly divided into an M×N grid, and the brightness information of each grid can be calculated. M and N can be determined based on the size of the environmental image. For instance, assuming each grid contains a minimum of 1000 pixels, the statistical validity can be ensured. If the environmental image size is 600×800 pixels, with a total of 48000 pixels, then the number of grids can be equal to or less than 480. To avoid too many grids, the maximum number of grids can be further limited, for example, by limiting the number of grids to 25, i.e., no more than 25. In this case, the number of grids can be set to 25, and M and N can be determined to be 5, i.e., the environmental image is divided into a 5×5 grid. After dividing the environmental image into regions, the brightness information of each grid can be calculated based on the brightness matrix of each region. Each grid corresponds to an image region, thus obtaining the brightness information of each region of the environmental image. Specifically, the brightness information of each grid can be obtained by calculating the total pixel value of each grid and then calculating the flatness brightness of each grid. This gives the brightness information of each region in the environmental image. For example, based on the brightness information of each region in the environmental image, rechargeable areas in a pool can be identified. For instance, areas in the environmental image with a brightness value exceeding 100 can be identified as rechargeable areas.

[0281] The method further includes:

[0282] Calculate the orientation of the rechargeable area relative to the automatic cleaning device of the pool;

[0283] Based on the orientation of the rechargeable area relative to the automatic pool cleaning device, the automatic pool cleaning device is controlled to move from its current position toward the rechargeable area.

[0284] In the specific implementation process, after identifying a rechargeable area in the pool, the position of the rechargeable area relative to the automatic pool cleaning device can be calculated, and the automatic pool cleaning device can be controlled to move from its current position towards the rechargeable area. For example, if the calculated position of the rechargeable area relative to the automatic pool cleaning device is directly in front, the automatic pool cleaning device can be controlled to move directly in front from its current position. During the movement of the automatic pool cleaning device, it is determined whether the light intensity at the current location of the solar cell meets the charging conditions of the solar cell. For example, it is detected whether the voltage, current, or power output of the solar cell meets the set conditions, or whether the voltage, current, or power input to the battery in the automatic cleaning device meets the preset conditions. If they are met, the automatic cleaning device can be controlled to stop moving, so that the solar cell can charge the automatic pool cleaning device, ensuring that the automatic cleaning device has sufficient power for subsequent cleaning work. Solar cells are typically installed on or near automatic cleaning devices. This way, once the current location of the solar cell meets the charging conditions, the automatic cleaning device can be stopped. This ensures that the solar cell charges the automatic cleaning device at a location where the charging conditions are met, preventing the automatic cleaning device from continuing to move into a location without sunlight, which would render the solar cell inoperable.

[0285] The method further includes:

[0286] Calculate the orientation and distance of the rechargeable area relative to the automatic cleaning device of the pool;

[0287] Based on the orientation and distance of the rechargeable area relative to the automatic pool cleaning device, a movement path is determined, and the automatic pool cleaning device is controlled to move from its current position to the rechargeable area according to the movement path.

[0288] In the specific implementation process, after identifying a rechargeable area in the pool, the orientation and distance of the rechargeable area relative to the automatic pool cleaning device can be calculated. Based on this orientation and distance, a movement path is determined, and the automatic pool cleaning device is controlled to move from its current position to the rechargeable area according to the movement path. For example, as shown in Figure 12, if the calculated orientation of the rechargeable area relative to the automatic pool cleaning device is directly in front, and the distance is 10 meters, then the movement path is determined to be 10 meters directly in front, and the automatic pool cleaning device is controlled to move 10 meters directly in front from its current position. As shown in Figure 3, after reaching the rechargeable area, the automatic cleaning device is controlled to stop. This ensures that the solar cells charge the automatic cleaning device at a location that meets the charging conditions, preventing the automatic cleaning device from continuing to move into a location without sunlight, thus preventing the solar cells from working.

[0289] For example, in a swimming pool with multiple rechargeable areas, the automatic pool cleaning device can be controlled to move to the nearest rechargeable area or to the area with the highest brightness. Of course, other methods can be used to set the specific rechargeable areas to move, depending on actual needs; this specification does not limit the specific implementation of these methods.

[0290] The method further includes: after identifying whether there is a rechargeable area in the pool based on the environmental image, it further includes:

[0291] If not, the automatic water tank cleaning device will be put into standby mode.

[0292] In some embodiments of this specification, when there is no rechargeable area in the pool, the automatic pool cleaning device can be controlled to enter standby mode, thereby reducing the energy consumption of the automatic pool cleaning device. Before entering standby mode, the power level of the automatic pool cleaning device can be further acquired. After acquiring the power level, the acquired power level can be compared with a first threshold. When the power level is lower than the first threshold, it indicates that the current power level of the automatic pool cleaning device is relatively low, and the automatic pool cleaning device can be controlled to enter standby mode. When the power level of the automatic pool cleaning device is greater than a second threshold, the automatic pool cleaning device can be controlled to continue moving to perform cleaning operations without entering standby mode; the second threshold is greater than the first threshold.

[0293] The values ​​of the first and second thresholds can be set according to actual needs. For example, they can be set based on the battery capacity of the automatic water cleaning device. For instance, 30% of the automatic water cleaning device's capacity can be used as the first threshold, and 80% of the automatic water cleaning device's capacity can be used as the second threshold. Of course, other methods can also be used to set the value of the first threshold according to actual needs, and this specification does not specifically limit the embodiments.

[0294] The method further includes: the solar cell floating on the water surface when performing a charging operation in the rechargeable area.

[0295] In some embodiments of this specification, the solar cell floats on the water surface during charging.

[0296] In practice, the solar cells float on the water surface during charging to maximize sunlight absorption and conversion into electricity, thus improving charging efficiency. For example, if the solar cells are mounted on the casing of an automatic cleaning device, the device can be kept floating on the water when charging is required, causing the solar cells to float as well. If the solar cells are connected to the automatic cleaning device via a flexible cable, a floating base can be installed on the solar cells, allowing them to remain floating on the water while charging.

[0297] The charging method for the automatic pool cleaning device provided in this specification involves acquiring environmental images of the pool using an image acquisition device while the automatic cleaning device is moving. Based on these images, the method identifies whether a rechargeable area exists in the pool. If such an area exists, the automatic cleaning device is controlled to move from its current position to the rechargeable area, and the solar cell is controlled to perform a charging operation in that area, thereby enabling the solar cell to automatically charge. This solution eliminates the need for manual determination of the existence of a rechargeable area and, if one exists, manual movement of the automatic cleaning device to that area. During operation, the automatic cleaning device automatically searches for and moves to a rechargeable area, achieving automated charging and improving its charging efficiency. This ensures the automatic cleaning device has sufficient power to continue cleaning as quickly as possible, extending its battery life and improving its overall efficiency.

[0298] The automatic pool cleaning device also includes a motion control module and a drive device. The motion control module controls the drive device to adjust the driving direction and speed of the automatic pool cleaning device so that the automatic pool cleaning device moves from the current position to the rechargeable area.

[0299] In some embodiments of this specification, during the movement of the driving device, it may be blown by water flow or wind, or obstructed by obstacles in the pool, such as leaves, causing the solar cell to deviate from its predetermined direction. After deviating, the automatic pool cleaning device may not be able to reach the charging area. Therefore, in this embodiment, during the movement of the automatic pool cleaning device, a motion control module controls the driving device, adjusting its direction and speed to move it from its current position to the charging area. This allows the solar cell to move towards the charging area, ensuring the automatic pool cleaning device reaches the charging area and guarantees normal and stable charging.

[0300] In some embodiments of this specification, the driving device is a propeller, a water jet device, or a drive wheel.

[0301] In some embodiments of this specification, a propeller, a water jet device, or a drive wheel is used to adjust the position or attitude of the solar cell, thereby keeping the solar cell in or near its current position.

