CN115584877A

CN115584877A - Control method of swimming pool cleaning robot and swimming pool cleaning robot

Info

Publication number: CN115584877A
Application number: CN202211363152.9A
Authority: CN
Inventors: 请求不公布姓名
Original assignee: Beijing Smorobot Technology Co Ltd
Current assignee: Beijing Smorobot Technology Co Ltd
Priority date: 2022-11-02
Filing date: 2022-11-02
Publication date: 2023-01-10
Also published as: WO2024092854A1

Abstract

The invention provides a control method of a swimming pool cleaning robot and the swimming pool cleaning robot. It is specific, through real-time detection swimming pool cleaning machines people's gesture angle, can accurately in time discern whether swimming pool cleaning machines people has placed in the swimming pool and be in the state of sinking based on the gesture angle to after discerning swimming pool cleaning machines people and being in the state of sinking, control swimming pool cleaning machines people's water pump motor opens and closes in turn, can make swimming pool cleaning machines people originally the aircraft nose that faces upward by pushing down gradually, can effectively guarantee that swimming pool cleaning machines people steadily falls into the swimming pool bottom of the pool. In addition, when the water pump motor is opened and closed to intermittent type nature for swimming pool cleaning machines people can appear the shake along with opening and closing of water pump motor by intermittent type nature, thereby the air of being convenient for swimming pool cleaning machines people is external to be discharged, can effectively guarantee swimming pool cleaning machines people's fuselage gesture is sinking the relatively stable of in-process, and then can guarantee that swimming pool cleaning machines people's working property and user use experience.

Description

Control method of swimming pool cleaning robot and swimming pool cleaning robot

Technical Field

The application relates to the technical field of swimming pool cleaning robots, in particular to a control method of a swimming pool cleaning robot and the swimming pool cleaning robot.

Background

The swimming pool cleaning robot is a cleaning robot capable of performing a cleaning task under water, and can help a user clean a swimming pool, improve the swimming pool cleaning efficiency and reduce the swimming pool cleaning cost. Generally, when a user places a pool cleaning robot into a pool when there is a need for pool cleaning, the pool cleaning robot sinks to the bottom of the pool by its own weight and performs a cleaning task from the bottom. However, the uncertainty of the posture of the body of the current swimming pool cleaning robot in the sinking process is large, so that the swimming pool cleaning robot is difficult to effectively ensure to stably fall into the bottom of the swimming pool, and the working performance and the user experience of the swimming pool cleaning robot are influenced.

Disclosure of Invention

The application provides a control method of a swimming pool cleaning robot and the swimming pool cleaning robot, which are used for effectively ensuring that the swimming pool cleaning robot stably falls into the bottom of a swimming pool, and ensuring the working performance and the user use experience of the swimming pool cleaning robot.

The embodiment of the application provides a control method of swimming pool cleaning robot, includes: detecting the body posture of the swimming pool cleaning robot; judging whether the swimming pool cleaning robot is placed in a swimming pool and is in a sinking state or not according to the attitude angle of the body attitude; and if the swimming pool cleaning robot is placed in the swimming pool and is in a sinking state, controlling a water pump motor of the swimming pool cleaning robot to work intermittently.

The embodiment of this application still provides a swimming pool cleaning machines people, includes: the cleaning device comprises a cleaning shell, and an attitude sensor, a water pump motor and a controller which are arranged in the cleaning shell; the gesture sensor is used for detecting the body gesture of the swimming pool cleaning robot; the controller is used for judging whether the swimming pool cleaning robot is placed in a swimming pool and is in a sinking state or not according to the attitude angle of the machine body attitude; if the swimming pool cleaning robot is placed in a swimming pool and is in a sinking state, a water pump motor of the swimming pool cleaning robot is controlled to work intermittently so as to accelerate the sinking process of the swimming pool cleaning robot.

An embodiment of the present application further provides an electronic device, including: a processor, a memory and a bus, the memory storing machine readable instructions executable by the processor, the processor and the memory communicating over the bus, the machine readable instructions when executed by the processor performing a method of controlling a pool cleaning robot.

Embodiments also provide a computer-readable storage medium having a computer program stored thereon, the computer program being executed by a processor to perform a control method of a pool cleaning robot.

In the embodiment of this application, through real-time detection swimming pool cleaning machines people's gesture angle, can in time discern whether swimming pool cleaning machines people has placed in the swimming pool and is in the state of sinking based on the gesture angle accuracy, and be in the state of sinking after discerning swimming pool cleaning machines people, control swimming pool cleaning machines people's water pump motor opens and closes in turn, can make swimming pool cleaning machines people originally the aircraft nose of facing upward by the push down gradually, can effectively guarantee that swimming pool cleaning machines people steadily falls into the bottom of the pool, and then guarantee that swimming pool cleaning machines people's working property and user use experience. In addition, when the water pump motor is opened and closed to intermittent type nature, because the top drainage of swimming pool cleaning machines people and give the reaction force of fuselage, the buoyancy of water and self gravity combine together, make swimming pool cleaning machines people can the intermittent type along with opening and closing of water pump motor and appear the shake, thereby the external discharge of air of swimming pool cleaning machines people of being convenient for, the relative stability of the fuselage gesture that can effectively guarantee swimming pool cleaning machines people at the in-process that sinks, and then can guarantee that swimming pool cleaning machines people's working property and user use experience. Further, at swimming pool cleaning machines people's the process of sinking middle sex open and close water pump motor in batches, can also accelerate swimming pool cleaning machines people's the speed of sinking, reduce swimming pool cleaning machines people and sink to the bottom of the pool consuming time, improve user experience.

Drawings

Fig. 1 is a schematic view illustrating an overall structure of a pool cleaning robot according to an embodiment of the present disclosure;

FIG. 2 shows an exploded schematic view of the pool cleaning robot;

FIG. 3 shows a drive wheel and a driven wheel in a drive assembly;

fig. 4 shows a schematic view of the driving wheel;

FIG. 5 is a flow chart of a control method for a pool cleaning robot according to an exemplary embodiment of the present disclosure;

FIG. 6 is a flow chart of another control method for a pool cleaning robot according to an exemplary embodiment of the present disclosure;

fig. 7 is an application scenario diagram provided in the embodiment of the present application;

FIG. 8 is a schematic view of a swimming pool cleaning robot according to an embodiment of the present disclosure;

fig. 9 is a schematic structural diagram of an electronic device according to an embodiment of the present application.

Detailed Description

In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is further described in detail below with reference to specific embodiments and the accompanying drawings.

