Water level detection device for water tank, water tank cleaning equipment, detection methods and control methods

Abstract

This application provides a water level detection device for a water tank, a water tank cleaning device, a detection method, and a control method. The water level detection device includes an auxiliary container and a detection unit. The auxiliary container has an opening; the detection unit is located on one side of the opening; the detection unit is used to emit a detection signal towards the outside of the auxiliary container to determine the relative position between the water level detection device and the water level in the water tank. This application enables the identification of the water level in the water tank and the control of the water tank cleaning device based on the identified water level.

Description

Technical Field

[0001] This application relates to the field of cleaning equipment technology, and more specifically, to a water level detection device for a water tank, a water tank cleaning device, a detection method, and a control method within the field of cleaning equipment technology. Background Technology

[0002] In related technologies, pool cleaning equipment can clean the bottom and walls of pools, bathtubs, fish ponds, and other pools by filtering the water in its path.

[0003] When cleaning the area near the water surface of a pool, i.e., the water level line, the pool cleaning equipment needs to move around the water level line. Therefore, how to identify the pool water level line is a problem that urgently needs to be solved. Summary of the Invention

[0004] This application provides a water level detection device, a water level cleaning device, a detection method, and a control method for a water tank, capable of identifying the water level in the tank and controlling the water tank cleaning device based on the identified water level. The specific technical solution is as follows:

[0005] In a first aspect, this application also provides a water level detection device for a water tank, comprising:

[0006] An auxiliary container, wherein the auxiliary container is provided with an opening;

[0007] A detection unit is located on one side of the opening; the detection unit is used to emit a detection signal toward the outside of the auxiliary container to determine the relative position between the water level detection device and the water level of the pool.

[0008] In one specific implementation, when detecting the water level in the pool, the opening faces the direction of the water level line.

[0009] In the above technical solution, due to the different relative positions between the water level detection device and the water level in the pool, the time difference between the reflected signal and the detection signal detected by the detection unit changes accordingly. Therefore, by setting up a detection unit and an auxiliary container, the relative position between the water level detection device and the water level in the pool can be determined based on the reflected signal detected by the detection unit, thereby identifying the water level in the pool.

[0010] In conjunction with the first aspect, in some possible implementations, the detection unit is disposed on the bottom of the auxiliary container on the side opposite to the opening;

[0011] The bottom of the auxiliary container has a transmissive portion to transmit the detection signal generated by the detection unit.

[0012] In the above technical solution, the detection unit is set on the bottom of the auxiliary container away from the opening, that is, the detection unit is set on the lower side of the bottom of the auxiliary container, so that the bottom of the auxiliary container is located between the detection unit and the opening of the auxiliary container. By setting a transmissive part at the bottom of the auxiliary container, the transmission of the detection signal can be guaranteed.

[0013] In combination with the first aspect and the above-described implementation methods, in some possible implementation methods, the bottom of the auxiliary container is provided with mounting holes;

[0014] The detection unit is disposed at the bottom of the auxiliary container on the side facing the opening; the detection unit is disposed within the mounting hole or disposed through the mounting hole in the receiving cavity of the auxiliary container.

[0015] The above technical solution avoids the influence of the bottom solid structure between the detection unit and the opening, which can further improve the accuracy and reliability of identifying the water level line of the pool.

[0016] In combination with the first aspect and the above implementation methods, in some possible implementation methods, the detection unit includes at least one of an infrared sensor, a laser sensor, and an ultrasonic sensor;

[0017] The distance between the transmitting and receiving ends of the ultrasonic sensor and the opening is greater than or equal to 3 cm.

[0018] In the above technical solution, the detection unit can use a variety of sensors to identify the water level in the pool.

[0019] Secondly, this application also provides a pool cleaning device, comprising:

[0020] case,

[0021] The water level detection device for the pool described in any of the first aspects above is mounted on the housing; the opening of the auxiliary container of the water level detection device faces the same direction as the travel direction of the pool cleaning equipment.

[0022] In the above technical solution, due to the different relative positions between the pool cleaning equipment and the pool water level, the time difference between the reflected signal and the detection signal detected by the detection unit from the pool water level or container water level changes accordingly. Therefore, by setting a detection unit on the housing of the pool cleaning equipment and an auxiliary container with its opening facing the same direction of travel as the pool cleaning equipment, the relative position between the pool cleaning equipment and the pool water level can be determined and the pool water level can be identified based on the reflected signal detected by the detection unit from the pool water level or container water level.

[0023] In conjunction with the second aspect, in some possible implementations, the auxiliary container of the water level detection device is integrally formed with the shell.

[0024] In the above technical solution, the auxiliary container of the water level detection device is integrally formed with the shell. On the one hand, this simplifies the manufacturing, processing and assembly process of the shell and auxiliary container of the water cleaning equipment. On the other hand, it also ensures the sealing of the shell and auxiliary container of the water cleaning equipment, avoiding the need to set up an additional sealing structure between the shell and auxiliary container of the water cleaning equipment.

[0025] In one specific embodiment, the shell is provided with a groove, which is the auxiliary container; when integrally formed, it is a shell with a groove.

[0026] In conjunction with the second aspect and the above-described implementations, in some possible implementations, the water level detection device includes a first water level detection device and / or a second water level detection device; the first water level detection device is located at the head end near the housing; and the second water level detection device is located at the tail end near the housing.

[0027] In the above technical solution, by setting up multiple water level detection devices, the water level detection of the pool can be achieved in both the forward and backward directions of the pool cleaning equipment.

[0028] In combination with the second aspect and the above implementation methods, in some possible implementation methods, the first water level detection device and / or the second water level detection device are disposed on the back of the housing;

[0029] The water level detection device includes a third water level detection device disposed on the belly of the housing; the third water level detection device is located near the head end or tail end of the housing.

[0030] In the above embodiments, by setting up a third water level detection device, the third water level detection device and the second water level detection device can be used in pairs, with one as a backup, effectively improving equipment redundancy.