[0302] In the specific implementation process, the automatic water tank cleaning device in the embodiments of this specification operates within a water tank. During the process of the solar cell charging the automatic water tank cleaning device, the device may be moved by water flow or wind, causing the solar cell to deviate from its current position. After deviating, the solar cell may no longer be under sunlight, and the light intensity may not meet the charging conditions. Based on this, in the embodiments of this specification, during the process of the solar cell charging the automatic water tank cleaning device, the position or attitude of the automatic water tank cleaning device is adjusted by the water spray device or drive wheel on the device, thereby adjusting the position or attitude of the solar cell installed on it. This ensures that the solar cell remains in its current position or close to its current position, thus maintaining a position that meets the charging conditions and ensuring the normal and stable charging of the automatic water tank cleaning device.

[0303] In some embodiments of this specification, the step of adjusting the position or orientation of the solar cell by means of a water spray device or a drive wheel on the automatic cleaning device includes adjusting the position or orientation of the solar cell based on wind speed and wind direction by controlling the water spray device or the drive wheel.

[0304] In the specific implementation process, when adjusting the position or orientation of the solar cells, the direction and intensity of the water spray from the sprinkler system, or the direction and driving force of the drive wheels, can be controlled according to the current wind speed and direction to adjust the position or orientation of the automatic water cleaning device, thereby adjusting the position or orientation of the solar cells installed on the automatic water cleaning device. For example, if the current wind speed is relatively high, the spray intensity of the sprinkler system or the driving force of the drive wheels can be increased. If the current wind direction is easterly, the sprinkler system can be controlled to spray water westward, thus providing an eastward force to the automatic water cleaning device, or the drive wheels can be controlled to apply an eastward force to counteract the wind. This allows the automatic water cleaning device to withstand the wind and remain in its current position or close to its current position, thereby keeping the solar cells in their current position or close to their current position and enabling more stable charging of the automatic water cleaning device.

[0305] In some embodiments of this specification, a charging device for controlling an automatic water tank cleaning device is also provided. The automatic water tank cleaning device includes a solar cell, and the charging device for controlling the automatic water tank cleaning device may include:

[0306] The acquisition module is used to acquire environmental images of the pool through image acquisition equipment;

[0307] The identification module is used to identify whether there is a rechargeable area in the pool based on the environmental image.

[0308] The control module is used to, if present, control the automatic water cleaning device to move from its current position to the rechargeable area, and control the solar cell to perform a charging operation in the rechargeable area.

[0309] Regarding the charging device for the automatic water tank cleaning device in the above embodiments, the specific methods by which each module performs its operation have been described in detail in the embodiments of the relevant method, and will not be elaborated upon here. The charging device for the automatic water tank cleaning device in the above embodiments may also include other implementation methods according to the description of the method embodiments. Specific implementation methods can be referred to the description of the relevant method embodiments, and will not be repeated here.

[0310] This application also provides an automatic water tank cleaning device, which includes a processor and a memory. The memory stores at least one instruction or at least one program. The processor loads and executes the at least one instruction or at least one program to implement the charging method of the automatic water tank cleaning device as described above.

[0311] Memory can be used to store software programs and modules. The processor executes various functional applications and data processing by running the software programs and modules stored in memory.

[0312] This application also provides a non-transitory computer-readable storage medium storing a computer program thereon. When executed by a processor, the computer program implements a charging method for the automatic water tank cleaning device provided in the above embodiments. The automatic water tank cleaning device includes a solar cell. The method includes: acquiring an environmental image of the water tank using an image acquisition device; identifying whether a rechargeable area exists in the water tank based on the environmental image; if so, controlling the automatic water tank cleaning device to move from its current position to the rechargeable area, and controlling the solar cell to perform a charging operation in the rechargeable area. The principle and scheme of the charging method are described above in conjunction with the various embodiments and accompanying drawings, and will not be repeated here.

[0313] This application also provides a computer program product, which includes a computer program that can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer can execute the control method of the automatic water tank cleaning device provided by the above methods. The automatic water tank cleaning device includes a solar cell. The method includes: acquiring an environmental image of the water tank through an image acquisition device; identifying whether a rechargeable area exists in the water tank based on the environmental image; if so, controlling the automatic water tank cleaning device to move from its current position to the rechargeable area, and controlling the solar cell to perform a charging operation in the rechargeable area. The principle and scheme of the charging method are described above in conjunction with various embodiments and accompanying drawings, and will not be repeated here.

[0314] The following description refers to Figures 13-16.

[0315] The control method of the automatic pool cleaning device provided in some embodiments of this specification includes a cleaning device that may include a solar cell and a battery. The battery can provide power to the cleaning device so that it can perform cleaning work, while the solar cell can charge the battery. The solar cell can automatically charge the cleaning device in a timely manner, eliminating the need for the user to recycle the cleaning device and charge it. This can improve the working efficiency of the cleaning device and extend the battery life of the automatic pool cleaning device.

[0316] The following describes a control method for an automatic water tank cleaning device according to an embodiment of this specification. Figure 13 is a flowchart illustrating the control method for an automatic water tank cleaning device according to an embodiment of this specification. This specification provides the method operation steps as shown in the embodiment or flowchart, but based on conventional or non-inventive labor, more or fewer operation steps may be included. The order of steps listed in the embodiment is merely one of many possible execution orders and does not represent the only possible execution order. In actual system or server products, the method can be executed sequentially or in parallel (e.g., in a parallel processor or multi-threaded processing environment) as shown in the embodiment or the accompanying drawings. This method can be applied to the controller of an automatic cleaning device, and this specification does not specifically limit its application. Specifically, as shown in Figure 13, the method may include:

[0317] S6201: Obtains battery power during the operation of the automatic cleaning device.

[0318] In the specific implementation process, the automatic cleaning device is equipped with a battery that provides power to the entire device. During the movement of the automatic cleaning device, such as when the automatic cleaning device is working, the battery power can be monitored in real time to obtain the battery power in real time, or the battery power can be obtained once at a certain time during the movement of the automatic cleaning device.

[0319] In some embodiments of this specification, the travel process includes a travel process on the water surface or a travel process underwater.

[0320] In practical implementation, the automatic cleaning device can travel on the water surface or underwater. That is, it can perform cleaning work on the water surface or underwater. Underwater cleaning can include bottom cleaning and sidewall cleaning. This specification does not specifically limit the operating mode of the automatic cleaning device; it can be applied to various pool cleaning scenarios.

[0321] S6202: When the power level is lower than the first threshold, determine whether the light intensity at the current location of the solar cell meets the charging conditions of the solar cell.

[0322] In the specific implementation process, after obtaining the battery power, the obtained power can be compared with a first threshold. When the power is lower than the first threshold, it indicates that the current power of the automatic cleaning device is relatively low, and it can be determined whether the light intensity at the current location of the solar cell meets the charging conditions of the solar cell. For example, if the solar cell is installed on the automatic cleaning device, and the current location of the automatic cleaning device places the solar cell under sunlight, then the charging conditions of the solar cell are met. The solar cell can be installed in a suitable location according to actual needs, such as on the outer casing of the automatic cleaning device, or in other locations, as long as it can receive sunlight to charge the battery. This specification does not specifically limit the installation location of the solar cell in the embodiments.

[0323] The value of the first threshold can be set according to actual needs, such as based on the battery capacity of the automatic cleaning device, for example, using 30% of the battery capacity as the first threshold value. Of course, other methods can also be used to set the value of the first threshold according to actual needs, and this specification does not specifically limit the embodiments.

[0324] In some embodiments of this specification, the method further includes: the solar cell being disposed on top of the automatic cleaning device, or the solar cell being electrically connected to the automatic cleaning device via a flexible wire.