It is to be noted that unless otherwise defined, technical or scientific terms used in one or more embodiments of the present specification should have the ordinary meaning as understood by those of ordinary skill in the art to which this application belongs. The use of "first," "second," and similar terms in one or more embodiments of the specification is not intended to indicate any order, quantity, or importance, but rather is used to distinguish one element from another. The word "comprising" or "comprises", and the like, means that the element or item preceding the word comprises the element or item listed after the word and its equivalent, but does not exclude other elements or items. The terms "connected" or "coupled" and the like are not restricted to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "upper", "lower", "left", "right", and the like are used merely to indicate relative positional relationships, and when the absolute position of the object being described is changed, the relative positional relationships may also be changed accordingly.

To facilitate understanding of the swimming pool cleaning robot provided in the embodiments of the present application, first, an application scenario of the swimming pool cleaning robot is described. Generally, when a user needs to clean the swimming pool, the user places the swimming pool cleaning robot in the swimming pool, and the swimming pool cleaning robot sinks to the bottom of the swimming pool by self gravity and starts to perform a cleaning task from the bottom of the swimming pool. In addition, can also wash the swimming pool wall except that clearance swimming pool bottom of the pool.

In the practical application, the user places the swimming pool with swimming pool cleaning robot after, the water in the swimming pool permeates to inside the swimming pool cleaning robot through the gap of swimming pool cleaning robot's clean casing, a large amount of water sedimentation is in swimming pool cleaning robot's tail side, cause swimming pool cleaning robot to take place the slope of comparatively serious uncertain fuselage gesture at the in-process that sinks, the initial condition that mainly embodies falling into water presents great range for swimming pool cleaning robot's aircraft nose and faces upward, if sink at swimming pool cleaning robot in-process not effective control, then the situation that the fuselage topples over in the bottom of the swimming pool appears very probably, influence swimming pool cleaning robot's working property. In addition, because the filter structure of the swimming pool cleaning robot has smaller meshes, the residual air in the filter structure is difficult to discharge from the swimming pool cleaning robot in the sinking process of the swimming pool cleaning robot, and the filter structure is also a main reason that the body posture of the swimming pool cleaning robot is uncertain in the sinking process. Of course, the air remaining in the filter structure is gradually discharged as time goes by, so that the posture of the body of the pool cleaning robot can be relatively stabilized during the sinking process. However, the existing residual air discharging process is slow, and it is difficult to effectively ensure that the posture of the body of the swimming pool cleaning robot is relatively stable in the sinking process.

Based on the above, present swimming pool cleaning machines people is great sinking the uncertainty of in-process fuselage gesture, is difficult to effectively guarantee that swimming pool cleaning machines people steadily falls into the swimming pool bottom of the pool, influences swimming pool cleaning machines people's working property and user and uses experience. Therefore, the embodiment of the application provides a control method of a swimming pool cleaning robot and the swimming pool cleaning robot, the attitude angle of the swimming pool cleaning robot is detected in real time, whether the swimming pool cleaning robot is placed in a swimming pool or not and is in a sinking state can be accurately and timely identified based on the attitude angle, and after the swimming pool cleaning robot is in the sinking state, a water pump motor of the swimming pool cleaning robot is controlled to be alternately opened and closed, the head of the swimming pool cleaning robot which originally faces upward is gradually pressed down, the swimming pool cleaning robot can be effectively ensured to stably fall into the bottom of the swimming pool, and the working performance and the user use experience of the swimming pool cleaning robot are further ensured. In addition, when the water pump motor is opened and closed to intermittent type nature, because the top drainage of swimming pool cleaning machines people and give the reaction force of fuselage, the buoyancy of water and self gravity combine together, make swimming pool cleaning machines people can the intermittent type along with opening and closing of water pump motor and appear the shake, thereby the external discharge of air of swimming pool cleaning machines people of being convenient for, the relative stability of the fuselage gesture that can effectively guarantee swimming pool cleaning machines people at the in-process that sinks, and then can guarantee that swimming pool cleaning machines people's working property and user use experience. Further, the water pump motor is opened and closed intermittently in the process of sinking of swimming pool cleaning robot, and the sinking speed of swimming pool cleaning robot can also be accelerated, so that the time consumed when the swimming pool cleaning robot sinks to the bottom of the pool is reduced, and the user experience is improved.

The details of which are set forth in the accompanying drawings and the examples below.

First, the basic structure of the pool cleaning robot provided in the embodiment of the present application will be described. Fig. 1 and 2 are schematic views illustrating an overall structure of a pool cleaning robot according to an embodiment of the present disclosure in fig. 1; fig. 2 shows an exploded schematic view of the pool cleaning robot. The pool cleaning robot provided by the embodiment of the present application generally includes a drive system 20, a sealing structure 13, and a cleaning mechanism 30.

As an alternative, the cleaning housing 11 may be divided into an upper case 111 and a bottom chassis 112, wherein the upper case 111 is detachably coupled to the bottom chassis 112. The bottom plate 112 is provided with a water inlet 112a for water and/or pollutants and the like in the swimming pool to enter the cleaning housing 11. In addition, the upper case 111 is provided with a water outlet 111a for discharging water.

The filtering structure 12 is disposed between the water inlet 112a and the water outlet 111a, and is used for filtering water, so that pollutants carried in the water are separated from the water, the filtered pollutants are retained in the cleaning housing 11, and the filtered water is discharged from the water outlet 111 a.

Alternatively, in order to facilitate removal of contaminants from the cleaning housing 11, the filter structure 12 is prevented from being clogged due to a large accumulation of contaminants in the cleaning housing 11, which may affect the cleaning effect or damage the pool cleaning robot. The upper case 111 includes an upper case main body connected to the chassis 112 and a movable cover 113 rotatably connected to the upper case main body and capable of being turned with respect to the upper case main body. When the movable flap 113 is opened, the opening is exposed, so that the filter structure 12 can be removed from the cleaning housing 11 for easy cleaning thereof, and the interior of the cleaning housing 11 can be cleaned or repaired through the opening. The movable lid 113 covers the opening when it is closed.

