Swimming pool cleaning apparatus and control method thereof

Abstract

The pool cleaning device comprises a water surface cabin mechanism, a middle cabin mechanism and a bottom cabin mechanism. The water surface cabin mechanism is provided with a floating cabin, a water surface cabin filter screen stirring wheel assembly and a first water channel. The water surface cabin filter screen is arranged in the first water channel, and the stirring wheel assembly is arranged at the inlet of the first water channel. The middle cabin mechanism is provided with a propeller. The space where the propeller is located is communicated with the outlet of the first water channel. The bottom cabin mechanism is provided with a power assembly and a bottom cabin filter screen. The middle cabin body is further provided with a water outlet passage. The bottom cabin body is provided with a water inlet communicated with the water outlet passage. The bottom cabin filter screen cover is arranged at the water inlet. The power assembly is at least partially arranged in the water outlet passage. The control assembly is arranged on the water surface cabin mechanism, the middle cabin mechanism or the bottom cabin mechanism, and is electrically connected with the stirring wheel assembly, the propeller and the power assembly. The pool cleaning device is controlled to move to traverse the pool water surface or the bottom surface according to the working mode of the pool cleaning device. The application further discloses a control method. The pool cleaning device can realize water surface and water bottom cleaning.

Description

Technical Field

[0001] This invention belongs to the field of cleaning equipment technology, and particularly relates to a swimming pool cleaning device and its control method. Background Technology

[0002] Currently, cleaning the bottom and surface of a swimming pool requires two different types of cleaning robots: an underwater robot specifically designed for cleaning the pool bottom, and a robot specifically designed for cleaning the pool surface. When users need to clean both the pool bottom and surface, they must purchase both types of robots. This results in high costs for users maintaining pool cleaning services. Summary of the Invention

[0003] This invention provides a swimming pool cleaning device, which aims to solve the technical problem of high maintenance costs in the prior art when both the surface and bottom of the pool need to be cleaned, which requires the purchase of surface robots and underwater robots to clean the surface and bottom of the pool respectively.

[0004] In a first aspect, the swimming pool cleaning device of the present invention includes:

[0005] A surface tank mechanism includes a surface tank body, a float and a surface tank filter screen disposed in the surface tank body, and a dial assembly disposed at the front end of the surface tank body. The surface tank body is provided with a first water channel, the inlet of the first water channel is facing the forward direction of the pool cleaning equipment and is connected to the outside. The surface tank filter screen is disposed in the first water channel, and the dial assembly is disposed at the inlet of the first water channel for diverting water from the outside into the first water channel.

[0006] The middle compartment mechanism includes a middle compartment body located at the bottom of the surface tank body and a thruster located at the rear end of the middle compartment body. The space where the thruster is located is connected to the outlet of the first waterway, and the water filtered by the surface tank filter screen is discharged from the middle compartment body.

[0007] A bottom tank mechanism, comprising a bottom tank body disposed at the bottom of the middle tank body, a power unit disposed in the bottom tank body, and a bottom tank filter screen disposed in the bottom tank body; the middle tank body also has a water outlet channel extending to the top of the pool cleaning equipment; the bottom tank body has a water inlet communicating with the water outlet channel; the bottom tank filter screen covers the water inlet; the power unit is at least partially located in the water outlet channel, discharging water flowing in from the water inlet through the water outlet channel; and

[0008] A control component is provided on the surface tank mechanism, the middle tank mechanism, or the bottom tank mechanism, and is electrically connected to the dial assembly, the propeller, and the power component. It is used to control the dial assembly, the propeller, and the power component to work according to the working mode of the pool cleaning equipment, and to control the pool cleaning equipment to move to traverse the surface or bottom of the pool.

[0009] Secondly, the control method for the pool cleaning equipment of the present invention is used to control the pool cleaning equipment described above, the control method comprising:

[0010] Confirm the current working mode of the pool cleaning equipment, which includes surface cleaning mode and bottom cleaning mode;

[0011] If the pool cleaning equipment is in the water surface cleaning mode, then the thruster and the dial assembly are activated;

[0012] Confirm the position of the pool cleaning equipment on the pool surface, and control the pool cleaning equipment to move to traverse the pool surface according to the position.

[0013] If the pool cleaning equipment is in the water surface cleaning mode, the power unit is activated to drag the pool cleaning equipment to the bottom of the water. After the pool cleaning equipment reaches the bottom of the pool, the propeller is activated.

[0014] Confirm the position of the pool cleaning equipment on the bottom surface of the pool, and control the pool cleaning equipment to move to traverse the bottom surface of the pool based on the bottom surface position.

[0015] In the pool cleaning equipment of this invention, under the control of the control components, in the surface cleaning mode, the float in the surface tank mechanism allows the pool cleaning equipment to float near the waterline. The deflector assembly moves the front of the pool cleaning equipment, causing debris in the direction of the equipment's movement to flow into the first waterway and be collected by the surface tank filter. Combined with the reaction force generated by the propeller in the middle tank mechanism, the pool cleaning equipment moves forward and moves on the water surface, expanding its cleaning range. In the bottom cleaning mode, the power component in the bottom tank mechanism discharges water from the outlet channel, generating a reaction force on the bottom tank body, causing the pool cleaning equipment to sink to the bottom. Debris on the bottom flows into the bottom tank filter through the inlet and is collected. Combined with the propeller's propulsion, the pool cleaning equipment can move on the bottom to further collect debris. The pool cleaning equipment of this invention can complete both surface and bottom cleaning with a single machine, controlling equipment costs and improving the user experience. Attached Figure Description

[0016] Figure 1 This is a perspective view of the pool cleaning equipment of the present invention;

[0017] Figure 2 This is another perspective view of the pool cleaning device of the present invention;

[0018] Figure 3 for Figure 2 A schematic cross-sectional view of the pool cleaning equipment along the AA direction is shown.

[0019] Figure 4 This is a three-dimensional disassembly diagram of the pool cleaning equipment of the present invention;

[0020] Figure 5 This is another perspective view of the pool cleaning device of the present invention;

[0021] Figure 6 This is a three-dimensional schematic diagram of the surface tank mechanism of the present invention;

[0022] Figure 7 This is a three-dimensional schematic diagram of the middle cabin mechanism of the present invention;

[0023] Figure 8 This is a three-dimensional schematic diagram of the bottom compartment mechanism of the present invention;

[0024] Figure 9 This is a flowchart illustrating the control method of the swimming pool cleaning equipment of the present invention;

[0025] Figure 10 This is another schematic diagram of the control method for the pool cleaning equipment of the present invention. Detailed Implementation

[0026] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the invention, and should not be construed as limiting the invention. Furthermore, it should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

[0027] In the description of this invention, it should be understood that the orientation or positional relationship indicated in the description of direction and positional relationship is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing this invention and simplifying the description, and is not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention.