[0325] In specific implementation, Figure 14 is a structural schematic diagram of the automatic water tank cleaning device in one embodiment of this specification. As shown in Figure 14, in some embodiments of this specification, the solar cell 2 can be placed on top of the automatic water tank cleaning device 10. Figure 15 is a structural schematic diagram of the automatic water tank cleaning device in another embodiment of this specification. As shown in Figure 15, in other embodiments, the solar cell 2 can be electrically connected to the automatic water tank cleaning device 10 via a flexible wire 3. The solar cell can be placed on a floating base. When the automatic cleaning device is performing cleaning work on or underwater, the solar cell can float on the water surface, thus realizing the function of charging the battery of the automatic cleaning device using the solar cell.

[0326] In addition, the capacity and size of the solar cell can be set according to actual needs, and the embodiments in this specification do not impose specific limitations on this.

[0327] Furthermore, in some embodiments of this specification, determining whether the light intensity at the current location of the solar cell meets the charging conditions of the solar cell includes determining whether the voltage, current, or power output by the solar cell meets set conditions, or whether the voltage, current, or power input by the battery meets preset conditions.

[0328] In practical implementation, a typical solar cell, once exposed to sunlight, can automatically convert solar energy into electrical energy, thus generating corresponding output. In the embodiments described in this specification, when the battery's charge level falls below a first threshold, the system can determine whether the voltage, current, or power output of the solar cell meets set values. If it does, the current location meets the charging conditions for the solar cell; otherwise, the current location does not meet the charging conditions. The output data of the solar cell can be obtained by monitoring its voltage, current, or power. Alternatively, the battery of the automatic cleaning device can be monitored. If the automatic cleaning device is not connected to other charging equipment, but the battery has voltage, current, or power input, it indicates that the solar cell is charging the battery and is ready to charge. This input data is the output data of the solar cell.

[0329] A solar cell can be connected to a battery, allowing it to automatically charge the battery when the solar cell meets charging requirements. The setpoint can be configured based on actual conditions. For example, setting it to a value greater than 0 means that as long as the solar cell outputs voltage, current, or power, it indicates that there is sunlight at that location, meeting the charging requirements. Generally, different light intensities and illuminated areas will result in different outputs from the solar cell. This setpoint can also be set based on the solar cell's maximum output voltage, current, or power, ensuring that the solar cell can charge the automatic cleaning device's battery under favorable sunlight conditions.

[0330] S6203: If the charging conditions are met, control the automatic cleaning device to stop moving so that the solar cell can charge the battery.

[0331] In practice, if the power level of the automatic cleaning device falls below a first threshold, and the sunlight intensity at the current location of the solar cell meets its charging requirements, the automatic cleaning device can be stopped. This allows the solar cell to charge the battery, ensuring the device has sufficient power for subsequent cleaning operations. The solar cell is typically positioned on or near the automatic cleaning device. By stopping the device when the charging conditions are met, the solar cell ensures it charges the battery at a location where conditions are favorable, preventing the device from moving into areas without sunlight where the solar cell would cease functioning.

[0332] In some embodiments of this specification, when the travel process includes an underwater travel process and the solar cell is disposed on top of the automatic cleaning device, controlling the automatic cleaning device to stop traveling includes controlling the automatic cleaning device to stop traveling and float to the surface of the water.

[0333] In practical implementation, when the solar cells are placed on top of the automatic cleaning device, and the device is moving underwater, if the battery level of the device is detected to be below a first threshold, indicating that the solar cells meet the charging conditions (i.e., there is sunlight above the device), the device can be controlled to stop moving and float to the surface. This allows the solar cells to better receive sunlight, improving their efficiency and thus increasing the charging efficiency of the device's battery. This enables the device to perform cleaning work more quickly and also enhances the safety of solar cell charging. Of course, for automatic cleaning devices that need to operate underwater, when the solar cells are placed on top, the wires and other water-resistant parts of the solar cells can be wrapped with water-repellent materials to ensure their safety.

[0334] In some embodiments of this specification, the solar cell floats on the water surface while charging the battery.

[0335] In practical implementation, when charging a battery, the solar cell floats on the water surface. This maximizes the absorption of sunlight, converting solar energy into electrical energy and improving charging efficiency. For example, if the solar cell is mounted on the casing of an automatic cleaning device, the device can be controlled to float on the water when charging is needed, thus causing the solar cell to float as well. If the solar cell is connected to the automatic cleaning device via a flexible cable, a floating base can be installed on the solar cell, allowing it to remain floating on the water surface while charging.

[0336] The control method for the automatic pool cleaning device provided in this specification monitors the battery level of the automatic cleaning device while it is moving. When the battery level falls below a first threshold, it indicates that the battery is low on power. At this time, it can be determined whether the sunlight intensity at the location of the solar cell meets the charging conditions. If so, the automatic cleaning device is stopped, allowing the solar cell to automatically charge the battery at a location where the charging conditions are met. This solution eliminates the need for manual relocation of the automatic cleaning device to a charging point when its power is low. During operation, the device can be charged anytime, anywhere, provided the charging conditions are met, ensuring it has sufficient power to continue cleaning as quickly as possible. This extends the device's runtime and improves its efficiency.

[0337] In some embodiments of this specification, the method further includes: controlling the automatic cleaning device to continue moving to perform cleaning operations when the battery charge is greater than a second threshold; the second threshold is greater than a first threshold.

[0338] In the specific implementation process, while the automatic cleaning device stops moving and its battery is charged by solar panels, the battery level can be continuously monitored. For example, the battery level can be acquired in real time or at regular intervals. When the battery level exceeds a second threshold, the automatic cleaning device is controlled to continue moving and performing cleaning work. The second threshold is greater than the first threshold, and its specific value can be set according to actual needs. For example, it can be set based on the battery capacity, such as setting 80% of the battery capacity as the second threshold.

[0339] In this embodiment of the specification, when the solar cell charges the battery, the battery power is monitored. When the battery power reaches a second threshold, it indicates that the automatic cleaning device has sufficient power to continue working. This allows the automatic cleaning device to perform cleaning work as soon as possible when the power is sufficient, thereby improving the cleaning efficiency of the automatic cleaning device.

[0340] In some embodiments of this specification, the method further includes: when the battery charge is lower than a third threshold, controlling the automatic cleaning device to move to a preset position for the user to retrieve, wherein the third threshold is less than the first threshold.

[0341] In the specific implementation process, a third threshold can be set, which is lower than the first threshold. This third threshold can be used to indicate that the automatic cleaning device's battery is severely low. The specific value can be set according to actual needs, such as 10% of the battery capacity. When the battery level of the automatic cleaning device is detected to be lower than the third threshold, it indicates that the device is severely low on power and needs immediate charging. At this time, the automatic cleaning device can be moved to a preset location, such as the shore, for easy retrieval by the user, allowing for manual charging. By setting a third threshold, when the battery level is lower than this threshold, the automatic cleaning device is controlled to move to a designated location in a timely manner, facilitating user retrieval and charging, thus preventing the device from being unable to move and be retrieved due to lack of power in the center of the pool.

[0342] In some embodiments of this specification, the method further includes:

[0343] If the light intensity at the current location is not sufficient for charging, the automatic cleaning device will continue to move until the light intensity at the location of the solar cell is sufficient for charging.

[0344] In practical implementation, when the battery power of the automatic cleaning device falls below a first threshold, it is determined that the light intensity at the current location of the solar cell does not meet the charging conditions. Therefore, the automatic cleaning device can be controlled to continue moving. The solar cell can move directly with the automatic cleaning device or be moved via a flexible cord. During movement, the solar cell is continuously monitored to determine if the light intensity at its current location meets the charging conditions. Once it reaches a location where the light intensity meets the charging conditions, the automatic cleaning device stops, allowing the solar cell to charge the battery. This achieves automatic charging of the automatic cleaning device and improves its working efficiency.