In order to make water and/or pollutants in the swimming pool flow into the cleaning housing 11 with power and be discharged from the water outlet 111a, the sealing structure 13 at least comprises a sealing housing, a water pump motor 132 and an impeller 133. Wherein the sealing case is provided in the cleaning case 11 and used to mount the water pump motor 132, etc. The water pump motor 132 is used to suck water in the swimming pool into the swimming pool cleaning robot for filtering and discharging. Illustratively, the water pump motor 132 rotates the impeller 133, thereby drawing water into the pool cleaning robot for filtering and discharging. Because water pump motor 132 etc. need use electric power as the energy, and in order to guarantee the power consumption safety to ensure water pump motor 132's life, seal shell need guarantee leakproofness and waterproof nature, and this application embodiment does not do the restriction to its concrete structure, as long as can satisfy waterproof demand can. For example, the sealing shell comprises a first shell and a second shell, the first shell and the second shell are fixedly connected, and a waterproof sealing ring is arranged at the joint; or the first shell and the second shell can be connected in a flip-type mode, and the connection position is sealed, such as sealing through a waterproof sealing ring.

The water pump motor 132 is mounted within the sealed housing, and at least a portion of an output shaft of the water pump motor 132 passes out of the sealed housing. The impeller 133 is provided on a portion of the output shaft of the water pump motor 132 that protrudes out of the hermetic case. When the water pump motor 132 is powered on to rotate, the output shaft thereof rotates to drive the impeller 133 to rotate, and the water in the cleaning housing 11 is disturbed by the rotation of the impeller 133 to flow toward the water outlet 111 a. Because the water in impeller 133 department flows to delivery port 111a, and make in the clean casing produce the negative pressure, and then the water in the swimming pool can get into in the clean casing 11 through water inlet 112a, so along with impeller 133's rotation make in the swimming pool water and/or pollutant get into clean casing 11 through water inlet 112a in, through the filtration of filtration 12 back, discharge through delivery port 111a to this realizes the cleanness to the swimming pool.

To more fully clean the pool, the pool cleaning robot can move within the pool under the drive of the drive system 20 and clean the water during the movement. With continued reference to fig. 1-4, a drive system 20 is coupled to the cleaning housing 11 to move the entire pool cleaning robot. In one example, the drive system 20 includes two sets of drive assemblies, with the cleaning housing 11 located between the two sets of drive assemblies, which are independent of each other. When the two groups of driving assemblies move in the same direction and at the same speed, the swimming pool cleaning robot can move forwards or backwards along a straight line. When the two groups of driving assemblies move in different directions or at different speeds (also called differential motion), the swimming pool cleaning robot can turn. Therefore, the tracks of the swimming pool cleaning robot can be rich, and the complex cleaning requirement can be met.

In the embodiment of the present application, the structures of the two sets of driving assemblies are similar, so that one set of the structures will be described in detail, but it should be understood that in other embodiments, the structures of the two sets of driving assemblies may be different as long as the moving requirements can be met.

Referring to fig. 3 and 4 together, fig. 3 shows the drive wheel and the driven wheel in the drive assembly, and fig. 4 shows a schematic view of the drive wheel. Taking one of the driving assemblies as an example, the driving assembly includes a driving motor, a driving wheel 22, a driven wheel 23, a crawler belt, and the like. Wherein, driving motor sets up in aforementioned sealed casing to it is waterproof to realize. The output shaft of the drive motor passes out of the seal housing and the cleaning housing 11 to engage with the drive wheel 22. For example, the driving wheel 22 comprises an inner outer gear ring 221 and an outer gear ring 222, and the inner outer gear ring 221 and the outer gear ring 222 are rigidly connected and rotate together. The output shaft of the driving motor is connected with a driving gear 24, and the driving gear 24 is externally meshed with the inner-layer external gear ring 221 to realize transmission. The crawler belt is sleeved outside the outer-layer outer gear ring 222 and the driven wheel 23. When the output shaft of the driving motor rotates, the driving gear 24 is driven to rotate, so that the inner-layer outer gear ring 221 meshed with the driving gear rotates, and due to the rigid connection between the inner-layer outer gear ring 221 and the outer-layer outer gear ring 222, the outer-layer outer gear ring 222 rotates together, so that the crawler belt and the driven wheel 23 rotate, and the whole swimming pool cleaning robot moves.

To further enhance the cleaning effect and effectively clean the contaminants adhered to the bottom or wall of the swimming pool, the swimming pool cleaning robot is provided with a cleaning mechanism 30. The cleaning mechanism 30 is used to sweep the surface of the floor or walls during movement of the pool cleaning robot.

For example, the cleaning mechanism 30 includes a roll brush. The roller brush is rotatably arranged on the cleaning shell 11 through a roller brush shaft sleeved with the roller brush; the transition gear 02 is provided on the cleaning housing 11 and externally meshes with the roller brush gear 01 on the roller brush shaft and with the inner-layer outer ring gear 221 of the drive wheel 22, respectively. This will naturally drive the rolling brush to rotate when the driving wheel 22 rotates, so that the rolling brush will sweep the bottom or wall of the pool, and will sweep the adhered contaminants toward the water inlet 112a, so as to facilitate the collection of the contaminants by the pool cleaning robot.

As can be seen from the above description, the pool cleaning robot requires a power supply for its normal operation. In order to simplify the structure of the swimming pool cleaning robot and ensure the working reliability and safety, the swimming pool cleaning robot of the embodiment of the present application is provided with a power supply battery, and the power supply battery supplies power to the water pump motor 132, the driving motor and the like. The power supply battery is disposed in the cleaning case 11, and preferably, in order to ensure the safety of the power supply battery and avoid malfunction due to water seepage during operation in water, the power supply battery needs to be disposed in a sealed case. Because the power supply battery sets up in sealed shell, can't take out frequently and pack into, consequently need set up the interface module that charges on swimming pool cleaning machines people to make things convenient for power supply battery and external power supply to be connected, realize charging to power supply battery.

When the swimming pool cleaning robot works, the whole swimming pool cleaning robot is driven by the driving system to walk at the bottom of the swimming pool. And in the walking process, the impurities at the bottom of the swimming pool are adsorbed into the swimming pool cleaning robot through the water pump motor to be filtered. Because the water inlet that water pump motor corresponds is located swimming pool cleaning machines people's below, and the delivery port is located swimming pool cleaning machines people's top, consequently, at water pump motor during operation, the delivery port is along the direction water spray that deviates from the swimming pool bottom of the pool to compress tightly swimming pool cleaning machines people at the swimming pool bottom of the pool.

Fig. 5 is a flowchart of a control method for a pool cleaning robot according to an embodiment of the present disclosure. Referring to fig. 5, the method may include the steps of:

501. detecting the body posture of the swimming pool cleaning robot.