[0028] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the stated features. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0029] The following disclosure provides numerous different embodiments or examples for implementing various structures of the invention. To simplify the disclosure, specific examples of components and arrangements are described below. These are merely examples and are not intended to limit the invention. Furthermore, reference numerals and / or letters may be repeated in different examples; such repetition is for simplification and clarity and does not in itself indicate a relationship between the various embodiments and / or arrangements discussed. In addition, examples of various specific processes and materials are provided in this invention, but those skilled in the art will recognize the application of other processes and / or the use of other materials.

[0030] Existing pool cleaning robots include underwater pool robots and surface pool robots, among which:

[0031] Existing underwater pool robots typically consist of a shell, a power pump, and a filter. The bottom of the shell has an inlet, and the rear has an outlet. When the robot cleans the pool bottom, water and debris from the bottom enter through the inlet on the base under the pump's power. The water and debris are filtered through the filter, with the debris remaining inside the filter, while the water passes through the filter and is discharged through the outlet on the shell by the power pump. The reaction force of the drainage propels the robot forward, thus collecting and cleaning the debris from the bottom.

[0032] Existing swimming pool cleaning robots typically have structures such as inlet pulleys, filters, buoyancy chambers, and propellers. Their working principle is as follows: the buoyancy chamber allows the robot to float at the depth required for operation. When the propeller is activated, it propels the robot forward. Water and floating debris on the water surface enter the filter through the inlet pulley located at the robot's mouth. The water flows out through the filter, while the floating debris remains inside, thus achieving the collection and cleaning of floating debris on the water surface.

[0033] However, when users need to clean both the bottom and surface of the pool, they must purchase the two types of robots mentioned above, resulting in high maintenance costs. To address this issue, this invention discloses a pool cleaning device that simultaneously cleans both the surface and the bottom of the pool, enabling cleaning of both environments, controlling maintenance and cleaning costs, and improving the user experience.

[0034] Please see Figures 1 to 4The swimming pool cleaning device 100 of the present invention includes a surface tank mechanism 10, a middle tank mechanism 20 and a bottom tank mechanism 30.

[0035] Please combine Figures 4 to 6 The surface tank mechanism 10 includes a surface tank body 11, a float 12 and a surface tank filter 13 disposed in the surface tank body 11, and a dial assembly 14 disposed at the front end of the surface tank body 11. The surface tank body 11 is provided with a first waterway 111. The inlet of the first waterway 111 faces the forward direction of the pool cleaning equipment 100 and is connected to the outside. The surface tank filter 13 is disposed in the first waterway 111. The dial assembly 14 is disposed at the inlet of the first waterway 111 and is used to divert water from the outside into the first waterway 111.

[0036] Please combine Figure 4 and Figure 7 The middle compartment mechanism 20 includes a middle compartment body 21 located at the bottom of the surface compartment body 11 and a thruster 22 located at the rear end of the middle compartment body 21. The space where the thruster 22 is located is connected to the outlet of the first waterway 111, and the water filtered by the surface compartment filter screen 13 is discharged from the middle compartment body 21.

[0037] Please combine Figure 4 and Figure 8 The bottom tank mechanism 30 includes a bottom tank body 31 located at the bottom of the middle tank body 21, a power unit 32 located in the bottom tank body 31, and a bottom tank filter screen 33 located in the bottom tank body 31. The middle tank body 21 is also provided with a water outlet channel 211 extending to the top of the pool cleaning equipment 100. The bottom tank body 31 is provided with a water inlet 311 communicating with the water outlet channel 211. The bottom tank filter screen 33 covers the water inlet 311. The power unit 32 is at least partially located in the water outlet channel 211, and the water flowing in from the water inlet 311 is discharged from the water outlet channel 211.

[0038] The control component (not shown) is located on the surface tank mechanism 10, the middle tank mechanism 20 or the bottom tank mechanism 30, and is electrically connected to the dial assembly 14, the propeller 22 and the power component 32. It is used to control the dial assembly 14, the propeller 22 and the power component 32 to work according to the working mode of the pool cleaning equipment 100, and to control the pool cleaning equipment 100 to move to traverse the pool surface or bottom.

[0039] In the pool cleaning device 100 of the present invention, in conjunction with the control of the control component, in the water surface cleaning mode, the float 12 in the surface tank mechanism 10 enables the pool cleaning device 100 to float near the waterline. The deflector assembly 14 moves the front water surface of the pool cleaning device 100, causing the garbage and debris in the forward direction of the pool cleaning device 100 to flow into the first waterway 111 with the water flow and be collected by the surface tank filter 13. Combined with the reaction force generated by the propeller 22 in the middle tank mechanism 20 discharging water, the pool cleaning device 100 moves forward and moves on the water surface, expanding the cleaning range of the pool cleaning device 100.

[0040] In underwater cleaning mode, water is discharged from the outlet channel 211 through the power component 32 in the bottom tank mechanism 30, which generates a reaction force on the bottom tank body 31, causing the pool cleaning equipment 100 to sink to the bottom. The garbage and debris in the bottom of the water flow into the bottom tank filter screen 33 through the inlet 311 and are collected. Combined with the propulsion of the thruster 22, the pool cleaning equipment 100 can move underwater to further collect garbage and debris.

[0041] The swimming pool cleaning device 100 of the present invention can complete both surface and bottom cleaning with a single machine, thereby controlling equipment costs and improving the user experience.

[0042] In this embodiment, most of the structures in the pool cleaning equipment 100, or the large-volume and large-area structures, such as the surface tank body 11, the middle tank body 21 and the bottom tank body 31, can be made of plastic to reduce the weight of the pool cleaning equipment 100, which helps the pool cleaning equipment 100 float on the water surface and also controls the cost of the pool cleaning equipment 100.

[0043] Of course, the above description of the manufacturing materials of the surface tank body 11, the middle tank body 21 and the bottom tank body 31 is only illustrative. The above structures can also be made of other materials, and no specific restrictions are made here.