[0345] Of course, even when the automatic cleaning device stops moving and the solar panels are charging the battery, the voltage, current, or power output of the solar panels can still be monitored to ensure they meet the charging conditions. If the battery's charge hasn't reached the second threshold and the charging conditions are no longer met, it indicates that the sunlight has moved. In this case, the automatic cleaning device can be controlled to move, for example, within a preset range, to continue searching for a location nearby where the light intensity meets the solar panel's charging conditions, and then continue charging the battery. This improves the efficiency of finding the charging location.

[0346] In some embodiments of this specification, the method further includes recording the position of the solar cell in the pool or the orientation of the automatic cleaning device when the charging conditions are met, and is able to control the automatic cleaning device to travel to the position where the charging conditions are met again based on the recorded information.

[0347] In practical implementation, the automatic cleaning device can detect the status of the solar cells while moving, recording the position of the solar cells in the pool or the orientation of the automatic cleaning device when charging conditions are met. This information is marked on the device's working map as a rechargeable location. When the battery power falls below a first threshold and the light intensity at the current location of the solar cells does not meet charging conditions, the automatic cleaning device can be controlled to move to a rechargeable location that meets the charging conditions, based on its current position and the markers on the working map. For example, the device can be controlled to move to the nearest rechargeable location and its orientation adjusted according to the recorded information to ensure better sunlight coverage of the solar cells. After reaching a rechargeable location, the device can again check if the current location meets the solar cell charging conditions. If not, it searches for the next nearest rechargeable location until it reaches a location that meets the charging conditions.

[0348] Within the operating time of the automatic cleaning device, the location of sunlight coverage changes only slightly. By recording the rechargeable locations and orientation of the automatic cleaning device during its movement, when the device's battery is low and it needs to be recharged, the recorded information can be used to quickly find a suitable location for solar cell charging, thereby improving the charging efficiency of the automatic cleaning device.

[0349] Of course, if a suitable location for solar cell charging is not found after a certain number of searches, such as 3 times, the search can be stopped and the automatic cleaning device can continue to work until it runs out of power and returns to the shore. This avoids wasting the automatic cleaning device's power in searching for a charging location.

[0350] In some embodiments of this specification, the method further includes adjusting the position or orientation of the solar cell by means of a water spray device or a drive wheel on the automatic cleaning device during the process of the solar cell charging the battery, so that the solar cell is kept at or near the current position.

[0351] In practical implementation, the automatic cleaning device in this embodiment operates in a water tank. During the process of the solar cell charging the battery, the automatic cleaning device may be moved by water flow or wind, causing the solar cell to deviate from its current position. After deviating, the solar cell may no longer be under sunlight, and the light intensity may not meet the charging conditions. Based on this, in this embodiment, during the process of the solar cell charging the battery, the position or attitude of the automatic cleaning device is adjusted by the water spray device or drive wheel on the automatic cleaning device. This, in turn, adjusts the position or attitude of the solar cell installed on or connected to the automatic cleaning device by a flexible cable, so that the solar cell remains in its current position or close to its current position, thereby continuously maintaining a position that meets the charging conditions and ensuring the normal and stable charging of the automatic cleaning device.

[0352] In some embodiments of this specification, the step of adjusting the position or orientation of the solar cell by means of a water spray device or a drive wheel on the automatic cleaning device includes adjusting the position or orientation of the solar cell based on wind speed and wind direction by controlling the water spray device or the drive wheel.

[0353] In practical implementation, when adjusting the position or orientation of the solar cells, the direction and intensity of the water spray from the sprinkler system, or the direction and driving force of the drive wheel, can be controlled based on the current wind speed and direction. This adjusts the position or orientation of the automatic cleaning device, and consequently, the position or orientation of the solar cells mounted on or connected to the automatic cleaning device via a flexible cable. For example, if the current wind speed is high, the spray intensity of the sprinkler system or the driving force of the drive wheel can be increased. If the current wind direction is easterly, the sprinkler system can be directed to spray water westward, thus providing an eastward force to the automatic cleaning device, or the drive wheel can be controlled to apply an eastward force to counteract the wind. This allows the automatic cleaning device to withstand the wind and remain in its current or near-current position, thereby keeping the solar cells in their current or near-current position and enabling more stable charging of the battery.

[0354] In some embodiments of this specification, a control device for an automatic water tank cleaning device is also provided. The automatic water tank cleaning device includes a solar cell and a storage battery. The solar cell is capable of supplying power to the storage battery. The device may include:

[0355] A power monitoring module is used to acquire the power of the battery during the movement of the automatic cleaning device in the water tank;

[0356] The charging condition judgment module is used to determine whether the light intensity at the current location of the solar cell meets the charging conditions of the solar cell when the power is lower than a first threshold.

[0357] A charging control module is used to control the automatic cleaning device to stop moving if the charging conditions are met, so that the solar cell can charge the battery.

[0358] Regarding the apparatus in the above embodiments, the specific manner in which each module performs its operations has been described in detail in the embodiments related to the method, and will not be elaborated upon here. The apparatus in the above embodiments may also include other implementation methods based on the description of the method embodiments; specific implementation methods can be referred to the description of the relevant method embodiments, and will not be repeated here.

[0359] This application also provides an automatic water tank cleaning device, which includes a processor and a memory. The memory stores at least one instruction or at least one program. The processor loads and executes the at least one instruction or at least one program to implement the control method of the automatic water tank cleaning device as described above.

[0360] The methods and embodiments provided in this application can be executed in electronic devices such as mobile terminals, computer terminals, servers, or similar computing devices. Figure 16 is a schematic diagram of the structure of the control electronic device for the automatic water tank cleaning device provided in this application embodiment. As shown in Figure 16, the electronic device 900 can vary considerably due to different configurations or performance. It may include one or more central processing units (CPUs) 910 (CPUs 910 may include, but are not limited to, microprocessors MCUs or programmable logic devices FPGAs), a memory 930 for storing data, and one or more storage media 920 (e.g., one or more mass storage devices) for storing application programs 923 or data 922. The memory 930 and storage media 920 may be temporary or persistent storage. The program stored in the storage media 920 may include one or more modules, each module may include a series of instruction operations on the electronic device. More specifically, the CPU 910 may be configured to communicate with the storage media 920 and execute a series of instruction operations in the storage media 920 on the electronic device 900. Electronic device 900 may also include one or more power supplies 960, one or more wired or wireless network interfaces 950, one or more input / output interfaces 940, and / or one or more operating systems 921, such as Windows Server™, Mac OS X™, Unix™, Linux™, FreeBSD™, etc.

[0361] The input / output interface 940 can be used to receive or send data via a network. Specific examples of the network described above may include a wireless network provided by the communication provider of the electronic device 900. In one example, the input / output interface 940 includes a network interface controller (NIC), which can connect to other network devices via a base station to communicate with the Internet. In another example, the input / output interface 940 may be a radio frequency (RF) module used for wireless communication with the Internet.

[0362] Those skilled in the art will understand that the structure shown in FIG16 is merely illustrative and does not limit the structure of the electronic device described above. For example, the electronic device 900 may also include more or fewer components than shown in FIG16, or have a different configuration than that shown in FIG16.

[0363] The following will be explained with reference to Figures 17-20.

[0364] Waterline areas may vary due to differences in surface roughness, material, or curvature of the pool wall (e.g., transitioning from smooth ceramic tiles to non-slip textured areas). However, automatic pool cleaning devices typically use a fixed movement pattern when performing waterline cleaning, which may make it difficult for the device to reliably and stably perform cleaning tasks under different operating conditions.

[0365] Figure 17 is a schematic diagram of the structure of an automatic water tank cleaning device provided in an embodiment of this application. Referring to Figure 17, the automatic water tank cleaning device 10 includes at least a body 110, a controller (not shown), one or more cleaning components 120, a drive module 130, and a sensing component 140.

[0366] The fuselage 110 can be circular, square, or other shapes. For example, part of the fuselage can be circular, and another part can be square. The fuselage 110 has a sealed chamber inside, which can be used to house electronic components and a power system.