[0031] Thirdly, this application also provides a method for detecting water level in a pool, applied to any of the pool water level detection devices described in the first aspect or any of the pool cleaning equipment described in the second aspect, the method comprising:

[0032] Emit a detection signal toward the opening of the auxiliary container;

[0033] The system receives the reflected signal after the detection signal reaches the water level line; wherein the water level line is the water level line of a pool or a container.

[0034] Determine the time difference between receiving the reflected signal and transmitting the detection signal;

[0035] Based on the time difference, the relative position between the water level detection device or the water cleaning equipment and the water level is determined.

[0036] In the above technical solution, due to the different relative positions between the water level detection device or water cleaning equipment and the water level, the time difference between the reflected signal and the detection signal of the water level or container water level detected by the detection unit changes accordingly. Therefore, the relative position between the water level detection device or water cleaning equipment and the water level can be determined based on the time difference between the received reflected signal and the transmitted detection signal.

[0037] In conjunction with the third aspect, in some possible implementations, determining the relative position between the pool water level detection device or the pool cleaning equipment and the pool water level based on the time difference includes:

[0038] If the time difference is equal to or less than the preset time difference, then the water level detection device or the water cleaning equipment reaches the position of the water level line in the pool.

[0039] If the time difference is greater than the preset time difference, the water level detection device or the water cleaning equipment is located below the water level line of the pool.

[0040] or,

[0041] If the target time difference is less than or equal to a plurality of time differences determined within a predetermined time period after the target time difference, then the water level detection device or the water cleaning equipment reaches the position of the water level or is located below the water level; wherein, the target time difference is the smallest time difference among a plurality of consecutively determined time differences.

[0042] In the above technical solution, by utilizing the time difference between the received reflected signal and the transmitted detection signal and the correspondence between the water level detection device or water level cleaning equipment and the water level of the pool, it is possible to quickly and accurately determine whether the water level detection device or water level cleaning equipment has reached the water level of the pool and whether it is below the water level of the pool.

[0043] As one specific implementation method, the above scheme further includes: determining the distance D between the detection unit and the water level line;

[0044] Based on the distance D, the relative position between the water level detection device or the water cleaning equipment and the water level is determined.

[0045] In the above scheme, the distance between the detection unit and the water level line is obtained by means of:

[0046] The time difference t0 between the received reflected signal and the transmitted detection signal is used to determine the propagation path L of the signal by using the time difference t0 and the propagation speed of the detection signal in the water. The distance D between the detection unit and the water level line of the pool is obtained by subtracting the product of the time difference t0 and the travel speed of the pool cleaning equipment from the path L.

[0047] In the above technical solution, when the auxiliary container is below the water level line of the pool, as the pool cleaning equipment climbs, the distance D between the detection unit and the water level line of the pool gradually decreases. At this time, the pool water level detection device or the pool cleaning equipment is below the water level line of the pool. The detected distance D can be compared with a preset value. When the distance D is less than the preset value, the pool cleaning equipment climbs to the position of the pool water level line and performs a reversal (such as reversing) or other operations.

[0048] In the above technical solution, when the auxiliary container is located above the water level line of the pool, the water level line of the auxiliary container can be detected by the detection unit, and the distance D between the detection unit and the water level line is a fixed value, that is, the water level detection device or the pool cleaning equipment climbs to the position of the water level line of the pool.

[0049] Fourthly, this application also provides a control method for a water tank cleaning device, the method comprising:

[0050] The water level detection method described in the third aspect above is used to determine the relative position between the water cleaning equipment and the water level of the pool.

[0051] When the water tank cleaning equipment reaches the water level line of the water tank, control the water tank cleaning equipment to stop and / or change direction;

[0052] When the water tank cleaning equipment is below the water level line of the water tank, control the water tank cleaning equipment to move towards the water level line of the water tank.

[0053] In the above technical solution, the relative position between the water tank cleaning equipment and the water level line of the water tank can be used to easily control the movement of the water tank cleaning equipment near the water level line, thereby effectively cleaning the water level line of the water tank.

[0054] Fifthly, this application also provides a water level detection device for a pool, applied to any of the water level detection devices described in the first aspect or any of the pool cleaning equipment described in the second aspect, comprising:

[0055] A signal transmitting module for transmitting detection signals toward the opening of the auxiliary container;

[0056] A signal receiving module is used to receive the reflected signal after the detection signal reaches the water level line; wherein, the water level line is the water level line of a pool or the water level line of a container;

[0057] A time difference determination module is used to determine the time difference between receiving the reflected signal and transmitting the detection signal;

[0058] The position determination module is used to determine the relative position between the water level detection device or the water cleaning equipment and the water level of the pool based on the time difference.

[0059] Sixthly, this application also provides a control device for a pool cleaning equipment, comprising:

[0060] The position detection module is used to determine the relative position between the water tank cleaning equipment and the water tank water level line using the water tank water level line detection method described in the third aspect above.

[0061] The equipment control module is used to control the water tank cleaning equipment to stop and / or change direction when the water tank cleaning equipment reaches the water level line; and to control the water tank cleaning equipment to move towards the water level line when the water tank cleaning equipment is below the water level line.

[0062] In a seventh aspect, this application also provides an electronic device, which includes a processor, a communication interface, a memory, and a communication bus, wherein the processor, the communication interface, and the memory communicate with each other through the communication bus;

[0063] Memory, used to store computer programs;

[0064] When a processor executes a program stored in memory, it implements the methods described in the above embodiments.

[0065] Eighthly, this application also provides a computer-readable storage medium storing a computer program that, when executed, implements the methods described in the above embodiments.

[0066] The technical solution described in this application enables the pool cleaning equipment to continuously detect the pool water level even when it is below the water level line, and the detection data is more reliable. At the same time, it avoids the problem of the pool cleaning equipment climbing too fast, water surface fluctuations, slow response speed of the detection unit, etc., which can cause the machine to continue climbing after the underwater pool water level detection fails until it can no longer stay on the pool wall due to the water pressure (the water pressure is generated by the combined action of the water pump working, which draws water from the bottom into the pool cleaning machine and discharges it from the top). Attached Figure Description

[0067] Figure 1This is a schematic diagram of the structure of the water tank cleaning equipment provided in the embodiments of this application;

[0068] Figure 2 This is a top view of the water level detection component in a water tank cleaning system.