[0044] The control components of this invention may specifically include a controller and a motion detection sensor electrically mounted on the controller, located in a sealed portion of the surface tank body 11, the middle tank body 21, and the bottom tank body 31. The controller may be a microcontroller, and the motion detection sensor is used to sense the orientation of the pool cleaning equipment 100 to provide feedback on the movement of the pool cleaning equipment 100. This sensor may be a gyroscope built into the controller. The controller is electrically connected to the dial assembly 14, the thruster 22, and the power assembly 32. It controls the operation of the dial assembly 14, the thruster 22, and the power assembly 32 according to the operating mode of the pool cleaning equipment 100, and controls the movement of the pool cleaning equipment 100 based on the motion feedback from the motion detection sensor.

[0045] Furthermore, the controller can also control the power on / off, mode switching, and parameter adjustment of the pool cleaning equipment 100. For example, one or more highly waterproof function buttons or other structures with similar functions can be provided on the pool cleaning equipment 100, such as on the top or side wall of the pool cleaning equipment 100. The function buttons may specifically include power on / off buttons, mode buttons, adjustment buttons, etc. By pressing the corresponding buttons, the pool cleaning equipment 100 can be controlled to achieve the corresponding functions.

[0046] It is understood that, in order to deal with both surface cleaning and bottom cleaning, the pool cleaning equipment 100 of this embodiment can selectively operate different cleaning modes. For example, when surface cleaning is required, the surface cleaning mode can be selected, and when bottom cleaning is required, the bottom cleaning mode can be selected, thus freely switching between modes.

[0047] For example, after the pool cleaning equipment 100 is turned on, the cleaning mode of the pool cleaning equipment 100 can be switched by pressing the mode button on the machine body. The cleaning mode may include, but is not limited to, one or more combinations of different contents such as surface cleaning / bottom cleaning, timed cleaning, cleaning according to a set route, and cleaning according to a set method, so as to achieve better cleaning of the pool.

[0048] In one embodiment, the controller may be equipped with a wireless communication module that can communicate with an external terminal. In this way, the user can control the operation of the pool cleaning equipment 100 by remotely controlling the external terminal, which is more convenient and faster, and provides a better user experience.

[0049] Specifically, such as Figures 4 to 6 As shown, the main body 11 of the surface tank is a hollow structure with an opening at its front end, which is the entrance to the first waterway 111. The internal space of part of the main body 11 of the surface tank forms the first waterway 111. That is, the front opening of the main body 11 of the surface tank is in the same direction as the forward movement of the pool cleaning equipment 100, so that the garbage and debris floating on the water surface in front of the pool cleaning equipment 100 are directed towards the pool cleaning equipment 100. Combined with the agitator assembly 14 agitating the external water flow, the water flow mixed with garbage and debris flows into the entrance of the first waterway 111. The garbage and debris are collected by the surface tank filter 13 in the first waterway 111, while the water flow continues to flow to the rear end of the main body 11 of the surface tank.

[0050] In this embodiment, the width of the first waterway 111 can be slightly smaller than the width of the surface tank body 11, so that it can basically span the width direction of the surface tank body 11, so that the water flow in front of the pool cleaning equipment 100 can flow in over a large area, allowing more garbage and debris to flow into the first waterway 111 and be collected by the surface tank filter 13, thereby improving collection efficiency.

[0051] The portion of the dial assembly 14 located at the entrance of the first waterway 111 (i.e., the dial 142 hereinafter) is equal in width to the first waterway 111. Similarly, this portion can also span the width of the surface tank body 11, thereby maximizing the amount of surface debris and waste that can be pushed into the first waterway 111 by the dial assembly 14 and collected and cleaned by the surface tank filter 13.

[0052] Since the pool cleaning equipment 100 needs to be partially submerged in the water during the surface cleaning operation mode, that is, the pool cleaning equipment 100 needs to have a certain draft so that the inlet of the first waterway 111 can be near the water surface, so that surface garbage and debris can flow into it more smoothly, the size and volume of the float 12 can be designed in advance through relevant experiments and tests so that the buoyancy generated by the float 12 can just support the pool cleaning equipment 100 to float near the waterline in the pool.

[0053] Furthermore, to facilitate the detection of whether the pool cleaning equipment 100 (such as the float 12) is damaged, a draft groove can be provided at the front end of the surface tank body 11, for example, at the opening of the surface tank body 11, to indicate the draft depth of the pool cleaning equipment 100.

[0054] Under normal circumstances, the draft of the pool cleaning equipment 100 should be near the waterline. If the draft of the pool cleaning equipment 100 exceeds the waterline, it indicates that the float 12 may be damaged. Users can inspect or replace or repair the float 12.

[0055] It is worth noting that the front end, rear end, left side, right side, and central axis features of the pool cleaning equipment 100 mentioned in this invention refer to the positions and features of the pool cleaning equipment 100 when it is facing the user, or can be understood as the positions and features with reference to the forward direction of the pool cleaning equipment 100.

[0056] Please see Figures 4 to 6 The surface tank body 11 includes an installation space (not shown) isolated from the first waterway 111. The float 12 is located in the installation space. The dial assembly 14 includes a dial motor 141 located in the installation space and a dial 142 rotatably located at the entrance of the first waterway 111. One end of the dial 142 is connected to the dial motor 141 for transmission, and the other end is rotatably located on the surface tank body 11.

[0057] The float 12 can be located on at least one side of the main body 11 of the surface tank. Preferably, to keep the pool cleaning equipment 100 balanced, the float 12 is located on opposite sides of the pool cleaning equipment 100. That is, there are two installation spaces, located on opposite sides of the pool cleaning equipment 100, to install two floats 12 accordingly, and to avoid affecting the area of ​​the first waterway 111 and the collection of garbage and debris from the water surface, thus ensuring the effectiveness of garbage and debris collection.

[0058] The aforementioned dial wheel 142 spans the width of the first waterway 111 and has a certain water depth at the entrance of the first waterway 111. The dial wheel 142 can rotate counterclockwise to promote the flow of water at the entrance of the first waterway 111 into the first waterway 111, that is, to promote the removal of garbage and debris on the water surface in the forward direction of the water surface cleaning device 100 into the first waterway 111. The dial wheel motor 141 is installed in one of the installation spaces and is connected to one end of the dial wheel 142 for transmission.

[0059] Please continue reading. Figures 4 to 6 In one embodiment, the surface tank filter 13 is semi-enclosed and has an opening corresponding to the inlet of the first waterway 111.