[0367] The controller may include a microcontroller unit (MCU). Of course, the controller may also include other devices capable of control functions, such as application-specific integrated circuits (ASICs).

[0368] The aforementioned cleaning component 120 may specifically include one or more of the following: a roller brush, a water filtration device, etc. The water filtration device may include an inlet, an outlet, a water pump, and a filter. The roller brush can gather foreign objects and move them towards the water inlet at the bottom of the automatic pool cleaning device. Furthermore, the roller brush can scrape foreign objects away from the bottom of the pool.

[0369] A drive module 130 is mounted on the machine body and is used to drive the machine body to move along the bottom of the pool and / or in the water. The drive unit may include drive wheels, track wheels, and a water spray device. In one example, the water spray device is used to spray water in the opposite direction of the automatic pool cleaning device's movement to drive the automatic pool cleaning device forward. The water spray device may include the outlet of a water filtration device, or it may be independent of the water filtration device.

[0370] The aforementioned sensing component 140 can acquire obstacle information, and the automatic pool cleaning device can detect and identify obstacles based on the obstacle information acquired by the sensing component. Furthermore, the controller can control the automatic pool cleaning device accordingly based on the detected and identified obstacles.

[0371] In some examples, the sensing components may include an inertial measurement unit (IMU), lidar, line laser sensor, vision (image) sensor, depth gauge, and may also include edge sensors, velocity measurement units, and other sensing devices located on the sidewalls of the fuselage.

[0372] The inertial measurement unit integrates a three-axis accelerometer and a three-axis gyroscope to collect linear acceleration and angular velocity data of the automatic pool cleaning device during its underwater movement in real time. It also calculates the device's attitude information, including the tilt angle, roll angle, yaw state, and movement trend of the body relative to the vertical direction, through a sensor fusion algorithm. This provides data for attitude control, anomaly detection, and movement mode switching.

[0373] It is understood that the above-described automatic water tank cleaning device is merely an example and does not constitute a limitation of the embodiments described in this specification.

[0374] To enhance the ability of an automatic water tank cleaning device to adapt to different working conditions when performing water line cleaning tasks, this application proposes a water line cleaning method for an automatic water tank cleaning device. The automatic water tank cleaning device is configured with a first movement mode and a second movement mode, and the automatic water tank cleaning device performs water line cleaning tasks in either the first movement mode or the second movement mode.

[0375] As shown in Figure 18, the water line cleaning method of the automatic water tank cleaning device includes the following steps:

[0376] S7201: During the water line cleaning task performed by the automatic water tank cleaning device, detect whether the preset conditions are met;

[0377] S7202: When the preset conditions are met, the automatic cleaning device for the water tank is controlled to switch the current movement mode to the target movement mode, wherein the current movement mode is one of the first movement mode and the second movement mode, and the target movement mode is the other.

[0378] In this embodiment, the entity executing the waterline cleaning method can be the controller within the automatic water tank cleaning device.

[0379] Waterline cleaning is a cleaning operation performed by an automatic pool cleaning device on the waterline area. The waterline area is a ring-shaped or continuous strip-shaped area formed at the junction of the water surface and the pool wall, where grease, mineral deposits, algae, and organic pollutants accumulate.

[0380] In some examples, during step S7201 above, when the automatic water tank cleaning device performs the water line cleaning task, it can be determined whether the preset conditions are met by continuously monitoring the operating status data and / or environmental parameters.

[0381] The operational status data may include one or more parameters such as the current posture information of the automatic pool cleaning device, its position relative to the waterline, and its travel speed. The environmental parameters may include pool wall property information such as the surface roughness, material type (e.g., ceramic tile, glass, concrete, etc.), and / or local curvature changes.

[0382] In some examples, operational status data and environmental parameters can be combined simultaneously for judgment to improve the accuracy of preset condition detection. For instance, when the image detection module identifies a change in the pool wall material from high-roughness anti-slip ceramic tile to low-roughness smooth glass, and the inertial measurement unit detects an abnormal tilt angle of the machine body caused by a sudden change in friction force that lasts for more than a preset duration, the preset condition is determined to be met, thereby effectively reducing misjudgments caused by noise or instantaneous interference from a single sensor.

[0383] In some examples, the first and second movement modes may differ in one or more of the following aspects: travel trajectory, adsorption strength to the pool wall, applicable pool wall material type, and pool wall surface roughness.

[0384] In some examples, the first movement mode is applicable to pool wall surface roughness that is lower than that of the second movement mode. Specifically, the first movement mode is suitable for areas with lower surface roughness, such as pool walls made of low-friction materials like smooth ceramic tiles or glass; the second movement mode is suitable for areas with higher surface roughness, such as non-slip ceramic tiles with textured surfaces, concrete, or pool walls with raised structures.

[0385] For example, when the automatic pool cleaning device is operating in the second movement mode in a waterline area made of concrete, if the image detection module detects that the material of the pool wall in front has changed from concrete to smooth ceramic tile, or if the motion sensor detects a change in the device's posture caused by a decrease in surface roughness, then it is determined that the preset conditions have been met. At this time, the controller controls the automatic pool cleaning device to switch to the first movement mode, and in the first movement mode, it performs the cleaning task on the waterline area made of smooth ceramic tile with working parameters adapted to the low-roughness surface (e.g., adjusting the speed of the drive wheels).

[0386] In other examples, in step S7201 above, during the water line cleaning task performed by the automatic water tank cleaning device, it can be determined whether the preset conditions are met by whether a mode switching command triggered by the user via remote control or terminal is received.

[0387] For example, if a user observes that the automatic cleaning device in the pool is running unstably on a smooth pool wall, they can send a command to switch to the first movement mode via a terminal or remote control. Upon receiving the switching command, the controller determines that the preset conditions have been met.

[0388] In step S7202, when the preset conditions are met, the controller generates a mode switching command, controlling the automatic water tank cleaning device to smoothly transition from the current movement mode to the target movement mode. During the switching process, the controller can synchronously adjust operating parameters such as drive differential speed and water pump power, so that the automatic water tank cleaning device can smoothly perform the movement mode switching, thereby reducing the possibility of problems such as equipment loss of control, detachment from the pool wall, or cleaning interruption caused by sudden changes.

[0389] In the above-mentioned waterline cleaning method, preset conditions are dynamically detected during the waterline cleaning task performed by the automatic water tank cleaning device, and the automatic water tank cleaning device is controlled to switch the movement mode when the preset conditions are met. This realizes the automatic switching of the movement mode, enabling the automatic water tank cleaning device to adapt to different working conditions in the waterline area, effectively improving the environmental adaptability and operational stability of the waterline cleaning task, thereby improving the waterline cleaning effect.

[0390] In some embodiments, in the first movement mode, the automatic pool cleaning device moves horizontally along the pool wall; in the second movement mode, the automatic pool cleaning device alternately moves up and down along the pool wall.

[0391] In the first moving mode, the automatic pool cleaning device can move horizontally along the pool wall in any of the following ways:

[0392] The device moves horizontally along the pool wall in an inclined posture. For example, the inclined posture can be achieved by controlling the front of the device to float out of the water and adjusting the left or right water pump to operate at a pump power less than a preset threshold, so that the length direction of the device (i.e. the straight extension direction from the head to the tail) forms a preset angle (e.g. 5°~10°) with the vertical direction. At the same time, the device moves horizontally along the pool wall by generating lateral thrust based on the differential speed of the drive wheels.

[0393] The device moves horizontally along the pool wall in a vertical posture. For example, in the vertical posture, the length of the device's body is perpendicular to the water surface, and the direction of movement is parallel to the waterline.

[0394] The device moves horizontally along the pool wall in a horizontal posture. For example, in the horizontal posture, the length of the device's body is parallel to the water surface, and the direction of movement is parallel to the waterline.