[0069] Figure 3 for Figure 2 A cross-sectional view along line AA in the water level detection assembly;

[0070] Figure 4 A flowchart illustrating a method for detecting water level in a pool, as provided in this application embodiment;

[0071] Figure 5 A flowchart illustrating another method for detecting water level in a pool, as provided in this application embodiment;

[0072] Figure 6 A flowchart illustrating a control method for a water tank cleaning device provided in this application embodiment;

[0073] Figure 7 This is a schematic diagram of the structure of a water level detection device for a water tank provided in an embodiment of this application;

[0074] Figure 8 A schematic diagram of the control device structure of a water tank cleaning equipment provided in this application embodiment;

[0075] Figure 9 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application.

[0076] The annotations in the attached figures are explained as follows:

[0077] 1—Shell; 111—Back; 112—Bottom; 121—Head end; 122—Tail end; 13—Drum;

[0078] 2—Water level detection device for the pool; 21—Auxiliary container; 22—Detection unit. Detailed Implementation

[0079] The technical solutions in this application will be clearly and thoroughly described below with reference to the accompanying drawings. In the description of the embodiments of this application, unless otherwise stated, " / " means "or," for example, A / B can mean A or B. "And / or" in the text is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. Furthermore, in the description of the embodiments of this application, "multiple" refers to two or more than two.

[0080] Hereinafter, the terms "first" and "second" are used for descriptive purposes only and should not be construed as implying or suggesting relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature.

[0081] In related technologies, when cleaning the pool walls (i.e., the water level line) near the water surface of swimming pools, bathtubs, fish ponds, etc., the pool cleaning equipment needs to move around the water level line to clean different areas. Therefore, how to identify the pool water level line is a problem that urgently needs to be solved.

[0082] To address the aforementioned technical problems, embodiments of this application provide a water level detection device for a water tank, a water tank cleaning device, a detection method, and a control method. The water level detection device for a water tank provided in this application will be described in detail below with reference to the accompanying drawings.

[0083] Please refer to Figures 1 to 3 , Figure 1 This is a schematic diagram of the structure of the water tank cleaning equipment provided in the embodiments of this application; Figure 2 This is a top view of the water level detection component in a water tank cleaning system. Figure 3 for Figure 2 A cross-sectional view along line AA in the water level detection assembly. First, the first aspect of this application proposes a water level detection device 2 for a water tank, which includes an auxiliary container 21 and a detection unit 22.

[0084] The auxiliary container 21 has an opening.

[0085] The detection unit 22 is located on one side of the opening; the detection unit 22 is used to emit a detection signal toward the outside of the auxiliary container 21 to determine the relative position between the water level detection device and the water level of the pool.

[0086] The water level line on the surface of the pool is the pool water level line; the auxiliary container 21 is used to hold water, and the water level line on the surface of the auxiliary container 21 is the container water level line. A detection unit 22 is set below the opening of the auxiliary container 21, i.e., the plane where the container water level line is located. The detection unit 22 can emit a detection signal towards the outside of the auxiliary container 21 through the opening of the auxiliary container 21.

[0087] When the water level detection device 2 is below the water level in the pool, the auxiliary container 21 does not function, and the detection unit 22 always detects the water level in the pool. When the water level detection device 2 is above the water level in the pool, that is, after the auxiliary container 21 is exposed above the water surface, the detection unit 22 no longer detects the water level in the pool, but the water level in the container.

[0088] Due to the different relative positions between the water level detection device 2 and the water level in the pool, the time difference between the reflected signal and the detection signal detected by the detection unit 22 is altered. Therefore, this solution, by setting up the detection unit 22 and the auxiliary container 21, can determine the relative position between the water level detection device 2 and the water level in the pool based on the reflected signal detected by the detection unit 22, thereby identifying the water level in the pool.

[0089] To ensure the clarity of the layout and structure of the technical solution in this application, the specific method for determining the relative position between the water level detection device 2 and the water level in the pool based on the reflected signal of the water level in the pool or container detected by the detection unit 22 is detailed in the following section on the water level detection method.

[0090] In some embodiments of this application, the detection unit 22 is disposed on the bottom side of the auxiliary container 21 facing away from the opening;

[0091] The bottom of the auxiliary container 21 has a transmissive part to transmit the detection signal generated by the detection unit 22.

[0092] It should be noted that, in order to detect the water level in the container, the detection unit 22 needs to be located below the opening. The detection unit 22 is set on the bottom of the auxiliary container 21 on the side away from the opening, that is, on the bottom of the auxiliary container 21 away from the opening. Specifically, for an auxiliary container 21 with a bottom, the detection unit 22 can be set on the lower side of the bottom of the auxiliary container 21. The transmissive portion at the bottom of the auxiliary container 21 can be made of a thickness and material that the detection signal can penetrate. The thickness of the transmissive portion can be determined according to different detection signals, and the material of the transmissive portion can be transparent or translucent, such as polycarbonate (PC).

[0093] In the above technical solution, the detection unit 22 is set on the bottom of the auxiliary container 21 away from the opening, that is, the detection unit 22 is set on the lower side of the bottom of the auxiliary container 21, so that the bottom of the auxiliary container 21 is located between the detection unit 22 and the opening of the auxiliary container 21. By setting a transmission part at the bottom of the auxiliary container 21, the transmission of the detection signal can be guaranteed.

[0094] In some embodiments of this application, the bottom of the auxiliary container 21 is provided with mounting holes.

[0095] The detection unit 22 is located at the bottom of the auxiliary container 21 on the side facing the opening; the detection unit 22 is located inside the mounting hole or through the mounting hole in the receiving cavity of the auxiliary container 21.