[0060] The surface tank filter 13 is semi-enclosed, meaning it has a bottom wall and multiple side walls connected to and extending upward from the bottom wall. In this embodiment, the bottom wall of the surface tank filter 13 can be roughly rectangular, and there are three side walls. The side of the bottom wall without side walls is the opening corresponding to the inlet of the first waterway 111. The semi-enclosed surface tank filter 13 can comprehensively collect garbage and debris flowing in from the inlet of the first waterway 111, improving the collection efficiency.

[0061] In addition, the bottom wall of the surface tank filter 13 may be provided with upward-protruding ribs to divert and guide the flow of water, making the flow of water more regular and smooth. Furthermore, for the side wall of the surface tank filter 13 that is directly opposite the inlet of the first water channel 111, the connection between this side wall and the bottom wall can be a smooth curved surface that bends towards the outlet of the first water channel 111, so that garbage and debris flowing in from the inlet of the first water channel 111 and flowing towards this side wall are less likely to be stuck or retained at the connection between the bottom wall and the side wall, making it easier to clean.

[0062] More specifically, the surface tank filter 13 is detachably installed in the first water channel 111, that is, detachably installed on the surface tank body 11. For example, the detachable installation of the two can be achieved by setting structures such as buckles and hooks, protrusions and grooves, slide rails and grooves on the surface tank filter 13 and the surface tank body 11. In this way, when the surface tank filter 13 has collected enough garbage and debris, it is easy to remove it for cleaning. This can prevent garbage and debris from flowing out of the inlet of the first water channel 111 due to the surface tank filter 13 collecting too much garbage and debris, and also prevent too much garbage and debris from clogging the filter screen holes and obstructing the water passage, thus affecting the filtration effect.

[0063] Please see Figures 4 to 7 In one embodiment, there are two outlets of the first waterway 111, and the two outlets of the first waterway 111 are symmetrically arranged on the surface tank body 11; similarly, there are two thrusters 22, and the two thrusters 22 are symmetrically arranged at the rear end of the middle tank body 21, and the outlets of the two first waterways 111 are respectively connected to the spaces where the two thrusters 22 are located.

[0064] In other words, the outlets of the two first water channels 111 are symmetrically arranged with respect to the central axis of the pool cleaning equipment 100 (water surface tank body 11), and two thrusters 22 (as defined as the first thruster 22 and the second thruster 22) are provided at the rear of the middle tank body 21. The two thrusters 22 are symmetrically arranged with respect to the central axis of the pool cleaning equipment 100 (middle tank body 21), and the outlets of the two first water channels 111 correspond to the two thrusters 22 respectively. The two thrusters 22 can ensure a balanced and sufficient propulsive force on the pool cleaning equipment 100 to ensure the cleaning efficiency of garbage and debris on the water surface.

[0065] When the blades of both thrusters 22 work to dissipate water backward, the water filtered from the surface tank filter 13 is discharged backward through the two thrusters 22. At the same time, the two thrusters 22 generate a reaction force while dissipating water backward, which propels the pool cleaning equipment 100 forward, thereby enabling the equipment to move on the water surface and collect floating garbage and debris.

[0066] Furthermore, by controlling the operation of one of the two thrusters 22 individually, the pool cleaning equipment 100 can be made to move towards the other thruster 22. Combined with the actions of other structures, the pool cleaning equipment 100 can be turned on the water surface and at the bottom.

[0067] Please see Figures 4 to 6 In one embodiment, a reversible first check baffle 15 is provided at the outlet of the first waterway 111 for opening or closing the outlet of the first waterway 111.

[0068] Specifically, the first check baffle 15 includes two first plates (not shown) and a second plate (not shown) that are connected to each other and arranged at an angle (such as an obtuse angle). The connection between the first plate and the second plate is rotatably provided on the surface tank body 11 at the outlet of the first waterway 111. For example, the rotation between the two can be achieved by providing a rotating shaft and a limiting part, a flange and a groove, a protrusion and a groove, etc., which cooperate with each other on the first check baffle 15 and the surface tank body 11.

[0069] The first plate is closer to the outlet of the first waterway 111 than the second plate, and is used to open or close the outlet. The area of ​​the first plate is designed to be slightly larger than the area of ​​the outlet of the first waterway 111, so as to ensure that the first plate can close the outlet normally without rotating back and forth at the outlet of the first waterway 111. The second plate is higher than the first plate, so that when the thruster 22 is not activated, the first plate will naturally close the outlet under the influence of gravity.

[0070] When the thruster 22 performs its work, discharging water from the draft of the pool cleaning equipment 100 to the rear of the main body 21 of the middle compartment, the first check baffle 15 is pushed open by the negative pressure generated by the drainage of the thruster 22, and the outlet of the first waterway 111 opens. The water filtered from the surface tank filter 13 is discharged rearward through the thruster 22, which at the same time generates a reaction force, pushing the pool cleaning equipment 100 forward, thereby enabling the pool cleaning equipment 100 to move on the water surface and collect floating garbage and debris.

[0071] Furthermore, since the first check baffle 15 (first plate) is also partially submerged when the pool cleaning equipment 100 is floating on the water surface, if the water flow is from the direction of the propeller 22 to the first check baffle 15, it will push the first check baffle 15 to close the inlet of the first waterway 111, which can prevent the water flow from backflowing and causing the garbage and debris collected on the surface tank filter 13 to be washed out of the pool cleaning equipment 100 by the reverse water flow.

[0072] More, such as Figure 1 and Figure 2 As shown, a detachable folding plate 16 is also provided on the surface tank body 11. The folding plate 16 is a foldable structure that can restrict the first waterway 111 and the surface tank filter screen 13 with the surface tank body 11, so that the first waterway 11, i.e. the top of the surface tank filter screen 13, forms a closed structure, which can prevent garbage and debris from being washed out from the top of the surface tank filter screen 13, and also makes it easier to collect and clean up garbage and debris. The detachable folding plate 16 also facilitates the assembly and disassembly of structures such as the float 12, the surface tank filter screen 13, and the wheel assembly 14 on the surface tank body 11.

[0073] Additionally, please combine Figures 4 to 6At the four corners between the surface tank body 11 and the middle tank body 21, there are also multiple auxiliary wheels 17 facing outwards of the pool cleaning equipment 100. When the pool cleaning equipment 100 moves against the side wall of the pool, the auxiliary wheels 17 can assist the movement of the pool cleaning equipment 100, which can avoid the situation where the side wall of the pool cleaning equipment 100 is completely attached to the side wall of the pool, resulting in large friction and hindering the movement of the pool cleaning equipment 100.

