Cleaning Logic
1. Edge-following: robot follows along the edge of the pool to build a map of the entire pool while simultaneously planning and performing two rounds of bottom cleaning.
2. Bottom cleaning path:
A. If the first round planning succeeds:
perform one S-pattern bottom cleaning (edge-following + S-pattern) + if the second round planning also succeeds: perform another S-pattern bottom cleaning (edge-following + S-pattern);
B. If the first round planning succeeds but the second round fails:
perform one S-pattern bottom cleaning (edge-following + S-pattern) + one round of DeepSense Mode cleaning (large S-pattern with continuous direction changes) and random cleaning excluding walls (total duration: 2.5 hours);
C. If the first round planning fails (the second round will skip edge-following and directly enter DeepSense Mode):
perform two rounds of DeepSense Mode cleaning + random cleaning excluding walls (total duration: 2.5 hours).
3. Transition from bottom to water surface for retrieval:
the robot will randomly select a direction to climb the wall, surface, and the pump will start a 20-minute docking wait for the user to retrieve the device.
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