[0395] In the second movement mode, the device can perform alternating up-and-down movement along the pool wall in any of the following ways:

[0396] It moves alternately in an inclined posture, moving obliquely upwards and vertically downwards. For example, the inclined posture can be transitioned from a vertical posture relative to the water surface to an inclined posture by controlling the inflation of an airbag on one side of the front of the device body, and the inclined posture can be maintained by adjusting the wheel speed difference between the two drive wheels. At the same time, the power of the back water pump is cyclically adjusted to move alternately in an inclined posture, moving obliquely upwards and vertically downwards in the waterline area to form a wavy cleaning path.

[0397] It moves vertically upwards and downwards alternately along the pool wall in a vertical posture, with the direction of movement parallel to the waterline.

[0398] In the second movement mode, the automatic pool cleaning device is controlled to move diagonally upwards along the pool wall to cover the upper part of the waterline area, and simultaneously moves vertically downwards in the same tilted posture to cover the lower part of the waterline area. This alternating movement ensures that the device's movement path covers the entire waterline area. Thus, by controlling the automatic pool cleaning device to move alternately upwards and downwards along the pool wall, a undulating path is formed to sequentially clean multiple waterline segments in the waterline area while maintaining an tilted posture. This is suitable for pool wall surfaces with high roughness, expanding the cleaning range and improving the waterline cleaning coverage during the waterline cleaning process.

[0399] In some examples, the automatic pool cleaning device can be configured to perform waterline cleaning tasks by default in the first moving mode.

[0400] In this embodiment, considering that differences in the surface material of the pool wall will affect the moving efficiency and operational stability of the automatic pool cleaning device, the automatic pool cleaning device is controlled to adaptively switch between a first moving mode and a second moving mode. For example, on a relatively smooth pool wall, the automatic pool cleaning device is controlled to move horizontally along the pool wall in the first moving mode, which can avoid unnecessary up-and-down fluctuations and achieve stable and efficient horizontal movement. On a relatively rough or protruding pool wall, the automatic pool cleaning device is controlled to alternately move up and down along the pool wall in the second moving mode. This up-and-down undulating movement mode can improve the stability of the device operation and the cleaning coverage of the waterline area. As a result, the automatic pool cleaning device can accurately adapt to the corresponding moving mode for different pool wall conditions, ensuring that the waterline cleaning task is continuously and stably performed in different pool wall environments.

[0401] In some embodiments, the automatic water tank cleaning device includes an inertial measurement unit, and the detection of whether a preset condition is met may include: obtaining the pose information of the automatic water tank cleaning device through the inertial measurement unit, and detecting whether the preset condition is met based on the pose information.

[0402] The pose information includes the device's attitude parameters (such as tilt angle) and motion state parameters (such as acceleration, angular velocity, whether it has stopped or collided) relative to the pool wall plane. The inertial measurement unit has a built-in three-axis accelerometer and a three-axis gyroscope, which can collect the device's dynamic data in real time and calculate the device's precise pose in real time through a sensor fusion algorithm, which may include its current tilt angle, whether it has deviated from the waterline area, whether it has stopped or collided, etc.

[0403] In this embodiment, the pose information of the automatic water tank cleaning device is acquired through an inertial measurement unit. Since the dynamic pose information directly reflects the contact state between the automatic water tank cleaning device and the tank wall, the device's pose information is used to detect whether preset conditions are met. If met, the automatic water tank cleaning device is controlled to switch movement modes. This enables timely response to changes in operating conditions. Once an abnormal pose is detected, the automatic water tank cleaning device can be triggered to switch modes, ensuring stable waterline cleaning operations under different operating conditions, thus improving the continuity and reliability of waterline cleaning operations.

[0404] In some embodiments, the current movement mode is the first movement mode, and the preset condition includes: the movement state of the automatic pool cleaning device in the first movement mode is abnormal; or, the current movement mode is the second movement mode, and the preset condition includes: the movement state of the automatic pool cleaning device in the second movement mode is abnormal.

[0405] Abnormal movement status refers to the state in which the automatic pool cleaning device deviates from the preset normal operating range in the current movement mode. For example, the automatic pool cleaning device may deviate from the path unexpectedly during movement, or the movement may stop or collide.

[0406] For example, when the automatic cleaning device moves horizontally along the pool wall in the first movement mode, if the inertial measurement unit detects that the tilt angle of the device continues to exceed the preset tilt range allowed by the mode, it switches to the second movement mode; and when the device's vertical fluctuation path is detected to deviate from the expected path in the second movement mode, it switches back to the first movement mode.

[0407] In this embodiment, by presetting different abnormal conditions for different movement modes, when the automatic water tank cleaning device performs water line cleaning tasks, if the movement state in the current movement mode meets the abnormal conditions of the current movement mode, the movement mode switching is triggered, which effectively improves the continuity and operational reliability of water line cleaning operations.

[0408] In some embodiments, the abnormal movement state of the automatic pool cleaning device in the first moving mode includes at least one of the following:

[0409] The position of the automatic water tank cleaning device deviates from the preset tilt range of the first movement mode;

[0410] The position of the automatic cleaning device for the water tank is offset from the waterline area relative to the position of the waterline.

[0411] The automatic cleaning device for the pool may stop or collide while moving along the pool wall.

[0412] During the waterline cleaning task in the first movement mode, if the device encounters obstacles or rough walls, it may collide or stop due to sudden changes or obstruction in adhesion. Alternatively, the angle formed by the device's length relative to the vertical direction may exceed a preset tilt range (e.g., the preset tilt range is less than 10°), or the device may deviate from the waterline area, for example, the front of the device may rise too high (e.g., completely detach from the waterline area). Any of these situations can be considered an abnormal movement state in the first movement mode.

[0413] By identifying abnormal movement states in the first movement mode and switching the movement mode in a timely manner, it is possible to effectively avoid abnormal interruptions in cleaning tasks, equipment stagnation, or collisions, thereby improving the continuity of waterline cleaning tasks and the reliability of equipment operation.

[0414] As an example, when the automatic pool cleaning device is performing a waterline cleaning task in a first movement mode, for example, the device moves horizontally along the pool wall in an inclined posture, its inertial measurement unit continuously monitors the tilt angle of the device; when the tilt angle is detected to exceed the preset range, the automatic pool cleaning device is controlled to switch to a second movement mode to continue performing the waterline cleaning operation in a wave-like lateral movement manner.

[0415] In this embodiment, the movement state of the automatic pool cleaning device in the first movement mode can be determined by combining whether its posture deviates from a preset tilt range, whether its position relative to the waterline deviates from the waterline area, and whether its movement stops or collides. This comprehensive assessment determines whether the movement state in the first movement mode is abnormal, and triggers a movement mode switch if an abnormality occurs. This multi-dimensional anomaly detection mechanism can more reliably control the switching of the automatic pool cleaning device's movement mode.

[0416] In some embodiments, the abnormal movement state of the automatic pool cleaning device in the second moving mode includes at least one of the following:

[0417] The position of the automatic water tank cleaning device deviates from the preset tilt range of the second movement mode;

[0418] The position of the automatic cleaning device for the water tank is offset from the waterline area relative to the position of the waterline.

[0419] The automatic cleaning device for the pool may stop or collide while moving along the pool wall.

[0420] During waterline cleaning tasks in the second movement mode, for example, when the automatic pool cleaning device moves alternately upwards and downwards at an angle, it may be unable to effectively maintain its set posture or height due to insufficient friction when encountering excessively smooth pool walls such as glass. For instance, the device may slip below the water surface too deeply during downward movement due to insufficient friction (e.g., the sensor detects that the top of the device is submerged more than 5cm below the water surface); or the lateral thrust may be unbalanced, causing the device's tilt angle to deviate from the preset tilt range in the second movement mode; or it may stop or collide with obstacles (e.g., the water inlet) during vertical movement. Any of these situations can be considered an abnormal movement state in the second movement mode.