502. And judging whether the swimming pool cleaning robot is placed in the swimming pool and is in a sinking state or not according to the attitude angle of the machine body attitude.

503. And if the swimming pool cleaning robot is placed in the swimming pool and is in a sinking state, controlling a water pump motor of the swimming pool cleaning robot to work intermittently.

In the present embodiment, the sinking control is performed based on the body posture of the pool cleaning robot. The body attitude is mainly represented by an attitude angle, and the attitude angle refers to a rotation angle of the swimming pool cleaning robot when rotating around three coordinate axes of an X axis, a Y axis, a Z axis and the like of a coordinate system. Generally, the attitude angles include a Pitch angle (Pitch), a Yaw angle (Yaw), and a Roll angle (Roll). The pitch angle refers to the rotation angle of the swimming pool cleaning robot when rotating around the X axis of the coordinate system; the yaw angle refers to a rotation angle of the swimming pool cleaning robot when rotating around the Y axis of the coordinate system; the roll angle is a rotation angle of the swimming pool cleaning robot when rotating around the Z-axis of the coordinate system. Notably, the coordinate system includes, for example, but is not limited to: a world coordinate system and a body coordinate system established in the swimming pool cleaning robot, wherein an o-XYZ coordinate system shown in FIG. 7 is the body coordinate system.

In the present embodiment, the posture of the body of the pool cleaning robot may be detected by a posture sensor provided on the pool cleaning robot. Attitude sensors include, for example, but are not limited to: a three-axis attitude sensor, a six-axis attitude sensor, or a nine-axis attitude sensor.

In this embodiment, when the user holds the pool cleaning robot in hand, the attitude angle of the pool cleaning robot is maintained substantially at a small rotation angle. The swimming pool cleaning robot sinks the in-process, and swimming pool cleaning robot's gesture angle can take place great change, based on this, can accurately in time discern through the gesture angle that detects swimming pool cleaning robot whether arrange the swimming pool in.

In this embodiment, after swimming pool cleaning robot starts, can confirm that the user has the clean demand of swimming pool, at this moment, can trigger attitude sensor and gather swimming pool cleaning robot's fuselage gesture to gesture angle in the fuselage gesture based on real-time collection of attitude sensor is in order to launch the discernment, and it can be understood that launch also is that swimming pool cleaning robot has placed in the swimming pool and is in the state of sinking, and launch discernment also is whether discernment swimming pool cleaning robot has placed in the swimming pool and is in the state of sinking. The sinking state may refer to a state of the pool cleaning robot at a certain time or for a certain period of time while being placed in water.

In this embodiment, when the launching recognition is performed based on the attitude angle in the attitude of the body acquired by the attitude sensor in real time, the launching recognition may be performed based on the pitch angle and/or the roll angle of the attitude of the body.

Further alternatively, in order to improve the accuracy and timeliness of the sewage identification, the sewage identification may be performed based on the comparison result of the pitch angle with the first set value. The first set value is an empirical value obtained according to a large amount of test data, and is a critical pitch angle for distinguishing whether the swimming pool cleaning robot is placed in the swimming pool and is in a sinking state, after the swimming pool cleaning robot is started, if the pitch angle of the machine body posture is larger than or equal to the first set value, the swimming pool cleaning robot is placed in the swimming pool and is in the sinking state, and if the pitch angle of the machine body posture is smaller than the first set value, the swimming pool cleaning robot is not placed in the swimming pool and is in the sinking state. It should be noted that after the swimming pool cleaning robot is started, if it is determined that the swimming pool cleaning robot is in the sinking state and is in the swimming pool, the water is not identified based on the comparison result between the pitch angle and the first set value.

Based on the above, according to the attitude angle of the body attitude, an optional implementation manner for judging whether the swimming pool cleaning robot is placed in the swimming pool and is in a sinking state is as follows: and if the pitch angle of the machine body posture is larger than or equal to a first set value, determining that the swimming pool cleaning robot is placed in the swimming pool and is in a sinking state. After the swimming pool cleaning robot is started, if the pitching angle of the body posture is smaller than a first set value, the swimming pool cleaning robot can be determined to be not placed in the swimming pool and be in a sinking state.

In practical applications, the posture of the pool cleaning robot may be greatly changed due to interference of various factors. Further optionally, in order to reduce the misjudgment rate of the water drainage identification, if the swimming pool cleaning robot keeps a larger pitch angle for a certain period of time, it indicates that the swimming pool cleaning robot is placed in the swimming pool and is in a sinking state with a high probability; if the swimming pool cleaning robot keeps a larger pitch angle in a short time, it indicates that the swimming pool cleaning robot is placed in the swimming pool and is in a sinking state with a smaller probability. If the pitch angle of the body attitude is greater than or equal to the first set value, an optional implementation manner of determining that the swimming pool cleaning robot is placed in the swimming pool and in a sinking state is that if the duration of the pitch angle of the body attitude is greater than or equal to the first set value is greater than a first preset duration, the swimming pool cleaning robot is determined to be placed in the swimming pool and in a sinking state. The first preset time period is an empirical value obtained according to a large amount of test data, and is a critical time period for distinguishing whether the swimming pool cleaning robot is placed in the swimming pool and is in a sinking state.

Further alternatively, in order to improve the accuracy and timeliness of the launch recognition, the launch recognition may be performed based on the result of comparison of the roll angle with the second set value. The second set value is an empirical value obtained according to a large amount of test data, and is a critical pitch angle for distinguishing whether the swimming pool cleaning robot is placed in the swimming pool and is in a sinking state, after the swimming pool cleaning robot is started, if the roll angle of the body posture is greater than or equal to the second set value, it indicates that the swimming pool cleaning robot is placed in the swimming pool and is in the sinking state, and if the roll angle of the body posture is less than the second set value, it indicates that the swimming pool cleaning robot is not placed in the swimming pool and is in the sinking state. It should be noted that after the swimming pool cleaning robot is started, if it is determined that the swimming pool cleaning robot is in the sinking state and is placed in the swimming pool, the water launching recognition is not performed based on the comparison result of the roll angle and the second set value.