[0096] It is understandable that the mounting hole can be a blind hole or a through hole. If the mounting hole is a through hole, a sealing device such as a sealing ring can be installed at the through hole to prevent leakage of the auxiliary container 21 when the water level detection device 2 is located on the water level line of the water tank, which would cause changes in the water level line of the container.

[0097] It should be noted that, in order to detect the water level in the container, in addition to placing the detection unit 22 on the lower side of the bottom of the auxiliary container 21 in the above embodiments, this application embodiment can also place the detection unit 22 on the bottom of the auxiliary container 21 or in the receiving cavity through a mounting hole; specifically, one possible implementation is to directly place the detection unit 22 in the mounting hole at the bottom of the auxiliary container 21; another possible implementation is to connect the detection unit 22 to the bottom of the auxiliary container 21 through the mounting hole, so that the detection unit 22 is located in the receiving cavity of the auxiliary container 21. In both cases, the volume of the mounting hole and the receiving cavity is relatively small, requiring the use of a small-shaped detection unit 22.

[0098] The solution in this embodiment avoids the influence of the bottom solid structure between the detection unit 22 and the opening, which can further improve the accuracy and reliability of identifying the water level line of the pool.

[0099] In some embodiments of this application, the detection unit 22 includes at least one of an infrared sensor, a laser sensor, and an ultrasonic sensor;

[0100] The distance between the transmitting and receiving ends of the ultrasonic sensor and the opening is greater than or equal to 3 cm.

[0101] In this embodiment, the detection unit 22 can employ various sensors to identify the water level in the pool. Specifically, the detection unit 22 can use an infrared sensor, a laser sensor, or an ultrasonic sensor. The infrared and laser sensors emit infrared and laser signals, respectively, both of which are electromagnetic waves. The ultrasonic sensor emits ultrasonic waves, which are mechanical waves with extremely short wavelengths. Because ultrasonic waves have short wavelengths, they are easily lost and scattered in air. To avoid detection blind spots in the ultrasonic sensor, the distance between the transmitting and receiving ends of the ultrasonic sensor and the opening is set to be greater than or equal to 3 cm.

[0102] Secondly, please refer to Figure 1 The second aspect of this application also proposes a pool cleaning device, which includes a housing 1 and a pool water level detection device 2 as described in any of the embodiments of the first aspect.

[0103] The water level detection device 2 is installed on the housing 1; the opening of the auxiliary container 21 of the water level detection device 2 faces the same direction as the travel direction of the water cleaning equipment.

[0104] Below, we will first provide a brief, example-based introduction to the working principle of the water tank cleaning equipment described in this application. (See also...) Figure 1 The housing 1 contains a flow channel with a water pump and a filter screen. The inlet of the flow channel is located on the belly 112 of the housing 1, and the outlet is located on the back 111. Under the action of the water pump, water continuously enters the flow channel from the inlet, is filtered by the filter screen, and then flows out from the outlet. The pressure difference between the inlet and outlet provides pressure that presses the water cleaning equipment against the pool wall. The housing 1 also includes a motor, a drive wheel, a driven wheel, a transmission mechanism, and a roller 13. The motor drives the drive wheel to rotate, which in turn drives the driven wheel and roller 13 to rotate via the transmission mechanism, thus driving the water cleaning equipment to move. The roller 13 agitates and cleans foreign objects on the pool wall surface, allowing wastewater to enter the inlet under negative pressure. The wastewater entering the inlet is filtered by the filter screen and discharged from the outlet. An upstream sludge inlet is formed on the side of the filter screen closest to the inlet; sludge intercepted by the filter screen enters the sludge inlet and is collected.

[0105] In this embodiment of the application, an auxiliary container 21 with an opening is provided on the housing 1, and the orientation of the opening is consistent with the direction of travel of the housing 1; for example, when the opening is located at the head end 121 of the housing 1, the orientation of the opening is consistent with the forward direction of travel of the housing 1; when the opening is located at the tail end 122 of the housing 1, the orientation of the opening is consistent with the reverse direction of travel of the housing 1.

[0106] Since the water level detection device 2 is installed on the housing 1 of the water cleaning equipment, similar to the water level detection device 2, when the water cleaning equipment is below the water level, the auxiliary container 21 does not function, and the detection unit 22 always detects the water level. When the water cleaning equipment is above the water level, that is, after the auxiliary container 21 on the housing 1 is exposed above the water surface, the detection unit 22 no longer detects the water level, but the container water level.

[0107] Due to the different relative positions between the pool cleaning equipment and the pool water level, the time difference between the reflected signal from the pool water level or container water level detected by the detection unit 22 and the detection signal changes accordingly. Therefore, this solution, by setting up a detection unit 22 on the housing 1 of the pool cleaning equipment and an auxiliary container 21 with its opening facing the same direction of travel as the pool cleaning equipment, can determine the relative position between the pool cleaning equipment and the pool water level based on the reflected signal from the pool water level or container water level detected by the detection unit 22, and thus identify the pool water level.

[0108] Similar to the water level detection device 2 in the above embodiments, in order to make the layout and structure of the technical solution of this application clear, the specific method for determining the relative position between the water level detection equipment and the water level in the pool based on the reflected signal of the water level in the pool or container detected by the detection unit 22 on the housing 1 of the water level cleaning equipment is described in detail in the following water level detection method.

[0109] In some embodiments of this application, the auxiliary container 21 of the water level detection device 2 is integrally formed with the shell 1.

[0110] The solution in this application embodiment can be integrally formed with the housing 1 and auxiliary container 21 of the pool cleaning equipment using processing techniques such as stamping and injection molding. This simplifies the manufacturing, processing, and assembly processes of the housing 1 and auxiliary container 21, and also ensures the airtightness of the housing 1 and auxiliary container 21, avoiding the need for additional sealing structures between them.

[0111] In some embodiments of this application, the water level detection device 2 includes a first water level detection device and / or a second water level detection device; the first water level detection device is located at the head end 121 near the housing 1; the second water level detection device is located at the tail end 122 near the housing 1.