[0074] Please see Figure 4 and Figure 7 In one embodiment, the main body 21 of the intermediate cabin is provided with a second waterway 212. The inlet of the second waterway 212 is connected to the outside in the direction of the forward movement of the pool cleaning equipment 100, and the outlet of the second waterway 212 is connected to the space where the propeller 22 is located. Furthermore, the inlet of the second waterway 212 is also provided with a flip-up intermediate cabin cover 23 for opening or closing the inlet of the second waterway 212, and the outlet of the second waterway 212 is provided with a flip-up second check baffle 24 for opening or closing the outlet of the second waterway 212.

[0075] Here, the thruster 22 located on the right side of the main body 21 of the middle cabin is defined as the first thruster 22, and the thruster 22 on the left side is defined as the second thruster 22. Regarding how to achieve steering control of the pool cleaning equipment 100, an example is provided:

[0076] When the first thruster 22 performs work to drain water into the pool cleaning equipment 100, the resulting water pressure will close the first check valve 15 on the right side of the surface tank body 11, push open the second check valve 24 on the right side of the middle tank body 21, and then push open the middle tank cover 23 in front of the middle tank body 21 before discharging. At this time, the thrust generated by the first thruster 22 is backward. Since the first thruster 22 is located on the right side of the pool cleaning equipment 100, the thrust generated causes the pool cleaning equipment 100 to move to the right rear.

[0077] When the second thruster 22 performs work to drain water to the rear of the pool cleaning equipment 100, the water flowing in from the surface tank filter 13 will push open the first check baffle on the left side of the surface tank body 11 and be discharged backward through the second thruster 22. At this time, the thrust generated by the second thruster 22 is forward. Since the second thruster 22 is located on the left side of the pool cleaning equipment 100, the thrust generated will cause the pool cleaning equipment 100 to move to the left front.

[0078] Thus, when the first thruster 22 on the right moves the pool cleaning equipment 100 to the right rear, while the second thruster 22 on the left moves the machine to the left front, the pool cleaning equipment 100 achieves a right turn. It can be understood that when the pool cleaning equipment 100 needs to turn left, controlling the first thruster 22 to drain water from the rear of the pool cleaning equipment 100, and simultaneously controlling the second thruster 22 to drain water from the inside of the pool cleaning equipment 100, can achieve this.

[0079] For example, the propeller 22 can drain water into or from the rear of the pool cleaning device 100 by controlling the forward and reverse rotation of the propeller 22. For instance, the propeller 22 can be set to rotate forward to drain water into the rear of the pool cleaning device 100, and to rotate backward to drain water into the inside of the pool cleaning device 100. Alternatively, the propeller 22 can be set to rotate forward to drain water into the inside of the pool cleaning device 100, and to rotate backward to drain water into the rear of the pool cleaning device 100.

[0080] The above description of the forward and reverse drainage of the thruster 22 is merely exemplary and should not be construed as a limitation of the present invention. Specific implementation is appropriate for specific circumstances.

[0081] It is worth mentioning that in this embodiment, the structure and working principle of the middle compartment cover 23 and the second anti-reverse baffle 24 are similar to those of the first anti-reverse baffle 15 described above. Therefore, the content regarding the structure and working principle of the middle compartment cover 23 and the second anti-reverse baffle 24 can be referred to the description of the first anti-reverse baffle 15 described above, and will not be repeated here.

[0082] Please see Figure 7 In one embodiment, there are two second waterways 212, which are symmetrically arranged in the middle cabin body 21 and share a common entrance.

[0083] Specifically, the two second water channels 212 are located on the left and right sides of the pool cleaning equipment 100, respectively, and are symmetrically arranged with respect to the central axis of the pool cleaning equipment 100. The two second water channels 212 are respectively arranged to correspond to the two propellers 22, that is, the left second water channel 212 corresponds to the left propeller 22, and the right second water channel 212 corresponds to the right propeller 22.

[0084] In this way, by coordinating the two second water channels 212 with the two propellers 22, one propeller 22 can be controlled to drain water into the corresponding second water channel 212, while the other propeller 22 can discharge water flowing from the corresponding second water channel 212, thereby controlling the left and right turning of the pool cleaning equipment 100. Furthermore, the two second water channels 212 sharing a single inlet increases the usable space of the main body 21 and reduces the need for additional openings, thus controlling the structural complexity of the main body 21.

[0085] Please see Figure 3 , Figure 4 and Figure 8 In one embodiment, a flip-up check cover 34 is provided at the water inlet 311 for opening or closing the water inlet 311. There are two water inlets 311, located at the front and rear ends of the bilge body 31, respectively. There are two bilge filter screens 33, each covering one of the two water inlets 311, and the bilge filter screens 33 are fully enclosed. Rollers 35 are also provided around the bilge body 31.

[0086] Specifically, when the power unit 32 is working, water is discharged from the top opening of the water outlet channel 211. The water pressure inside the cavity of the pool cleaning equipment 100 will drop instantly, that is, the water pressure inside the bottom chamber 31 will drop instantly. Under the action of atmospheric pressure, the water outside the equipment carries the garbage and debris from the bottom of the pool into the bottom chamber 31 through the water inlet 311 on the bottom chamber 31. This pushes open the check cover 34 and enters the bottom chamber filter 33. The garbage and debris from the bottom of the pool are filtered and left in the bottom chamber filter 33. The water passes through the bottom chamber filter 33 and is discharged from the top opening of the water outlet channel 211 by the axial flow impeller 323.

[0087] If water flows back into the main body of the bottom tank 31 from the outlet channel 211, it may wash away the garbage and debris in the bottom tank body 31 out of the inlet 311 and back into the pool. Therefore, by installing a backflow preventer 34 at the inlet 311, water can be prevented from flowing back into the main body of the bottom tank 31 from the outlet channel 211, and the garbage and debris in the bottom tank filter screen 33 can be washed out of the inlet 311.

[0088] More often, the check cover 34 can be designed to rotate only at a certain angle. For example, a limiting part can be set at the part where the bottom tank body 31 and the check cover 34 are rotatably connected to restrict the rotation of the check cover 34, so as to prevent the check cover 34 from overturning after being impacted by the water flow and being unable to rotate back to the water inlet 311 to close the water inlet 311 and thus failing to achieve the check function.