In practical applications, the posture of the pool cleaning robot may be greatly changed due to interference of various factors. Further optionally, in order to reduce the false determination rate of the launching identification, if the swimming pool cleaning robot keeps a larger roll angle for a certain period of time, it indicates that the swimming pool cleaning robot is placed in the swimming pool and is in a sinking state with a high probability; if the swimming pool cleaning robot keeps a larger roll angle in a short time, the probability that the swimming pool cleaning robot is placed in the swimming pool and is in a sinking state is smaller. Then, if the roll angle of the body posture is greater than or equal to the second set value, an alternative implementation manner for determining that the pool cleaning robot is placed in the pool and is in a sinking state is as follows: and if the duration of the tumbling angle of the body posture being greater than or equal to the second set value is greater than a second preset duration, determining that the swimming pool cleaning robot is placed in the swimming pool and is in a sinking state. The second preset time period is an empirical value obtained according to a large amount of test data, and is a critical time period for distinguishing whether the swimming pool cleaning robot is placed in the swimming pool and is in a sinking state.

Further optionally, in order to improve the accuracy and timeliness of sewage identification, sewage identification may be performed based on a comparison result of the pitch angle and the first set value and a comparison result of the roll angle and the second set value. Then, according to the attitude angle of the body attitude, an optional implementation manner of judging whether the swimming pool cleaning robot is placed in the swimming pool and is in a sinking state is as follows: if the pitch angle of the robot body posture is greater than or equal to a first set value and the roll angle of the robot body posture is greater than or equal to a second set value, it is determined that the swimming pool cleaning robot is placed in the swimming pool and in a sinking state. After the swimming pool cleaning robot is started, if the pitch angle of the body posture is smaller than a first set value or the roll angle of the body posture is smaller than a second set value, it can be determined that the swimming pool cleaning robot is not placed in the swimming pool and is in a sinking state.

In this embodiment, after determining that the pool cleaning robot has been placed in the pool and is in a sinking state, the water pump motor of the pool cleaning robot is controlled to operate intermittently. Intermittent operation of the pump motor may be understood as alternating turning the pump motor on and off. In practical application, when the water pump motor of the swimming pool cleaning robot is controlled to work intermittently, the water pump motor is controlled to be alternately started and closed for many times, and the starting time and the closing time of the water pump motor are not limited every time. Further optionally, in order to better control the intermittent operation of the water pump motor, the water pump motor may be controlled to be alternately turned on and off for multiple times according to the set control parameters. Setting control parameters include, for example, but are not limited to: the control period, the opening time length and the closing time length of the water pump motor in the control period and the drainage working parameters. The starting time lengths of different control periods are the same or different; or the drainage working parameters in the previous control period and the drainage working parameters in the next control period are the same or different. It is noted that, in each control period, after the on-time of the water pump motor reaches the on-time of the control period, the water pump motor is turned off until the off-time reaches the off-time of the control period. And after one control period is finished, entering the next control period. The drainage operation parameters include, but are not limited to, flow, head, power, efficiency, and rotational speed, among others.

In some alternative embodiments, in addition to the pool cleaning robot being launched, it is also identified whether the pool cleaning robot has fallen to the bottom of the pool. Based on the method, in the intermittent working process of the water pump motor, the attitude angle change rate of the attitude of the machine body is continuously detected; and if the duration of the change rate of the attitude angle is kept unchanged reaches a third preset duration, determining that the swimming pool cleaning robot falls into the bottom of the pool. And if the duration time that the attitude angle change rate is kept unchanged does not reach a third preset duration, determining that the swimming pool cleaning robot does not fall into the bottom of the pool. Wherein the third preset time period is an empirical value set according to a large number of test data. The attitude angle change rate may be a pitch angle change rate and/or a roll angle change rate, and the attitude angle change rate reflects a change in the attitude angle over a period of time.

In this embodiment, when it is recognized that the swimming pool cleaning robot has not fallen into the bottom of the pool, the intermittent operation of the water pump motor is continuously controlled, and when it is recognized that the swimming pool cleaning robot has fallen into the bottom of the pool, the intermittent operation of the water pump motor is stopped, for example, the water pump motor is directly turned off. The subsequent cleaning robot can start the driving motor to drive the cleaning robot to walk and execute a cleaning task.

After the swimming pool cleaning robot falls into the bottom of the pool stably, the change rate of the attitude angle of the swimming pool cleaning robot is basically kept unchanged, and in addition, the attitude angle of the swimming pool cleaning robot is also basically kept unchanged. Optionally, in order to reduce the false determination rate of falling into the pool bottom, the water pump motor is controlled to be in an on state within a fourth preset time period under the condition that the duration of the posture angle change rate which is unchanged reaches a third preset time period; and in the process that the water pump motor is in an opening state, if the duration of the posture angle of the machine body posture is kept unchanged is longer than a fifth preset duration, determining that the swimming pool cleaning robot falls into the bottom of the pool. The fourth preset time length and the fifth preset time length are empirical values set according to a large amount of test data.

Specifically, if the change rate of the attitude angle of the swimming pool cleaning robot is kept constant for a long time, the water pump motor can be started in a short time, if the swimming pool cleaning robot is at the bottom of the pool, the attitude angle of the swimming pool cleaning robot is basically kept constant, and if the swimming pool cleaning robot does not reach the bottom of the pool, the attitude angle of the swimming pool cleaning robot can be changed.

The technical scheme that the embodiment of this application provides, posture angle through real-time detection swimming pool cleaning machines people, can in time discern whether swimming pool cleaning machines people has arranged in the swimming pool and be in the state of sinking based on the posture angle accuracy, and after discerning swimming pool cleaning machines people and being in the state of sinking, control swimming pool cleaning machines people's water pump motor opens and closes in turn, can make swimming pool cleaning machines people originally the aircraft nose of facing upward by the push down gradually, can effectively guarantee that swimming pool cleaning machines people steadily falls into the swimming pool bottom of the pool, and then guarantee that swimming pool cleaning machines people's working property and user use experience. In addition, when the water pump motor is opened and closed to intermittent type nature, because the top drainage of swimming pool cleaning machines people and give the reaction force of fuselage, the buoyancy of water and self gravity combine together, make swimming pool cleaning machines people can the intermittent type along with opening and closing of water pump motor and appear the shake, thereby the external discharge of air of swimming pool cleaning machines people of being convenient for, the relative stability of the fuselage gesture that can effectively guarantee swimming pool cleaning machines people at the in-process that sinks, and then can guarantee that swimming pool cleaning machines people's working property and user use experience. Further, the water pump motor is opened and closed intermittently in the process of sinking of swimming pool cleaning robot, and the sinking speed of swimming pool cleaning robot can also be accelerated, so that the time consumed when the swimming pool cleaning robot sinks to the bottom of the pool is reduced, and the user experience is improved.

Fig. 6 is a flowchart of another control method for a pool cleaning robot according to an embodiment of the present disclosure.