[0112] In this embodiment of the application, the first water level detection device can be provided only on the back 111 of the housing 1 near the head end 121. See [link to relevant documentation]. Figure 1 Alternatively, a second water level detection device can be installed only on the back 111 of the housing 1 near the tail end 122. Considering that the water level can be detected at both ends of the water cleaning equipment, this application can also simultaneously install a first water level detection device and a second water level detection device at the positions near the head end 121 and the tail end 122 of the housing 1, respectively.

[0113] It should be noted that, considering both the structural limitations of the pool cleaning equipment and the fact that a portion of the housing 1 needs to protrude above the water surface when cleaning the pool, the water level detection device 2 in this embodiment is positioned near the head end 121 or tail end 122 of the housing 1, rather than directly at the head end 121 or tail end 122. Of course, in some possible implementations, if the structural limitations of the pool cleaning equipment are not considered, positioning the water level detection device 2 at the head end 121 or tail end 122 of the housing 1 can achieve a good cleaning effect on the pool water surface by delaying the movement of the cleaning equipment.

[0114] In this embodiment of the application, by setting up multiple water level detection devices 2, the water level detection of the pool can be achieved in both the forward and backward directions of the pool cleaning equipment.

[0115] In some embodiments of this application, the first water level detection device and / or the second water level detection device are disposed on the back 111 of the housing 1;

[0116] The water level detection device 2 includes a third water level detection device installed on the belly 112 of the housing 1; the third water level detection device is located near the head end 121 or the tail end 122 of the housing 1.

[0117] To improve the operational reliability of the pool cleaning equipment, and considering the specific structure of the equipment, when a roller 13 is provided on the underside 112 of the housing 1 near the head end 121 of the housing 1, see [reference needed]. Figure 1 Furthermore, this application may also provide a third water level detection device at the position of the belly 112 of the housing 1 near the tail end 122. Of course, if the roller 13 is located at the position of the belly 112 of the housing 1 near the tail end 122 of the housing 1 instead of the head end 121, the third water level detection device may also be located at the position of the belly 112 of the housing 1 near the head end 121.

[0118] In the above embodiments, by setting up a third water level detection device, the third water level detection device and the second water level detection device can be used in pairs, with one as a backup, effectively improving equipment redundancy.

[0119] Figure 4 This is a flowchart illustrating a method for detecting water level in a pool, as provided in an embodiment of this application. See also... Figure 4 This application proposes a method for detecting water level in a pool, applicable to any of the pool water level detection devices 2 or pool cleaning equipment described in the above embodiments. The method includes the following steps:

[0120] S401, emits a probe signal toward the opening of the auxiliary container.

[0121] Regardless of the specific type of sensor used in the detection unit 22, it always has a transmitter and a receiver. As can be seen from the embodiments of the water level detection device 2 and the water cleaning equipment described above, the detection unit 22 is located below the opening of the auxiliary container 21, i.e., below the water level. Therefore, the transmitter of the detection unit 22 can be aimed at the opening of the auxiliary container 21 and transmit a detection signal. The detection signal can be transmitted according to a certain pattern. In one possible implementation, the detection signal can be transmitted periodically at preset time intervals to continuously detect the water level. In another possible implementation, the detection signal can be transmitted under certain conditions, such as when it is determined that the water level detection device 2 or the water cleaning equipment is below the water level, and the detection signal is transmitted periodically at preset time intervals. This allows for continuous detection of the water level while reducing power consumption.

[0122] Depending on the specific type of the detection unit 22, different types of detection signals can be emitted; for example, when the detection unit 22 uses an infrared sensor or a laser sensor, it can emit electromagnetic wave detection signals such as infrared or laser; when it uses an ultrasonic sensor, it can emit mechanical wave detection signals such as ultrasonic waves.

[0123] S402 receives the reflected signal after the detection signal reaches the water level.

[0124] The water level line refers to the water level line of the pool or container.

[0125] The detection signal emitted by the transmitter is received by the receiver after being reflected back. It should be noted that, depending on the different positions of the water level detection device 2 or the water level cleaning equipment relative to the water level, the reflected signal will be reflected back by different water level lines.

[0126] Specifically, when the water level detection device 2 or the water cleaning equipment is below the water level in the pool, the detection signal continues to propagate upwards after passing through the water in the auxiliary container 21 until it reaches the water surface line of the pool, where it is partially reflected and becomes a reflected signal that is received by the receiving end of the detection unit 22.

[0127] When the water level detection device 2 or the water cleaning equipment is located on the water level line of the pool, the auxiliary container 21 is exposed above the water surface. The detection signal only passes through the water in the auxiliary container 21 and is partially reflected after reaching the water level line of the pool, becoming a reflected signal that is received by the receiving end of the detection unit 22.

[0128] S403, determine the time difference between receiving the reflected signal and transmitting the detection signal.

[0129] Record the time of transmitting the detection signal and the time of receiving the reflected signal respectively, and calculate the time difference between receiving the reflected signal and transmitting the detection signal.

[0130] S404, Based on this time difference, determine the relative position between the pool water level detection device or pool cleaning equipment and the pool water level.

[0131] In the above technical solution, due to the different relative positions between the water level detection device 2 or the water level cleaning equipment and the water level, the time difference between the reflected signal and the detection signal of the water level or container water level detected by the detection unit 22 changes accordingly. Therefore, the relative position between the water level detection device 2 or the water level cleaning equipment and the water level can be determined according to the time difference between the received reflected signal and the transmitted detection signal.

[0132] Specifically, in one possible implementation, the distance between the water level detection device 2 or the water level cleaning device and the water surface line can be determined by factors such as the time difference, the propagation speed of the detection signal in the water, and the real-time movement speed of the water level detection device 2 or the water level cleaning device. Then, the relative position between the water level detection device 2 or the water level line and the water level line can be determined based on this distance. For example, multiplying the time difference by the propagation speed of the detection signal in the water can determine the path of the detection signal; multiplying the time difference by the movement speed of the water level detection device 2 or the water level cleaning device can determine the movement path of the water level detection device 2 or the water level cleaning device. Dividing the sum of the detection signal's movement path and the water level detection device's movement path by 2 yields the distance between the detection unit 22, the water level detection device 2 or the water level cleaning device, and the water level line. Based on this distance, the relative position between the water level detection device 2 or the water level line and the water level line can be determined. In another possible implementation, the relative position between the water level detection device 2 or the water level cleaning equipment and the water level can be determined directly by the time difference; this implementation will be described in detail below.