[0089] It is worth mentioning that in this embodiment, the working principle of the anti-reverse cover 34 is similar to that of the first anti-reverse baffle 15 described above. However, the structure is a plate-like structure that is half less than that of the first anti-reverse baffle 15. Therefore, the working principle of the anti-reverse cover 34 can be referred to the description of the first anti-reverse baffle 15 described above, and will not be repeated here.

[0090] By setting up two water inlets 311, one in front and one behind, a large cleaning area can be covered. Combined with two fully enclosed bottom tank filters 33, a large amount of underwater garbage and debris can be collected and cleaned. The two water inlets 311 can be set on the front left and rear right of the bottom tank body 31, or on the front right or rear left, so that the two water inlets 311 are staggered and collect garbage and debris from about both sides of the pool cleaning equipment 100.

[0091] The fully enclosed bottom filter screen 33 can be understood as having no obvious openings, being roughly closed. Its only obvious opening is the one that connects with the aforementioned water inlet 311, thus preventing garbage and debris from being carried out by the flowing water. The bottom filter screen 33 can span the width of the bottom body 31 to increase the capacity for garbage and debris. Its longitudinal section can be hexagonal, allowing multiple sides of the bottom filter screen 33 to filter water, thereby accelerating the collection efficiency of garbage and debris.

[0092] More specifically, the bottom tank filter 33 is detachably installed in the bottom tank body 31. This detachability can be achieved by setting buckles and hooks, protrusions and grooves, slide rails and grooves on the bottom tank filter 33 and the bottom tank body 31. In this way, when the bottom tank filter 33 has collected enough garbage and debris, it is easier to remove it for cleaning. This can prevent garbage and debris from flowing out of the water inlet 311 due to excessive collection, and can also prevent excessive garbage and debris from clogging the filter and obstructing water flow.

[0093] To facilitate the movement of the pool cleaning equipment 100 at the bottom of the pool, this embodiment also provides four rollers 35 around the bottom body 31. These rollers 35 can be located at the four corners of the bottom of the bottom body 31, so that the pool cleaning equipment 100 can sink steadily to the bottom of the pool and move steadily at the bottom of the pool.

[0094] Please refer to the figure. Figure 3 , Figure 4 and Figure 8 In one embodiment, the power assembly 32 includes a sealing shell 321 disposed below the water outlet channel 211, a drive motor 322 disposed in the sealing shell 321, and an axial flow impeller 323 located in the water outlet channel 211, the axial flow impeller 323 being connected to the drive motor 322 in a transmission connection.

[0095] like Figure 3 As shown, the power unit 32 is vertically disposed in the center of the pool cleaning equipment 100, and the drive motor 322 is vertically disposed in the center of the sealing shell 321. The motor shaft of the drive motor 322 passes through the oil seal and then through the sealing shell 321, and is connected to the axial flow impeller 323 located in the water outlet channel 211.

[0096] Upon entering underwater working mode, the drive motor 322 starts, driving the axial flow impeller 323 to perform work. Because the axial flow impeller 323 is below the waterline of the pool cleaning equipment 100, the work generated by the axial flow impeller 323 produces thrust, which discharges water from the top opening of the outlet channel 211. The counter-thrust generated by the axial flow impeller 323 during drainage is vertically downward. When the counter-thrust reaches a point that counteracts the buoyancy of the pool cleaning equipment 100, it can drag the entire equipment to the bottom of the pool.

[0097] While the axial impeller 323 is draining water, the water pressure inside the cavity of the pool cleaning equipment 100 drops instantly. Please combine this with... Figure 3 The water flow path indicated by the middle arrow shows that, under atmospheric pressure, water from outside the equipment enters through the inlet 311 on the main body 31 of the bottom chamber, carrying garbage and debris from the bottom of the pool. The check cover 34 is pushed open and the water enters the bottom chamber filter screen 33. The garbage and debris from the bottom of the pool are filtered and remain in the bottom chamber filter screen 33, while the water passes through the bottom chamber filter screen 33 and is discharged from the top opening of the outlet channel 211 after the axial flow impeller 323 performs work.

[0098] Furthermore, because two thrusters 22 are symmetrically arranged at the rear of the central cabin mechanism 20, when the thrusters 22 spray water backward to perform work, the resulting counter-thrust propels the pool cleaning equipment 100 forward. This enables the equipment to move underwater and collect and filter wastewater, thereby achieving the purpose of cleaning the bottom of the pool. When the drive motor 322 stops working, the pool cleaning equipment 100 loses its downward thrust and floats to the surface, where it can perform surface cleaning tasks or be shut down.

[0099] Furthermore, the sealed housing 321 also houses a battery that is electrically connected to the drive motor 322 and other electrical components, as well as a controller and motion detection sensor. The sealed housing 321 ensures the airtightness of the drive motor 322, battery, controller, and motion detection sensor, preventing water ingress and damage.

[0100] For battery charging, a waterproof charging port can be installed on the pool cleaning equipment 100. The battery is charged by connecting the waterproof charging port to the battery through the sealed shell 321. It is understood that the part of the wire passing through the sealed shell 321 is also sealed. Corrosion-resistant wires can be used to improve service life.

[0101] In this embodiment, the battery can be a rechargeable battery. When the pool cleaning equipment 100 performs its work tasks in the pool, it can move freely in the pool to collect a large amount of garbage and debris when it has sufficient power storage.

[0102] Please see Figure 9 The control method of the swimming pool cleaning device 100 of the present invention includes the following steps:

[0103] S10: Confirm the current working mode of the pool cleaning equipment, which includes surface cleaning mode and bottom cleaning mode;

[0104] S20: If the pool cleaning equipment is in surface cleaning mode, turn on the thruster and dial assembly;

[0105] S30: Confirm the position of the pool cleaning equipment on the pool surface, and control the pool cleaning equipment to move to traverse the pool surface according to the position.

[0106] S40: If the pool cleaning equipment is in surface cleaning mode, the power unit will be activated to drag the pool cleaning equipment to the bottom of the water. After the pool cleaning equipment reaches the bottom of the pool, the propeller will be activated.

[0107] S50: Confirm the position of the pool cleaning equipment on the bottom surface of the pool, and control the pool cleaning equipment to move to traverse the bottom surface of the pool based on the bottom surface position.

