Swimming pool autonomous operation and maintenance cleaning bionic device and cleaning method

Abstract

The invention discloses an autonomous operation, maintenance and cleaning bionic device for a swimming pool and a cleaning method. The autonomous operation, maintenance and cleaning bionic device for the swimming pool comprises a floating body, a filtering assembly and a water spraying propeller. The floating body is provided with a fluid channel for fluid to flow through; the filtering assembly is arranged in the fluid channel; the water-jet propeller comprises a mounting part, blades and a driving part, the mounting part is connected with the floating body, a mounting channel communicated with the fluid channel is formed in the mounting part, the blades are rotationally arranged in the mounting channel, and the driving part is in driving connection with the blades. According to the scheme, while water in the swimming pool is cleaned, foreign matters such as hair are prevented from being wound on blades of the water-jet propeller, the propelling efficiency is improved, the safety is high, the water-jet propeller can be used under the condition that swimmers exist, stable operation of the cleaning device is guaranteed, automation of swimming pool cleaning and maintenance is conveniently achieved, and the service diversity of the swimming pool is increased; and the device can be matched with a series of intelligent devices to ensure efficient and continuous cleaning of the swimming pool, and has wide market application prospects.

Description

Technical Field

[0001] The present invention relates to the technical field of water cleaning equipment, and particularly to a pool self-operating and maintaining cleaning bionic device and a cleaning method. Background Art

[0002] Most indoor pools still use traditional cleaning robots or manual cleaning to ensure the normal use of the pool, that is, completely replacing the pool water or putting traditional cleaning robots to clean.

[0003] Publication No. CN221073673U discloses a pool cleaning robot. Its three drive motors respectively drive the impellers in a sub-channel to rotate. The water in the sub-channel is discharged by the rotation of the impellers, and the body is driven to move by the acting force of the water flow, enabling the robot to move not only linearly but also turn, so that the pool cleaning robot can comprehensively clean the pool bottom in a short time, with a simple structure and easy to implement.

[0004] However, when the pool cleaning robot is propelled by the impeller in the pool, the impeller is prone to winding hair and other foreign objects, which has an adverse effect on the movement of the pool robot. Summary of the Invention

[0005] The purpose of the present invention is to overcome the above technical deficiencies, and propose a pool self-operating and maintaining cleaning bionic device and a cleaning method, to solve the technical problem that when the pool cleaning robot in the prior art is propelled by the impeller in the pool, the impeller is prone to winding hair and other foreign objects, which has an adverse effect on the movement of the pool robot.

[0006] To achieve the above technical purpose, the present invention adopts the following technical solutions: The present invention provides a pool self-operating and maintaining cleaning bionic device, including: A floating body having a fluid passage for fluid to flow through; A filtering component disposed in the fluid passage; and A water jet thruster, including a mounting part, a blade and a driving part. The mounting part is connected to the floating body, the mounting part forms a mounting passage communicating with the fluid passage, the blade is rotatably disposed in the mounting passage, and can guide the fluid to flow from the fluid passage towards the mounting passage when rotating, and the driving part is drivingly connected to the blade for driving the blade to rotate.

[0007] In some embodiments, the pool self-operating and maintaining cleaning bionic device further includes a water purifier, the water purifier is disposed on the floating body and has a purification passage, the purification passage is located between the fluid passage and the mounting passage and communicates the fluid passage with the mounting passage.

[0008] In some embodiments, the fluid channel has a communication port and a liquid passing port. The communication port communicates with the outside, and the liquid passing port communicates with the purification channel; The filtration assembly includes a primary filtration plate and a secondary filtration plate. The primary filtration plate is disposed in the fluid channel, separated between the communication port and the liquid passing port, and a sedimentation chamber is formed between its lower part and the communication port. The secondary filtration plate is disposed at the liquid passing port, and the liquid inlet communicates with the liquid passing port.

[0009] In some embodiments, the self - operating and maintaining cleaning bionic device for a swimming pool further includes a pump body, a self - cleaning pipeline, and a self - cleaning valve. The pump body is installed on the floating body and has an inlet end communicating with the fluid channel. The inlet end of the pump body is located on the side of the primary filtration plate close to the liquid passing port. The self - cleaning pipeline communicates the outlet end of the pump body and one end of the purification channel close to the installation channel, and the self - cleaning valve is disposed on the self - cleaning pipeline.