[0421] By identifying abnormal motion states in the second movement mode and switching the movement mode in a timely manner, it is possible to effectively avoid abnormal interruptions in cleaning tasks, equipment stagnation, or collisions, thereby improving the continuity of waterline cleaning tasks and the reliability of equipment operation.

[0422] As an example, when the automatic pool cleaning device performs waterline cleaning on a smooth glass pool wall in the second movement mode, if it detects that the tilt angle of the device exceeds the preset tilt range of the second movement mode and the position relative to the waterline deviates from the waterline area (e.g., the depth value is continuously greater than the preset threshold), it is determined that the movement state in the second movement mode is abnormal. The controller then triggers the movement mode switch, switching the movement mode from the second movement mode back to the first movement mode, that is, using a stable lateral movement method to perform the waterline cleaning operation.

[0423] In this embodiment, the movement status of the automatic water tank cleaning device in the second movement mode is also comprehensively judged based on three dimensions: whether its tilt posture exceeds the preset range, whether it deviates from the waterline area, and whether it stops or collides. This multi-parameter fusion anomaly judgment method can further improve the accuracy and reliability of mode switching, effectively balancing cleaning efficiency and operational stability.

[0424] To more reliably control the switching of movement modes, in some embodiments, based on Figure 18 and Figure 19, when preset conditions are met, controlling the automatic water tank cleaning device to switch the current movement mode to the target movement mode may include:

[0425] S7301: If the cumulative number of abnormal movement states within a preset time window exceeds a preset number, the automatic cleaning device of the water tank will be controlled to switch the current movement mode to the target movement mode.

[0426] In this embodiment, the automatic cleaning device for the water tank is controlled to switch its movement mode only when the number of abnormal movement occurrences exceeds a preset number (e.g., 2 times) within a preset time window (e.g., 3 seconds). By introducing the dual criteria of time window and the number of abnormal occurrences, the mode switch is triggered only when the abnormality occurs repeatedly, indicating that the current mode is indeed difficult to run stably. This effectively improves the reliability of movement mode switching and the continuity of water line cleaning tasks.

[0427] In some embodiments, based on FIG18 and as shown in FIG20, the method may further include:

[0428] S7401: If the motion state continuously becomes abnormal at the current moment, and the cumulative number of consecutive abnormal motion states within the preset time window with the current moment as the end time does not exceed the preset number, the automatic cleaning device of the pool is controlled to stop moving, and after adjusting its posture, it continues to perform the water line cleaning task in the current movement mode.

[0429] In this embodiment, when the automatic pool cleaning device detects an abnormal movement state during the execution of the waterline cleaning task (e.g., the device's posture tilt deviates from the preset tilt range, the position deviates from the waterline area, and / or stops or collides during movement), and the cumulative number of abnormalities within the preset time window ending at the current moment does not exceed the preset threshold, the controller can control the automatic pool cleaning device to pause its movement and perform attitude adjustment operations (e.g., adjust buoyancy, drive wheel speed, water pump power) to attempt to restore the movement state of the automatic pool cleaning device to a normal state. Subsequently, it continues to execute the waterline cleaning task in the current movement mode (first movement mode or second movement mode) without immediately switching to another movement mode.

[0430] If an abnormal motion state is detected again after adjustment, and the time point of the detected abnormal motion state is within the same preset time window as the time point of the previously detected abnormal motion state, and the cumulative number of abnormalities within this window reaches or exceeds a preset threshold, then the controller determines that the current movement mode is no longer suitable for the current pool wall environment, and triggers the movement mode switch to switch the current mode to the target movement mode. This can effectively improve the stability and reliability of the waterline cleaning task.

[0431] The various embodiments or implementation methods described in this specification are presented in a progressive manner. Each embodiment focuses on the differences from other embodiments, and the same or similar parts between the embodiments can be referred to each other.

[0432] The following section uses a swimming pool cleaning robot as an example to further illustrate the waterline cleaning method of the automatic pool cleaning device provided in this application embodiment.

[0433] When performing waterline lateral movement cleaning tasks, pool cleaning robots typically employ a first movement mode and a second movement mode. The first movement mode is, for example, a stable lateral movement mode, and the second movement mode is, for example, a fluctuating lateral movement mode.

[0434] In stable lateral movement mode, the front of the pool cleaning robot is stabilized at the position where it just emerges from the water. By controlling the power of the water pump on the back of the robot body, for example, the power is lower on the left and higher on the right, so that the water pump on the right side generates a greater lateral thrust. At the same time, in conjunction with the differential speed of the left and right drive wheels, a lateral rolling torque is generated, which propels the pool cleaning robot to move horizontally along the waterline.

[0435] In the undulating lateral movement mode, the robot generates lateral force through the nozzles at its bottom, maintaining a leftward tilt. Simultaneously, the power of the water pump at the back changes periodically, driving the robot to undulate up and down near the waterline and move laterally to the left. This mode is suitable for rough or protruding pool walls (such as concrete walls, anti-slip tiles, etc.), utilizing the up-and-down undulation to enhance dynamic adhesion to the pool wall, improving movement stability and cleaning coverage.

[0436] When a pool cleaning robot moves horizontally along the pool wall, it can move quickly without the need for an up-and-down undulating motion on smooth surfaces. However, on walls with protrusions or rough concrete, it needs to move up and down for better performance. Therefore, it is necessary to switch between these two motion modes as needed.

[0437] In some examples, a waterline cleaning method is provided, the method comprising the following steps:

[0438] When the robot begins its waterline lateral movement task, it defaults to using a stable lateral movement mode.

[0439] During lateral movement in a stable lateral movement mode, if the robot detects an abnormal posture using its built-in inertial measurement unit (IMU), it will pause lateral movement, automatically adjust buoyancy or drive parameters to restore a normal posture, and then continue lateral movement in the stable lateral movement mode. If the robot encounters obstacles or rough surfaces during lateral movement, it may experience abnormal states, such as excessive tilting of the body, excessive height of the front of the robot above the water, or complete lateral movement stoppage.

[0440] If the above abnormal states occur frequently within the preset time window, the stable horizontal movement mode will be automatically switched to the fluctuating horizontal movement mode.

[0441] During lateral movement using the undulating lateral movement mode, if the robot detects an abnormal posture through its built-in inertial measurement unit (IMU), it will pause lateral movement, automatically adjust buoyancy or drive parameters to restore a normal posture, and then continue lateral movement in the undulating lateral movement mode. Abnormalities may also occur when the robot is running on very smooth pool walls such as glass, for example: the robot may slip too deep below the water surface due to insufficient adhesion, be unable to maintain its waterline height, lateral movement may stall, or unexpected tilting may occur.

[0442] If abnormal conditions are frequently detected in the undulating horizontal movement mode, the undulating horizontal movement mode will be automatically switched back to the stable horizontal movement mode.

[0443] In this embodiment, by automatically switching between a stable lateral movement mode and a fluctuating lateral movement mode for the machine to move the water line across the pool wall, both efficient lateral movement on smooth walls and stable operation on rough walls are ensured, thereby improving the adaptability, continuity and reliability of water line cleaning.

[0444] This application embodiment also proposes an automatic water tank cleaning device, which is configured with a first movement mode and a second movement mode. The automatic water tank cleaning device performs water line cleaning tasks in either the first movement mode or the second movement mode. The automatic water tank cleaning device further includes a processing module; the processing module is used for:

[0445] During the water line cleaning task performed by the automatic water tank cleaning device, it is detected whether preset conditions are met;

[0446] When the preset conditions are met, the automatic cleaning device for the pool is controlled to switch the current movement mode to the target movement mode, wherein the current movement mode is one of the first movement mode and the second movement mode, and the target movement mode is the other.

[0447] In some embodiments, in the first movement mode, the automatic pool cleaning device moves horizontally along the pool wall; in the second movement mode, the automatic pool cleaning device alternately moves up and down along the pool wall.