Referring to fig. 6, the method may include the steps of:

601. after the swimming pool cleaning robot is started, the body posture of the swimming pool cleaning robot is detected.

602. And judging whether the swimming pool cleaning robot is placed in the swimming pool and is in a sinking state or not according to the attitude angle of the machine body attitude. If yes, go to step 603, otherwise, go back to step 601.

603. And if the swimming pool cleaning robot is placed in the swimming pool and is in a sinking state, controlling a water pump motor of the swimming pool cleaning robot to work intermittently.

604. In the intermittent working process of the water pump motor, the attitude angle change rate of the attitude of the machine body is continuously detected.

605. And controlling the water pump motor to be in an open state within a fourth preset time under the condition that the duration time for which the attitude angle change rate is kept unchanged reaches a third preset time.

606. And in the process that the water pump motor is in an opening state, if the duration of the unchanged attitude angle of the machine body attitude is longer than a fifth preset duration, determining that the swimming pool cleaning robot falls into the bottom of the pool.

For details of the steps of the control method for the pool cleaning robot provided in this embodiment, reference may be made to the related descriptions in the foregoing embodiments, and details are not repeated herein.

For better understanding of the technical solution shown in fig. 6, the description is made with reference to the application scenario shown in fig. 7.

First, the user presses a start key of the swimming pool cleaning robot to start the swimming pool cleaning robot. Next, the user holds the pool cleaning robot in hand and places the pool cleaning robot into the pool. Then, a posture sensor on the swimming pool cleaning robot monitors whether a Pitch angle and/or a Roll angle of the swimming pool cleaning robot reach corresponding preset values in real time, for example, the Pitch angle is greater than 50 degrees, and the Roll angle is greater than 20 degrees; and confirming that the swimming pool cleaning robot is placed in the swimming pool and is in a sinking state when the Pitch angle and/or the Roll angle reach the corresponding preset value. Referring to fig. 6, the initial posture of the swimming pool cleaning robot is that the head of the swimming pool cleaning robot is tilted up greatly, and if the head of the swimming pool cleaning robot is not controlled, the swimming pool cleaning robot is difficult to ensure to fall into the bottom of the pool smoothly. Therefore, after the swimming pool cleaning robot enters water, the originally upward-inclined machine head is gradually pressed downwards and the machine sinks in an accelerating way through the operation of intermittently turning on and off the water pump motor, and the upward-inclined amplitude of the machine head of the swimming pool cleaning robot after the water pump motor is turned on is reduced relative to that of the machine head just entering water, as shown in figure 6. The combination of the reaction force given to the machine body by the water discharged from the top of the swimming pool cleaning robot, the buoyancy of the water and the gravity of the machine body enables the machine body to shake intermittently along with the opening and closing of the water pump motor, thereby facilitating the discharge of the air in the swimming pool cleaning robot. After the air is discharged from the swimming pool cleaning robot, the uncertainty of the posture of the body of the swimming pool cleaning robot can be effectively reduced. In this embodiment, the attitude sensor may monitor the change rate of Pitch angle and/or the change rate of Roll angle of the swimming pool cleaning robot in real time, and if the change rate of Pitch angle and/or the change rate of Roll angle is substantially constant for a long time, it may be determined that the swimming pool cleaning robot has stably fallen into the bottom of the pool, and at this time, the water pump motor may be switched from the intermittent operation state to the normally open state, and the driving motor may be turned on, so that the swimming pool cleaning robot performs the cleaning task. Further, in order to reduce the false determination rate of the falling into the bottom of the pool, if the change rate of the Pitch angle and/or the change rate of the Roll angle are/is kept unchanged for a long time, the water pump motor can be kept in the on state for a short time, and if the Pitch angle and/or the Roll angle are/is kept unchanged, the swimming pool cleaning robot can be confirmed to stably fall into the bottom of the pool.

Fig. 8 is a schematic structural diagram of a pool cleaning robot according to an embodiment of the present disclosure. As shown in fig. 8, the pool cleaning robot includes: a cleaning housing, and an attitude sensor 81, a water pump motor (not shown in fig. 8), and a controller 82 provided in the cleaning housing.

Wherein, the attitude sensor 81 is used for detecting the body attitude of the swimming pool cleaning robot;

a controller 82 for determining whether the swimming pool cleaning robot is placed in the swimming pool and is in a sinking state according to the attitude angle of the body attitude; and if the swimming pool cleaning robot is placed in the swimming pool and is in a sinking state, controlling a water pump motor of the swimming pool cleaning robot to work intermittently.

Further optionally, when the controller 82 determines whether the swimming pool cleaning robot is placed in the swimming pool and is in a sinking state according to the attitude angle of the body attitude, it is specifically configured to: if the pitch angle of the machine body posture is larger than or equal to a first set value, determining that the swimming pool cleaning robot is placed in a swimming pool and is in a sinking state; and/or, if the roll angle of the body posture is greater than or equal to a second set value, determining that the pool cleaning robot is placed in the pool and in a sinking state.

Further optionally, if the pitch angle of the body attitude is greater than or equal to the first set value, the controller 82 determines that the pool cleaning robot is placed in the pool and in a sinking state, and specifically: if the duration of the pitch angle of the attitude of the robot body is greater than or equal to the first set value is greater than a first preset duration, it is determined that the swimming pool cleaning robot is placed in the swimming pool and is in a sinking state.

Further optionally, if the roll angle of the body attitude is greater than or equal to the second set value, the controller 82 determines that the pool cleaning robot is in the sinking state when it is placed in the pool, and is specifically configured to: and if the duration of the tumbling angle of the body posture being greater than or equal to the second set value is greater than a second preset duration, determining that the swimming pool cleaning robot is placed in the swimming pool and is in a sinking state.

Further optionally, the controller 82 is further configured to: in the intermittent working process of the water pump motor, continuously detecting the attitude angle change rate of the attitude of the machine body; and if the duration of the change rate of the attitude angle is kept unchanged reaches a third preset duration, determining that the swimming pool cleaning robot falls into the bottom of the pool.

Further optionally, the controller 82 is further configured to: controlling a water pump motor to be in an open state within a fourth preset time period under the condition that the duration time for which the attitude angle change rate is kept unchanged reaches a third preset time period; and in the process that the water pump motor is in an opening state, if the duration of the posture angle of the machine body posture is kept unchanged is longer than a fifth preset duration, determining that the swimming pool cleaning robot falls into the bottom of the pool.

