I AquaSense 2- Multi-Zone Mode (App Triggered)

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.