[0010] In some embodiments, the water purifier further has a waste discharge channel, which communicates with one end of the purification channel close to the liquid passing port and has a waste discharge port located below the liquid passing port; The self - operating and maintaining cleaning bionic device for a swimming pool further includes a waste discharge valve, which is disposed on the waste discharge channel.

[0011] In some embodiments, the self - operating and maintaining cleaning bionic device for a swimming pool further includes an inlet multi - way joint and an outlet multi - way joint. The inlet multi - way joint communicates with the inlet end of the pump body, has a first inlet communicating with the outside, and has a second inlet communicating with the side of the fluid channel close to the liquid passing port. The outlet multi - way joint communicates with the outlet end of the pump body, has a first outlet communicating with the self - cleaning pipeline, and has a second outlet communicating with the side of the fluid channel far from the liquid passing port.

[0012] In some embodiments, the floating body further has a ballast tank, which is isolated from the fluid channel. The self - operating and maintaining cleaning bionic device for a swimming pool further includes a ballast inlet pipe, a ballast outlet pipe, and two ballast valves. The ballast inlet pipe and the ballast outlet pipe communicate with the ballast tank respectively, and the two ballast valves are disposed on the ballast inlet pipe and the ballast outlet pipe respectively; The inlet multi - way joint further has a third inlet communicating with the ballast outlet pipe, and the outlet multi - way joint further has a third outlet communicating with the ballast inlet pipe.

[0013] In some embodiments, the self - operating and maintaining cleaning bionic device for a swimming pool further includes an inflatable bladder, which is disposed in the ballast tank.

[0014] In some embodiments, the autonomous operation and maintenance cleaning bionic device for the swimming pool further includes a diffuser tube, which is located between the purification flow channel and the installation channel, communicates with the purification flow channel and the installation channel, and has a tapered section that tapers in the direction close to the installation channel.

[0015] In some embodiments, the autonomous operation and maintenance cleaning bionic device for the swimming pool further includes a servo motor and an adjusting rudder blade. The servo motor is installed on the installation part and is connected to the adjusting rudder blade. The adjusting rudder blade is located in the installation channel and on the side of the paddle blade away from the fluid channel.

[0016] In some embodiments, the autonomous operation and maintenance cleaning bionic device for the swimming pool further includes an ultrasonic transceiver device, which is arranged on the floating body.

[0017] In addition, the present invention also provides an indoor swimming pool automatic cleaning method for the autonomous operation and maintenance cleaning bionic device for the swimming pool as described in any one of the above. The indoor swimming pool automatic cleaning method includes the steps of: Obtain the coordinate information, volume, and filter residue collection amount of the area to be cleaned, and obtain the coordinate information, power information, and filter residue amount information of multiple autonomous operation and maintenance cleaning bionic devices for the swimming pool; Determine the target device as the autonomous operation and maintenance cleaning bionic device for the swimming pool that can cover the power consumption and filter residue amount of the area to be cleaned, and control the target device closest to the area to be cleaned to clean the area to be cleaned, and control the autonomous operation and maintenance cleaning bionic device for the swimming pool with insufficient power and filter residue amount to drive to the charging area for charging and slag cleaning; Control the target device cleaning the area to be cleaned to slice and divide the height of the area to be cleaned, and control the target device to perform covering cleaning on the plane where the midpoint of the thickness of each slice is located and parallel to the upper and lower planes of the tangent.

[0018] In some embodiments, the step of obtaining the coordinate information, volume, and filter residue collection amount of the area to be cleaned, and obtaining the coordinate information, power information, and filter residue amount information of multiple autonomous operation and maintenance cleaning bionic devices for the swimming pool includes: Divide the pool body into m layers from top to bottom, and define them as layer 1, layer 2,..., and layer m from top to bottom, and divide each layer into n positions along its length direction, and define them as position 1, position 2,..., and position n in sequence; Control the autonomous operation and maintenance cleaning bionic device for the swimming pool to drive to layer 1 position 1, detect and feedback the water quality of the area of layer 1 position 1, and repeat the above steps until the water quality information of layer m position n is detected to obtain the position information of all areas to be cleaned.