[0108] In the control method of the swimming pool cleaning device 100 of the present invention, in the water surface cleaning mode, the float 12 in the water surface tank mechanism 10 enables the swimming pool cleaning device 100 to float near the waterline. The dial assembly 14 is controlled to start to move the front end of the swimming pool cleaning device 100, causing the garbage and debris in the direction of the swimming pool cleaning device 100 to flow into the first waterway 111 with the water flow and be collected by the water surface tank filter 13. Combined with the reaction force generated by the drainage after the propeller 22 in the middle tank mechanism 20 is controlled to start, the swimming pool cleaning device 100 moves forward and moves on the water surface. By confirming the water surface position of the swimming pool cleaning device 100 on the swimming pool surface, the movement of the swimming pool cleaning device 100 can be further controlled to traverse the swimming pool surface, so as to achieve comprehensive cleaning of the swimming pool surface.

[0109] In underwater cleaning mode, by controlling the start of the power component 32 in the bottom chamber mechanism 30, water is discharged from the outlet channel 211, generating a reaction force on the bottom chamber body 31, causing the pool cleaning equipment 100 to sink to the bottom. The garbage and debris in the bottom flows into the bottom chamber filter screen 33 through the inlet 311 and is collected. Combined with the propulsion of the thruster 22, the pool cleaning equipment 100 can move underwater. By confirming the bottom position of the pool cleaning equipment 100 on the bottom of the pool, the movement of the pool cleaning equipment 100 can be further controlled to traverse the bottom of the pool, achieving a comprehensive cleaning of the bottom of the pool.

[0110] The swimming pool cleaning device 100 of the present invention can complete both surface and bottom cleaning with a single machine, thereby controlling equipment costs and improving the user experience.

[0111] Specifically, when the pool cleaning equipment 100 is confirmed to have entered underwater working mode, the controller activates the power unit 32 to drag the pool cleaning equipment 100 to the bottom of the pool. Then, the two propellers 22 are activated to propel the equipment to collect trash and debris at the bottom of the pool for underwater cleaning. Because the controller has a built-in gyroscope, it can plan the working path of the equipment on the bottom of the pool. For example, it can make turns by controlling the different actions of the two propellers 22, thereby achieving comprehensive cleaning of the pool bottom.

[0112] When the pool cleaning equipment 100 is confirmed to be in water surface working mode, the controller does not activate the power unit 32, but instead activates the two propellers 22 to move the equipment on the water surface and activates the dial assembly 14 to collect garbage and debris for water surface cleaning. Because the controller has a built-in gyroscope, it can plan the machine's working path on the pool surface, for example, by controlling the different actions of the two propellers 22 to achieve turning, thereby achieving comprehensive cleaning of the pool bottom.

[0113] Further, step S30 includes the following steps:

[0114] S31: The control component confirms the position of the pool cleaning equipment on the pool surface, and controls the movement of the pool cleaning equipment and the operation of the two propellers according to the position so that the cleaning equipment turns at the corresponding position, so that the pool cleaning equipment traverses the pool surface.

[0115] In other words, the position of the pool cleaning equipment 100 on the pool surface can be determined by the gyroscope. The controller controls the movement of the pool cleaning equipment 100 and the operation of the two thrusters 22 based on the position of the water surface detected by the gyroscope, so that the pool cleaning equipment 100 can turn at the corresponding position, so that the movement of the pool cleaning equipment 100 can traverse and cover the pool surface.

[0116] Further, step S50 includes the following steps:

[0117] S51: The control component confirms the bottom position of the pool cleaning equipment on the bottom of the pool. Based on the bottom position, the control component moves the pool cleaning equipment and controls the operation of the two thrusters to make the cleaning equipment turn at the corresponding position, so that the pool cleaning equipment traverses the bottom of the pool.

[0118] In other words, the position of the pool cleaning equipment 100 on the bottom surface of the pool can be determined by the gyroscope. The controller controls the movement of the pool cleaning equipment 100 and the operation of the two thrusters 22 based on the bottom surface position detected by the gyroscope, so that the pool cleaning equipment 100 can turn at the corresponding position, so that the movement of the pool cleaning equipment can traverse and cover the bottom surface of the pool.

[0119] Please see Figure 10The steps preceding step S10 include:

[0120] S60: Establishes a communication connection between the external terminal and the pool cleaning equipment; and

[0121] S70: Select the desired operating mode for the pool cleaning equipment via an external terminal.

[0122] Specifically, when a user needs to clean the pool, they can press and hold the power button on the pool cleaning device 100 to activate the device and place it in the pool. Then, they can establish wireless communication with the pool cleaning device 100 through an external terminal such as a mobile phone, that is, establish communication with the wireless communication module on the controller. After that, they can select the pool cleaning device 100 to enter the underwater working mode or the water surface working mode through the APP on the external terminal.

[0123] When the pool cleaning device 100 is selected to enter underwater working mode, the controller activates the power unit 32 to drag the pool cleaning device 100 to the bottom of the pool, and uses a gyroscope to confirm whether the device has made contact with the pool bottom surface. After confirming that the pool cleaning device 100 has reached the pool bottom surface, the two propellers 22 are activated to propel the device to collect trash and debris at the bottom of the pool for underwater cleaning. Because the controller has a built-in gyroscope, it can plan the working path of the device on the pool bottom. For example, it can control the different actions of the two propellers 22 to make turning, thereby achieving comprehensive cleaning of the pool bottom.

[0124] When the pool cleaning equipment 100 is selected to enter the water surface working mode, the controller does not activate the power unit 32, but instead activates the two propellers 22 to propel the equipment on the water surface and activates the dial assembly 14 to collect trash and debris for water surface cleaning. Because the controller has a built-in gyroscope, it can plan the machine's working path on the pool surface. For example, it can control the different actions of the two propellers 22 to achieve turning, thereby achieving thorough cleaning and coverage of the pool bottom.

[0125] The methods for determining orientation, providing motion feedback, and performing path planning using gyroscopes are mature technologies in this field and will not be elaborated upon here.