[0448] In some embodiments, the automatic pool cleaning device includes an inertial measurement unit, and the detection of whether a preset condition is met includes:

[0449] The inertial measurement unit acquires the pose information of the automatic water tank cleaning device, and detects whether the preset conditions are met based on the pose information.

[0450] In some embodiments, the current movement mode is the first movement mode, and the preset condition includes: the movement state of the automatic pool cleaning device in the first movement mode is abnormal;

[0451] Alternatively, the current movement mode is the second movement mode, and the preset conditions include: the movement state of the automatic water tank cleaning device in the second movement mode is abnormal.

[0452] In some embodiments, the abnormal movement state of the automatic pool cleaning device in the first moving mode includes at least one of the following:

[0453] The position of the automatic water tank cleaning device deviates from the preset tilt range of the first movement mode;

[0454] The position of the automatic cleaning device for the water tank is offset from the waterline area relative to the position of the waterline.

[0455] The automatic cleaning device for the pool may stop or collide while moving along the pool wall.

[0456] In some embodiments, the abnormal movement state of the automatic pool cleaning device in the second moving mode includes at least one of the following:

[0457] The position of the automatic water tank cleaning device deviates from the preset tilt range of the second movement mode;

[0458] The position of the automatic cleaning device for the water tank is offset from the waterline area relative to the position of the waterline.

[0459] The automatic cleaning device for the pool may stop or collide while moving along the pool wall.

[0460] In some embodiments, the processing module is configured to:

[0461] If the cumulative number of times the movement state continuously becomes abnormal exceeds a preset number within a preset time window, the automatic cleaning device of the pool will be controlled to switch the current movement mode to the target movement mode.

[0462] In some embodiments, the processing module is further configured to:

[0463] If the motion state continuously becomes abnormal at the current moment, and the cumulative number of consecutive abnormal motion states within the preset time window with the current moment as the end time does not exceed the preset number, the automatic cleaning device of the pool is controlled to pause its movement, and after adjusting its posture, it continues to perform the water line cleaning task in the current movement mode.

[0464] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of those different embodiments or examples.

[0465] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "a plurality of" means two or more, unless otherwise explicitly specified.

[0466] In this application, unless otherwise stated, directional terms such as "up" and "down" are generally used in relation to the direction shown in the accompanying drawings, or in relation to the vertical, perpendicular, or gravitational direction; similarly, for ease of understanding and description, "left" and "right" are generally used in relation to the left and right shown in the accompanying drawings; "inner" and "outer" refer to the inner and outer contours of each component itself, but the above directional terms are not intended to limit this application.

[0467] The above description is merely an exemplary embodiment of this application, but the scope of protection of this application is not limited thereto. Any person skilled in the art can easily conceive of various variations or substitutions within the technical scope described in this application, and these should all be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A control method of an automatic pool cleaning device, the automatic pool cleaning device comprising a battery and a solar panel, the solar panel being capable of powering the battery, the control method comprising: monitoring an amount of electricity of the battery; determining whether a current time is in a first time interval if the amount of electricity of the battery is below a first amount of electricity threshold, wherein, if the current time is not in the first time interval, controlling the automatic pool cleaning device to enter a first mode; and if the current time is in the first time interval, controlling the automatic pool cleaning device to operate in a second mode, wherein in the second mode, the automatic pool cleaning device stops moving to allow the solar panel to charge the battery if a preset condition is met. The preset condition comprises that an intensity of light at a current position of the solar panel meets a charging condition of the solar panel. The preset condition comprises that a time of moving of the automatic pool cleaning device in the second mode meets a first predetermined time length. If the time of moving of the automatic pool cleaning device in the second mode meets the first predetermined time length, controlling the automatic pool cleaning device to stop moving, and if a time of stopping of the automatic pool cleaning device meets a second predetermined time length, controlling the automatic pool cleaning device to operate in the second mode again. The second predetermined time length is greater than the first predetermined time length.

2. The control method according to claim 1, wherein Before the determining whether the current time is in the first time interval, the control method further comprises: obtaining the current time through a network if the automatic pool cleaning device is connected to the network; and obtaining a time of a real-time clock chip of the automatic pool cleaning device as the current time if the automatic pool cleaning device is not connected to the network.

3. The control method according to claim 1, wherein The first time interval is a first time interval defined by a user, or the first time interval is a time interval from sunrise to sunset, or the first time interval is a time interval in which an intensity of light in a predetermined area of a pool meets the charging condition of the solar panel.

4. The control method according to claim 3, wherein The first mode is a standby mode or a low-power mode.

5. The control method according to claim 4, wherein In the second mode, the control method further comprises: detecting whether the amount of electricity of the battery reaches a second amount of electricity threshold, and if the amount of electricity of the battery reaches the second amount of electricity threshold, controlling the automatic pool cleaning device to continue moving to perform a cleaning task.

6. The control method according to claim 1, wherein 10.A control method of an automatic pool cleaning device for cleaning a pool, the control method comprising: controlling the automatic pool cleaning device to move in the pool for cleaning; detecting a remaining amount of electricity of the automatic pool cleaning device; and controlling the automatic pool cleaning device to switch from a first cleaning mode to a second cleaning mode based on the remaining amount of electricity, wherein the first cleaning mode is different from the second cleaning mode. 11.A control method of an automatic pool cleaning device, comprising: obtaining a preset cleaning time period of the automatic pool cleaning device; and controlling the automatic pool cleaning device to perform a pool cleaning task according to the preset cleaning time period. ​ 7. The control method according to claim 1, wherein ​ 8. The control method according to claim 1, wherein ​ 9. The control method according to claim 1, wherein ​ ​ ​ ​ ​ ​ ​ ​ ​ 12.A control method of an automatic pool cleaning device, the automatic pool cleaning device comprising an electricity obtaining module, the electricity obtaining module being capable of obtaining a current remaining electricity of the automatic pool cleaning device, the control method comprising: controlling the automatic pool cleaning device to perform mobile cleaning in a pool; when the current remaining electricity is less than or equal to a first electricity threshold, obtaining a cleaning strategy based on the current remaining electricity, and controlling the automatic pool cleaning device to perform movement according to the cleaning strategy; when the current remaining electricity is less than or equal to a second electricity threshold, controlling the automatic pool cleaning device to return to a base station; wherein the first electricity threshold is greater than the second electricity threshold. 13.A charging method of an automatic pool cleaning device, the automatic pool cleaning device comprising a solar cell, the charging method comprising: obtaining an environment image of a pool by an image acquisition device; based on the environment image, identifying whether there is a chargeable area in the pool; if there is, controlling the automatic pool cleaning device to move from a current position to the chargeable area, and controlling the solar cell to perform a charging operation in the chargeable area.

14. A control method of an automatic pool cleaning device, wherein, The automatic pool cleaning device comprises a solar cell and a battery, the solar cell being capable of supplying power to the battery, the method comprising: obtaining an electricity of the battery during a travel of the automatic pool cleaning device; in a case where the electricity is lower than a first threshold, judging whether a light intensity of a current position of the solar cell satisfies a charging condition of the solar cell; if the charging condition is satisfied, controlling the automatic pool cleaning device to stop traveling, so that the solar cell charges the battery.

15. A water line cleaning method of an automatic pool cleaning device, wherein, The automatic pool cleaning device is configured with a first movement mode and a second movement mode, and performs a water line cleaning task in the first movement mode or the second movement mode;The method comprises: during the execution of the water line cleaning task by the automatic pool cleaning device, detecting whether a preset condition is satisfied; in a case where the preset condition is satisfied, controlling the automatic pool cleaning device to switch a current movement mode to a target movement mode, wherein the current movement mode is one of the first movement mode and the second movement mode, and the target movement mode is the other. 16.An automatic pool cleaning device capable of executing the control method of the automatic pool cleaning device according to any one of claims 1-15. 17.A non-volatile computer storage medium, the storage medium storing a computer program, the computer program being executed by a processor to implement the method according to any one of claims 1-15.

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