Further optionally, the controller 82 controls the water pump motor of the pool cleaning robot to operate intermittently, specifically: according to the set control parameters, controlling the water pump motor to be alternately opened and closed for multiple times, wherein the set control parameters at least comprise: the control period, the opening time length and the closing time length of the water pump motor in the control period and the drainage working parameters.

Further optionally, the starting durations of different control periods are the same or different; or the drainage working parameters in the previous control period are the same as or different from the drainage working parameters in the next control period.

The technical scheme that this application embodiment provided, gesture angle through real-time detection swimming pool cleaning machines people, can in time discern whether swimming pool cleaning machines people has arranged in the swimming pool and be in the state of sinking based on gesture angle accuracy, and be in the state of sinking after discerning swimming pool cleaning machines people, control pond cleaning machines people's water pump motor opens and closes in turn, can make swimming pool cleaning machines people originally the aircraft nose of facing upward by pushing down gradually, can effectively guarantee that swimming pool cleaning machines people steadily falls into the swimming pool bottom of the pool, and then guaranteed swimming pool cleaning machines people's working property and user use experience. In addition, when the water pump motor is opened and closed to intermittent type nature, because the top drainage of swimming pool cleaning machines people and give the reaction force of fuselage, the buoyancy of water and self gravity combine together, make swimming pool cleaning machines people can the intermittent type along with opening and closing of water pump motor and appear the shake, thereby the external discharge of air of swimming pool cleaning machines people of being convenient for, the relative stability of the fuselage gesture that can effectively guarantee swimming pool cleaning machines people at the in-process that sinks, and then can guarantee that swimming pool cleaning machines people's working property and user use experience. Further, the water pump motor is opened and closed intermittently in the process of sinking of swimming pool cleaning robot, and the sinking speed of swimming pool cleaning robot can also be accelerated, so that the time consumed when the swimming pool cleaning robot sinks to the bottom of the pool is reduced, and the user experience is improved.

Fig. 9 is a schematic structural diagram of an electronic device according to an embodiment of the present application. As shown in fig. 9, the electronic apparatus includes: a memory 91 and a processor 92;

the memory 91 is used to store computer programs and may be configured to store various other data to support operations on the computing platform. Examples of such data include instructions for any application or method operating on the computing platform, contact data, phonebook data, messages, pictures, videos, and so forth.

The memory 91 may be implemented by any type or combination of volatile or non-volatile memory devices, such as Static Random Access Memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic or optical disks.

A processor 92, coupled to the memory 91, for executing the computer program in the memory 91 to: detecting the body posture of the swimming pool cleaning robot through a posture sensor; judging whether the swimming pool cleaning robot is placed in a swimming pool and is in a sinking state or not according to the attitude angle of the body attitude; and if the swimming pool cleaning robot is placed in the swimming pool and is in a sinking state, controlling a water pump motor of the swimming pool cleaning robot to work intermittently.

Further optionally, when the processor 92 determines whether the pool cleaning robot is placed in the pool and in a sinking state according to the attitude angle of the body attitude, the processor is specifically configured to: if the pitch angle of the machine body posture is larger than or equal to a first set value, determining that the swimming pool cleaning robot is placed in the swimming pool and is in a sinking state; and/or, if the roll angle of the body posture is greater than or equal to a second set value, determining that the pool cleaning robot is placed in the pool and in a sinking state.

Further optionally, if the pitch angle of the body attitude is greater than or equal to the first set value, the processor 92 determines that the pool cleaning robot has been placed in the pool and is in a sinking state, and is specifically configured to: and if the duration of the pitch angle of the machine body posture being larger than or equal to the first set value is longer than a first preset duration, determining that the swimming pool cleaning robot is placed in the swimming pool and is in a sinking state.

Further optionally, if the roll angle of the body posture is greater than or equal to the second set value, the processor 92 determines that the pool cleaning robot is placed in the pool and in the sinking state, and is specifically configured to: and if the duration of the tumbling angle of the body posture being greater than or equal to the second set value is greater than a second preset duration, determining that the swimming pool cleaning robot is placed in the swimming pool and is in a sinking state.

Further optionally, the processor 92 is further configured to: in the intermittent working process of the water pump motor, continuously detecting the attitude angle change rate of the body attitude; and if the duration of the posture angle change rate which is kept unchanged reaches a third preset duration, determining that the swimming pool cleaning robot falls into the bottom of the pool.

Further optionally, the processor 92 is further configured to: controlling a water pump motor to be in an open state within a fourth preset time period under the condition that the duration time for which the attitude angle change rate is kept unchanged reaches a third preset time period; and in the process that the water pump motor is in an opening state, if the duration of the posture angle of the machine body posture is kept unchanged is longer than a fifth preset duration, determining that the swimming pool cleaning robot falls into the bottom of the pool.

Further optionally, when the processor 92 controls the intermittent operation of the water pump motor of the pool cleaning robot, it is specifically configured to:

according to the set control parameters, controlling the water pump motor to be alternately opened and closed for a plurality of times, wherein the set control parameters at least comprise: the control period, the opening time length and the closing time length of the water pump motor in the control period and the drainage working parameters.

Further optionally, the starting durations of different control periods are the same or different; or the drainage working parameters in the previous control period and the drainage working parameters in the next control period are the same or different.

Further, as shown in fig. 9, the electronic device further includes: communications component 93, display 94, power component 95, audio component 96, and the like. Only some of the components are schematically shown in fig. 9, and the electronic device is not meant to include only the components shown in fig. 9. In addition, the components within the dashed line frame in fig. 9 are optional components, not necessary components, and may be determined according to the product form of the electronic device. The electronic device of this embodiment may be implemented as a terminal device such as a desktop computer, a notebook computer, a smart phone, or an IOT device, or may be a server device such as a conventional server, a cloud server, or a server array. If the electronic device of this embodiment is implemented as a terminal device such as a desktop computer, a notebook computer, a smart phone, etc., the electronic device may include components within the dashed line frame in fig. 9; if the electronic device of this embodiment is implemented as a server device such as a conventional server, a cloud server, or a server array, components within a dashed box in fig. 9 may not be included.

For details of the implementation process of the steps executed by the processor, reference may be made to the related description in the foregoing embodiments, and details are not repeated here.

Accordingly, the present application further provides a computer-readable storage medium storing a computer program, where the computer program is capable of implementing the steps that can be executed by the electronic device in the foregoing method embodiments when executed.

Accordingly, the present application also provides a computer program product, which includes a computer program/instruction, when the computer program/instruction is executed by a processor, the processor is enabled to implement the steps that can be executed by an electronic device in the above method embodiments.