[0133] Figure 5 A flowchart illustrating another method for detecting water level in a pool, provided as an embodiment of this application. See also... Figure 5 This application also provides a method for detecting the water level in a pool, the method comprising the following steps:

[0134] S501 emits a detection signal toward the opening of the auxiliary container.

[0135] S502 receives the reflected signal after the detection signal reaches the water level.

[0136] The water level line refers to the water level line of the pool or container.

[0137] S503, determine the time difference between receiving the reflected signal and transmitting the detection signal.

[0138] Steps S501, S502, and S503 in this embodiment are the same as S401, S402, and S403 in the above embodiment, and will not be described again here.

[0139] S504, if the time difference is equal to or less than the preset time difference, the water level detection device or water cleaning equipment reaches the position of the water level line.

[0140] When the water level detection device 2 or the water cleaning equipment partially emerges from the water surface, i.e., when the auxiliary container 21 is located on the water level line of the pool, the detection signal emitted by the detection unit 22 returns after reaching the water level line of the container. The relative position between the auxiliary container 21 and the detection unit 22 is fixed, i.e., the relative position between the water level line of the container and the detection unit 22 is also fixed (ignoring the shaking of the water level line of the container after the water level detection device 2 or the water cleaning equipment exits the pool). The time difference between receiving the reflected signal and transmitting the detection signal is a fixed time difference value. Therefore, based on this time difference, it can be known that the water level detection device 2 or the water cleaning equipment emerges from the water surface, i.e., the position where the water level detection device 2 or the water cleaning equipment reaches the water level line of the pool.

[0141] It is understandable that due to the unstable movement of the water level detection device 2 or the water cleaning equipment, the water level in the container may sway, and detection errors may occur. Therefore, the aforementioned fixed time difference may fluctuate within a certain range. Therefore, in this embodiment, the preset time difference can be a range of values ​​including the fixed time difference. For example, if the fixed time difference is 2, then the preset time difference is any number in the range [1, 3]. That is, when the time difference is any number in [1, 3], the water level detection device 2 or the water cleaning equipment has reached the position of the water level in the pool. Considering that the water level detection device 2 or the water cleaning equipment may shake violently after water is discharged, spilling water from the auxiliary container and causing the water level in the container to drop, in this special case, if the time difference is less than the preset time difference, it can also be considered that the water level detection device or the water cleaning equipment has reached the position of the water level in the pool.

[0142] Furthermore, since the relative position between the auxiliary container 21 and the detection unit 22 is always fixed when the auxiliary container 21 is located on the water level line of the pool, if the determined time difference is too abnormal, it can be verified by transmitting multiple detection signals, thereby ensuring the reliability of the water level line detection in the pool.

[0143] S505, if the time difference is greater than the preset time difference, the water level detection device or water cleaning equipment is located below the water level line of the pool.

[0144] When the water level detection device 2 or the water cleaning equipment is fully submerged in the water, i.e., when the auxiliary container 21 is below the water level, the detection signal emitted by the detection unit 22 reaches the water level and returns. At this time, the distance between the water level and the detection unit 22 is greater than the distance between the container's water level and the detection unit 22, and this distance increases or decreases as the water level detection device 2 or the water cleaning equipment moves closer to or further away from the water level. Therefore, based on this time difference, it can be determined that the water level detection device 2 or the water cleaning equipment is submerged. In other words, when the time difference is greater than a preset time difference, the water level detection device 2 or the water cleaning equipment is below the water level.

[0145] It should be noted that there are several other ways to determine the relative position between the water level detection device or water cleaning equipment and the water level in the pool based on the time difference. In another possible implementation, since the relative position between the water level detection device 2 and the detection unit 22 is fixed after the water level detection device 2 or the water cleaning equipment is partially exposed above the water surface, multiple detection signals can be continuously emitted, and the position of the water level detection device or the water cleaning equipment can be determined by the time difference determined by these multiple consecutive signals.

[0146] Specifically, if the target time difference is less than or equal to multiple time differences determined within a predetermined time period after the target time difference, then the position of the pool water level detection device or pool cleaning equipment at or below the pool water level is determined. The target time difference is the smallest of the multiple consecutively determined time differences.

[0147] The time interval between multiple detection signals and the length of the predetermined time period can be determined using empirical values ​​or through multiple experiments.

[0148] In this scheme, the target time with the smallest value among multiple consecutively determined time differences is used as the benchmark. If multiple time differences determined over a longer period are all greater than or equal to the target time difference, that is, the target time difference has not been updated for a long time, then when the water level detection device or water cleaning equipment moves towards the water level line, it can be determined that the water level detection device or water cleaning equipment has reached the position of the water level line; when the water level detection device or water cleaning equipment moves away from the water level line, it can be determined that the water level detection device or water cleaning equipment is below the water level line.

[0149] In the above technical solution, by utilizing the time difference between the received reflected signal and the transmitted detection signal and the correspondence between the water level detection device 2 or the water level cleaning equipment and the water level line of the pool, it is possible to quickly and accurately determine whether the water level detection device 2 or the water level cleaning equipment has reached the water level line position and whether it is below the water level line.

[0150] Figure 6 A flowchart illustrating a control method for another water tank cleaning device provided in an embodiment of this application. See also... Figure 6 This application also provides a control method for a water tank cleaning device, the method comprising the following steps:

[0151] S601 emits a detection signal toward the opening of the auxiliary container.

[0152] S602 receives the reflected signal after the detection signal reaches the water level.

[0153] The water level line refers to the water level line of the pool or container.