[0126] In the description of this specification, the references to terms such as "Embodiment 1," "Embodiment 2," etc., indicate that a specific feature, structure, material, or characteristic described in connection with an embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0127] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A swimming pool cleaning device, characterized in that, include: A surface tank mechanism includes a surface tank body, a float and a surface tank filter screen disposed in the surface tank body, and a dial assembly disposed at the front end of the surface tank body. The surface tank body is provided with a first water channel, the inlet of the first water channel is facing the forward direction of the pool cleaning equipment and is connected to the outside. The surface tank filter screen is disposed in the first water channel, and the dial assembly is disposed at the inlet of the first water channel for diverting water from the outside into the first water channel. The middle compartment mechanism includes a middle compartment body located at the bottom of the surface tank body and a thruster located at the rear end of the middle compartment body. The space where the thruster is located is connected to the outlet of the first waterway, and the water filtered by the surface tank filter screen is discharged from the middle compartment body. The bottom tank mechanism includes a bottom tank body located at the bottom of the middle tank body, a power unit located in the bottom tank body, and a bottom tank filter screen located in the bottom tank body. The middle tank body is also provided with a water outlet channel extending to the top of the pool cleaning equipment. The bottom tank body is provided with a water inlet communicating with the water outlet channel. The bottom tank filter screen covers the water inlet. The power unit is at least partially located in the water outlet channel, and discharges the water flowing in from the water inlet through the water outlet channel. as well as A control component is provided on the surface tank mechanism, the middle tank mechanism, or the bottom tank mechanism, and is electrically connected to the dial assembly, the propeller, and the power component. It is used to control the dial assembly, the propeller, and the power component to work according to the working mode of the pool cleaning equipment, and to control the pool cleaning equipment to move to traverse the surface or bottom of the pool.

2. The swimming pool cleaning equipment as described in claim 1, characterized in that, The first waterway has two outlets, which are symmetrically arranged in the main body of the surface tank. There are two thrusters, which are symmetrically arranged at the rear end of the main body of the middle cabin. The outlets of the two first water channels are respectively connected to the spaces where the two thrusters are located.

3. The swimming pool cleaning equipment as described in claim 2, characterized in that, The outlet of the first waterway is provided with a reversible first check baffle, which is used to open or close the outlet of the first waterway.

4. The swimming pool cleaning equipment as described in claim 1, characterized in that, The surface tank body includes an installation space isolated from the first waterway, and the floating hull is disposed in the installation space; The dial assembly includes a dial motor located in the installation space and a dial rotatably located at the entrance of the first waterway. One end of the dial is connected to the dial motor for transmission, and the other end is rotatably located on the main body of the surface tank.

5. The swimming pool cleaning equipment as described in claim 1, characterized in that, The main body of the middle cabin is provided with a second waterway. The inlet of the second waterway faces the direction of the forward movement of the pool cleaning equipment and is connected to the outside. The outlet of the second waterway is connected to the space where the propeller is located.

6. The swimming pool cleaning equipment as described in claim 5, characterized in that, The entrance to the second waterway is equipped with a flip-up central hatch cover for opening or closing the entrance to the second waterway; The outlet of the second waterway is provided with a reversible second check baffle, which is used to open or close the outlet of the second waterway.

7. The swimming pool cleaning equipment as described in claim 5, characterized in that, There are two second waterways, which are symmetrically arranged in the main body of the middle cabin and share a common entrance.

8. The swimming pool cleaning equipment as described in claim 1, characterized in that, The inlet is equipped with a flip-up check cover for opening or closing the inlet. There are two water inlets, located at the front and rear ends of the main body of the bottom tank, respectively; There are two bottom tank filters, and the two bottom tank filters respectively cover the two water inlets, and the bottom tank filters are fully enclosed; The main body of the lower compartment is also equipped with wheels around its perimeter.

9. The swimming pool cleaning equipment as described in claim 1, characterized in that, The surface tank filter is semi-enclosed and has an opening corresponding to the inlet of the first waterway.

10. The swimming pool cleaning equipment as described in claim 1, characterized in that, The power assembly includes: A sealing shell located below the water outlet channel; The drive motor disposed in the sealed housing; and An axial flow impeller is located in the water outlet channel, and the axial flow impeller is connected to the drive motor.

11. The swimming pool cleaning equipment as described in claim 10, characterized in that, The control component is located inside the sealed housing. The control component includes a controller and a motion detection sensor electrically mounted on the controller. The controller is electrically connected to the dial assembly, the thruster, and the power assembly. The controller controls the operation of the dial assembly, the thruster, and the power assembly according to the working mode of the pool cleaning equipment, and controls the movement of the pool cleaning equipment based on the motion feedback from the motion detection sensor.

12. The swimming pool cleaning equipment as described in claim 11, characterized in that, The motion detection sensor is a gyroscope.

13. A method for controlling a swimming pool cleaning device, used to control the swimming pool cleaning device as described in any one of claims 1 to 12, characterized in that, The control method includes: Confirm the current working mode of the pool cleaning equipment, which includes surface cleaning mode and bottom cleaning mode; If the pool cleaning equipment is in the water surface cleaning mode, then the thruster and the dial assembly are activated; Confirm the position of the pool cleaning equipment on the pool surface, and control the pool cleaning equipment to move to traverse the pool surface according to the position. If the pool cleaning equipment is in the underwater cleaning mode, the power unit is activated to drag the pool cleaning equipment to the bottom of the water, and the propulsion unit is activated after the pool cleaning equipment reaches the bottom of the pool. Confirm the position of the pool cleaning equipment on the bottom surface of the pool, and control the pool cleaning equipment to move to traverse the bottom surface of the pool based on the bottom surface position.

14. The control method for the swimming pool cleaning equipment as described in claim 13, characterized in that, There are two propellers, which are located on opposite sides of the pool cleaning equipment. The step of confirming the position of the pool cleaning equipment on the pool surface and controlling the pool cleaning equipment to move to traverse the pool surface based on the position includes: The control component confirms the position of the pool cleaning equipment on the pool surface, and controls the movement of the pool cleaning equipment and the operation of the two thrusters to make the cleaning equipment turn at the corresponding position, so that the pool cleaning equipment traverses the pool surface. The step of confirming the position of the pool cleaning equipment on the bottom surface of the pool, and controlling the pool cleaning equipment to move to traverse the bottom surface of the pool based on the bottom surface position, includes: The control component confirms the bottom orientation of the pool cleaning equipment on the pool bottom surface, and controls the movement of the pool cleaning equipment and the operation of the two thrusters according to the bottom orientation so that the cleaning equipment turns at the corresponding position, until the pool cleaning equipment traverses the bottom surface of the pool.

15. The control method for the swimming pool cleaning equipment as described in claim 13, characterized in that, Before confirming the current operating mode of the pool cleaning equipment, the following steps are included: Establish a communication connection between the external terminal and the pool cleaning equipment; and The operating mode of the pool cleaning equipment can be selected via the external terminal.

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