The communication component is configured to facilitate wired or wireless communication between the device in which the communication component is located and other devices. The device where the communication component is located can access a wireless network based on a communication standard, such as a WiFi, a 2G, 3G, 4G/LTE, 5G and other mobile communication networks, or a combination thereof. In an exemplary embodiment, the communication component receives a broadcast signal or broadcast related information from an external broadcast management system via a broadcast channel. In one exemplary embodiment, the communication component further includes a Near Field Communication (NFC) module to facilitate short-range communications. For example, the NFC module may be implemented based on Radio Frequency Identification (RFID) technology, infrared data association (IrDA) technology, ultra Wideband (UWB) technology, bluetooth (BT) technology, and other technologies.

The display includes a screen, which may include a Liquid Crystal Display (LCD) and a Touch Panel (TP). If the screen includes a touch panel, the screen may be implemented as a touch screen to receive an input signal from a user. The touch panel includes one or more touch sensors to sense touch, slide, and gestures on the touch panel. The touch sensor may not only sense the boundary of a touch or slide action, but also detect the duration and pressure associated with the touch or slide operation.

The power supply assembly provides power for various components of the device in which the power supply assembly is located. The power components may include a power management system, one or more power supplies, and other components associated with generating, managing, and distributing power for the device in which the power component is located.

The audio component may be configured to output and/or input an audio signal. For example, the audio component includes a Microphone (MIC) configured to receive an external audio signal when the device in which the audio component is located is in an operational mode, such as a call mode, a recording mode, and a voice recognition mode. The received audio signal may further be stored in a memory or transmitted via a communication component. In some embodiments, the audio assembly further comprises a speaker for outputting audio signals.

As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.

The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

In a typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.

The memory may include forms of volatile memory in a computer readable medium, random Access Memory (RAM) and/or non-volatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). Memory is an example of a computer-readable medium.

Computer-readable media, including both permanent and non-permanent, removable and non-removable media, may implement the information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static Random Access Memory (SRAM), dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), read Only Memory (ROM), electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), digital Versatile Disks (DVD) or other optical storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other non-transmission medium, which can be used to store information that can be accessed by a computing device. As defined herein, a computer readable medium does not include a transitory computer readable medium such as a modulated data signal and a carrier wave.

It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrases "comprising one of 8230; \8230;" 8230; "does not exclude the presence of additional like elements in a process, method, article, or apparatus that comprises the element.

The above are merely examples of the present application and are not intended to limit the present application. Various modifications and changes may occur to those skilled in the art to which the present application pertains. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.

Claims

1. A method of controlling a swimming pool cleaning robot, comprising:

detecting the body posture of the swimming pool cleaning robot;

judging whether the swimming pool cleaning robot is placed in a swimming pool and is in a sinking state or not according to the attitude angle of the machine body attitude;

and if the swimming pool cleaning robot is placed in a swimming pool and is in a sinking state, controlling a water pump motor of the swimming pool cleaning robot to work intermittently.

2. The method as claimed in claim 1, wherein the determining whether the pool cleaning robot is in a sinking state while being placed in the pool based on the attitude angle of the body attitude comprises:

if the pitch angle of the machine body posture is larger than or equal to a first set value, determining that the swimming pool cleaning robot is placed in a swimming pool and is in a sinking state; and/or the presence of a gas in the gas,

and if the tumbling angle of the body posture is larger than or equal to a second set value, determining that the swimming pool cleaning robot is placed in a swimming pool and is in a sinking state.

3. A method as claimed in claim 2, wherein determining that the pool cleaning robot is placed in the pool and in a sinking state if the pitch angle of the attitude of the body is greater than or equal to the first set value comprises:

and if the pitch angle of the machine body posture is greater than or equal to the duration time of the first set value and greater than a first preset time, determining that the swimming pool cleaning robot is placed in a swimming pool and is in a sinking state.

4. A method as claimed in claim 2, wherein determining that the pool cleaning robot has been placed in the pool and is in a sinking state if the tumble angle of the body attitude is greater than or equal to the second set value comprises:

and if the duration of the tumbling angle of the body posture is greater than or equal to the second set value is greater than a second preset duration, determining that the swimming pool cleaning robot is placed in a swimming pool and is in a sinking state.

5. The method of claim 1, further comprising:

in the intermittent working process of the water pump motor, continuously detecting the attitude angle change rate of the body attitude;

and if the duration of the change rate of the attitude angle is kept unchanged reaches a third preset duration, determining that the swimming pool cleaning robot falls into the bottom of the pool.

6. The method of claim 5, further comprising:

controlling the water pump motor to be in an open state within a fourth preset time period under the condition that the duration time for which the attitude angle change rate is kept unchanged reaches a third preset time period;

and in the process that the water pump motor is in an opening state, if the duration of the unchanged attitude angle of the body attitude is longer than a fifth preset duration, determining that the swimming pool cleaning robot falls into the bottom of the pool.

7. The method as claimed in claim 1, wherein controlling the intermittent operation of the water pump motor of the pool cleaning robot comprises:

controlling the water pump motor to be alternately turned on and off for multiple times according to set control parameters, wherein the set control parameters at least comprise: the method comprises a control period, and the starting time, the closing time and the drainage working parameters of the water pump motor in the control period.

8. The method according to claim 7, characterized in that the on-durations of the different control periods are the same or different; or the drainage working parameters in the previous control period and the drainage working parameters in the next control period are the same or different.

9. A swimming pool cleaning robot, comprising: cleaning housing and arranged therein

The attitude sensor, the water pump motor and the controller;

the attitude sensor is used for detecting the body attitude of the swimming pool cleaning robot;

the controller is used for judging whether the swimming pool cleaning robot is placed in a swimming pool and is in a sinking state or not according to the posture angle of the machine body posture; if the swimming pool cleaning robot is arranged in the swimming pool and is in a sinking state, the water pump motor of the swimming pool cleaning robot is controlled to work intermittently so as to accelerate the sinking process of the swimming pool cleaning robot.

10. An electronic device, comprising: a processor, a memory and a bus, the memory storing machine readable instructions executable by the processor, the processor and the memory communicating over the bus, the machine readable instructions when executed by the processor performing a method of controlling a pool cleaning robot as recited in any one of claims 1 to 8.

11. A computer-readable storage medium, wherein a computer program is stored thereon, which when executed by a processor, performs a control method of a pool cleaning robot as recited in any one of claims 1 to 8.