[0154] S603, determine the time difference between receiving the reflected signal and transmitting the detection signal.

[0155] S604, if the time difference is equal to or less than the preset time difference, the pool cleaning equipment reaches the position of the pool water level line.

[0156] Steps S601, S602, S603, and S604 are the same as S501, S502, S503, and S504 in the above embodiments, and will not be described again here.

[0157] S605, when the pool cleaning equipment reaches the water level line of the pool, control the pool cleaning equipment to stop and / or change direction.

[0158] It should be noted that when the pool cleaning equipment reaches the water level line, it needs to be stopped from climbing further. Otherwise, once the equipment is above the water surface, it may fall. This is because the water pump cannot draw water through the inlet 112 on the abdomen and discharge it through the outlet 111, thus failing to create the pressure difference between the inlet and outlet to press the equipment against the pool wall. Specifically, the equipment can be stopped at the water level line when conditions such as the countdown ends, facilitating its retrieval. Regarding controlling the reversing movement of the equipment, it can be controlled to move vertically downwards, at a certain angle (e.g., 10°, 30°, 45°), or in the opposite direction of its original movement.

[0159] When the water tank cleaning equipment reaches the water level line, controlling the equipment to stop and / or change direction ensures that the equipment remains pressed against the tank wall, thus cleaning the water level line.

[0160] S606, if the time difference is greater than the preset time difference, the pool cleaning equipment will be positioned below the pool water level line.

[0161] Step S606 is the same as S505 in the above embodiment, and will not be described again here.

[0162] S607, When the pool cleaning equipment is below the pool water level line, control the pool cleaning equipment to move toward the pool water level line.

[0163] Understandably, there are multiple ways to control the movement of the pool cleaning equipment toward the pool's water level. In one possible implementation, to improve the efficiency of cleaning the pool's water level, when the cleaning equipment is below the water level and far away from it, it can be controlled to move toward the water level at an accelerated pace; when the cleaning equipment moves closer to the water level, it can be controlled to move toward the water level at a decelerated or constant speed.

[0164] In the above technical solution, the relative position between the water tank cleaning equipment and the water level line of the water tank can be used to easily control the movement of the water tank cleaning equipment near the water level line, thereby effectively cleaning the water level line of the water tank.

[0165] Figure 7 This is a schematic diagram of the structure of a water level detection device for a water tank provided in an embodiment of this application. For example, as shown... Figure 7 As shown, this application provides a water level detection device for a water tank, the detection device comprising:

[0166] Signal transmitting module 701 is used to transmit detection signals toward the opening of the auxiliary container;

[0167] The signal receiving module 702 is used to receive the reflected signal after the detection signal reaches the water level line; wherein the water level line is the water level line of the pool or the water level line of the container.

[0168] The time difference determination module 703 is used to determine the time difference between the received reflected signal and the transmitted detection signal;

[0169] The position determination module 704 is used to determine the relative position between the pool water level detection device or pool cleaning equipment and the pool water level based on the time difference.

[0170] Figure 8 This is a schematic diagram of the structure of a control device for a water tank cleaning equipment provided in an embodiment of this application. For example, as shown... Figure 8 As shown, this application provides a control device for a water tank cleaning equipment, the control device comprising:

[0171] The position detection module 801 is used to determine the relative position between the pool cleaning equipment and the pool water level line using any of the pool water level line detection methods described in the above embodiments.

[0172] The equipment control module 802 is used to control the water tank cleaning equipment to stop and / or change direction when the water tank cleaning equipment reaches the water level line; and to control the water tank cleaning equipment to move toward the water level line when the water tank cleaning equipment is below the water level line.

[0173] Figure 9 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. For example, as shown... Figure 9 As shown, this application provides an electronic device, which includes a processor 901, a communication interface 902, a memory 903, and a communication bus 904, wherein the processor 901, the communication interface 902, and the memory 903 communicate with each other through the communication bus 904.

[0174] Memory 903 is used to store computer programs;

[0175] The processor 901, when executing the program stored in the memory 903, implements the detection method and control method in the above embodiments.

[0176] This embodiment can divide the electronic device into functional modules according to the above method example. For example, each module can correspond to a separate functional module, or two or more functions can be integrated into one processing module. The integrated module can be implemented in hardware. It should be noted that the module division in this embodiment is illustrative and only represents one logical functional division. In actual implementation, there may be other division methods.

[0177] When each functional module is divided according to its corresponding function, the electronic device may include: a position detection module and a device control module, etc. It should be noted that all relevant content regarding the steps involved in the above method embodiments can be referenced from the functional descriptions of the corresponding functional modules, and will not be repeated here.

[0178] The electronic device provided in this embodiment is used to execute the above-described detection method and control method, and therefore can achieve the same effect as the above-described implementation method.

[0179] When using integrated units, the electronic device may include a processing module and a storage module. The processing module is used to control and manage the operation of the electronic device. The storage module is used to support the execution of program code and data by the electronic device.

[0180] The processing module may be a processor or a controller, which can implement or execute various exemplary logic blocks, modules, and circuits as disclosed in this application. The processor may also be a combination of computing functions, such as a combination of one or more microprocessors, a combination of digital signal processing (DSP) and microprocessors, etc., and the storage module may be a memory.

[0181] This embodiment also provides a computer-readable storage medium storing a computer program. When the computer program is executed, it implements the detection method and control method in the above embodiment.

[0182] This embodiment also provides a computer program product that, when run on a computer, causes the computer to perform the aforementioned related steps to implement the detection method and control method in the above embodiment.

[0183] In addition, the electronic device provided in the embodiments of this application may specifically be a chip, component or module. The electronic device may include a connected processor and a memory. The memory is used to store instructions. When the electronic device is running, the processor may call and execute the instructions to make the chip execute the detection method and control method in the above embodiments.

[0184] In this embodiment, the electronic device, computer-readable storage medium, computer program product or chip are all used to execute the corresponding methods provided above. Therefore, the beneficial effects that can be achieved can be referred to the beneficial effects of the corresponding methods provided above, and will not be repeated here.

[0185] Through the above description of the embodiments, those skilled in the art will understand that, for the sake of convenience and brevity, only the division of the above functional modules is used as an example. In actual applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0186] In the embodiments provided in this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative. For instance, the division of modules or units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another device, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between devices or units may be electrical, mechanical, or other forms.

[0187] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should 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 pool cleaning apparatus, characterized by, Includes a housing (1) and a water level detection device (2), wherein the water level detection device (2) is mounted on the housing (1), and the water level detection device (2) includes: An auxiliary container (21) is provided with an opening, the opening being oriented in the same direction as the direction of travel of the pool cleaning equipment. The auxiliary container (21) is used to hold water to form a container water level line. The detection unit (22) is located on one side of the opening; the detection unit (22) is used to emit a detection signal toward the outside of the auxiliary container (21) to determine the relative position between the water level detection device and the water level of the pool. When the water level detection device is below the water level of the pool, the detection unit (22) is used to detect the water level of the pool; when the auxiliary container (21) is exposed above the water surface, the detection unit (22) is used to detect the water level of the container. Based on the reflected signal of the water level line of the pool or the water level line of the container detected by the detection unit (22), the relative position between the pool cleaning equipment and the water level line of the pool can be determined, and the water level line of the pool can be identified.

2. The pool cleaning device of claim 1, wherein, The detection unit (22) is disposed on the bottom side of the auxiliary container (21) facing away from the opening; The bottom of the auxiliary container (21) is formed with a transmissive portion to transmit the detection signal generated by the detection unit (22).

3. The pool cleaning device of claim 1, wherein, The bottom of the auxiliary container (21) is provided with mounting holes; The detection unit (22) is disposed on the bottom side of the auxiliary container (21) facing the opening; the detection unit (22) is disposed in the mounting hole or disposed in the receiving cavity of the auxiliary container (21) through the mounting hole.

4. A pool cleaning device as claimed in any one of claims 1 to 3, wherein, The detection unit (22) includes at least one of an infrared sensor, a laser sensor, and an ultrasonic sensor.

5. The pool cleaning apparatus of claim 1, wherein, The auxiliary container (21) of the water level detection device (2) is integrally formed with the shell (1).

6. The pool cleaning device of claim 1, wherein, The water level detection device (2) includes a first water level detection device and / or a second water level detection device; the first water level detection device is located at the head end (121) near the housing (1); the second water level detection device is located at the tail end (122) near the housing (1).

7. The pool cleaning device of claim 6, wherein, The first water level detection device and / or the second water level detection device are located on the back (111) of the housing (1).

8. A method of detecting a water level line of a pool, characterized by, The method, applied to the pool cleaning apparatus according to any one of claims 1 to 7, comprises: Emit a detection signal toward the opening of the auxiliary container; The system receives the reflected signal after the detection signal reaches the water level line; wherein the water level line is the water level line of a pool or a container. Determine the time difference between receiving the reflected signal and transmitting the detection signal; Based on the time difference, the relative position between the water level detection device or the water cleaning equipment and the water level is determined.

9. The pool water line detection method of claim 8, wherein, Determining the relative position between the pool water level detection device or the pool cleaning equipment and the pool water level based on the time difference includes: If the time difference is equal to or less than the preset time difference, then the water level detection device or the water cleaning equipment reaches the position of the water level line in the pool. If the time difference is greater than the preset time difference, the water level detection device or the water cleaning equipment is located below the water level line of the pool. or, Using the target time, which is the smallest among multiple consecutively determined time differences, as a benchmark, i.e., the target time difference is the smallest among multiple consecutively determined time differences, if multiple time differences determined over a longer period are all greater than or equal to the target time difference, i.e., the target time difference has not been updated for a long time, when the water level detection device or water cleaning equipment moves away from the water level line, it can be determined that the water level detection device or water cleaning equipment is below the water level line; when the water level detection device or water cleaning equipment moves towards the water level line, it can be determined that the water level detection device or water cleaning equipment has reached the water level line.

10. A control method of a pool cleaning apparatus, characterized by, The method includes: The water level detection method of claim 9 is used to determine the relative position between the water cleaning equipment and the water level of the pool. When the water tank cleaning equipment reaches the water level line of the water tank, control the water tank cleaning equipment to stop and / or change direction; When the water tank cleaning equipment is below the water level line of the water tank, control the water tank cleaning equipment to move towards the water level line of the water tank.

11. A pool water line detection device, characterized by, The pool cleaning apparatus according to any one of claims 1 to 7 comprises: A signal transmitting module for transmitting detection signals toward the opening of the auxiliary container; A signal receiving module is used to receive the reflected signal after the detection signal reaches the water level line; wherein, the water level line is the water level line of a pool or the water level line of a container; A time difference determination module is used to determine the time difference between receiving the reflected signal and transmitting the detection signal; The position determination module is used to determine the relative position between the water level detection device or the water cleaning equipment and the water level of the pool based on the time difference.

12. A control device for a pool cleaning apparatus, characterized in that include: The position detection module is used to determine the relative position between the water tank cleaning equipment and the water tank water level line using the water tank water level line detection method described in claim 9. The equipment control module is used to control the water tank cleaning equipment to stop and / or change direction when the water tank cleaning equipment reaches the water level line; and to control the water tank cleaning equipment to move towards the water level line when the water tank cleaning equipment is below the water level line.

13. An electronic device, comprising: The electronic device includes a processor, a communication interface, a memory, and a communication bus, wherein the processor, the communication interface, and the memory communicate with each other through the communication bus; Memory, used to store computer programs; When the processor executes the program stored in the memory, it implements the water level detection method of any one of claims 8 to 9, or the control method of the water tank cleaning equipment of claim 10.

14. A computer-readable storage medium, characterized in that, The computer readable storage medium stores a computer program which, when executed, implements the pool water level line detection method of any one of claims 8 to 9, or the control method of the pool cleaning device of claim 10.

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