[0019] Compared with the prior art, in the pool autonomous operation and maintenance cleaning bionic device provided by the present invention, when the blades of the water jet thruster rotate, water is guided from the fluid channel to the installation channel. In this way, on the one hand, when the water body passes through the filtering component in the fluid channel, it can filter the hair and other foreign matters in the water body, so that the water passing through the blades is free of foreign matters, and the filtered water body is finally discharged through the blades. Furthermore, while cleaning the pool water, the water jet thruster can stably push the water body out, drive the floating body to move, and ensure the normal operation of the cleaning device. On the other hand, since the water flow through the water jet thruster flows from the fluid channel to the installation channel, it can effectively prevent foreign matters such as hair in the water body from entering through the liquid discharge port of the installation channel, further reducing the probability of the blades being wound by foreign matters. Therefore, this solution can clean the pool water body while preventing the blades of the water jet thruster from being wound by foreign matters such as hair, ensuring the stable operation of the cleaning device, facilitating the automation of pool cleaning and maintenance, and increasing the diversity of pool services.

[0020] In addition, since the water jet thruster pushes the cleaned water body, it can further improve the propulsion efficiency of the cleaning device and facilitate the flexible movement of the cleaning device. And since the blades are located in the installation channel, the blades can be isolated through the installation channel, so that when the cleaning device cleans the water body, it will not cause harm to the users in the pool. That is, when the users are swimming, the cleaning device can clean synchronously, which is conducive to realizing all-weather automatic cleaning and has good practicability. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 is a schematic diagram of the pool autonomous operation and maintenance cleaning bionic device provided by an embodiment of the present invention; Figure 2 is Figure 1 a partial structural schematic diagram of the pool autonomous operation and maintenance cleaning bionic device in Figure 3 is Figure 1 a cross-sectional view of the pool autonomous operation and maintenance cleaning bionic device in Figure 4 is Figure 2 a schematic diagram of the water jet thruster in Figure 5 is Figure 2 a partial structural schematic diagram of the pool autonomous operation and maintenance cleaning bionic device in Figure 6 is Figure 2 a cross-sectional view of the floating body corresponding to the first input pipe in Figure 7 is Figure 2 a cross-sectional view of the pool autonomous operation and maintenance cleaning bionic device corresponding to the waste drainage channel in Figure 8 is Figure 2 another partial structural schematic diagram of the pool autonomous operation and maintenance cleaning bionic device in Figure 9 is Figure 8 Another perspective schematic diagram of the bionic device for autonomous operation and maintenance cleaning of the middle swimming pool; Figure 10 is in one embodiment the battery swapping device and Figure 1 Schematic diagram of the bionic device for autonomous operation and maintenance cleaning of the middle swimming pool; Figure 11 is Figure 10 Partial structural schematic diagram of the battery swapping device and the bionic device for autonomous operation and maintenance cleaning of the swimming pool; Figure 12 is Figure 11 Schematic diagram of the extraction jib equipment in Figure 13 is Figure 10 Partial schematic diagram of the openable and closable housing in

[0022] Description of reference numerals: 1. Floating body; 1a. Fluid channel; 1a1. Primary filter chamber; 1a2. Secondary filter chamber; 1b. Communication port; 1c. Liquid passing port; 1d. Ballast tank; 2. Water purifier; 2a. Purification flow channel; 2b. Liquid inlet; 2c. Liquid outlet; 2d. Waste discharge flow channel; 2d1. Waste discharge port; 3. Water jet thruster; 31. Installation part; 31a. Installation channel; 31b. Liquid discharge port; 32. Propeller blade; 33. Driving part; 331. Driving motor; 332. Driving power supply; 4. Primary filter plate; 41. Detection sensor; 5. Secondary filter plate; 6. Pump body; 61. Self-cleaning pipeline; 62. Self-cleaning valve; 7. Inlet multi-way joint; 71. First input pipe; 72. Second input pipe; 8. Outlet multi-way joint; 81. Output pipe; 9. Ballast inlet pipe; 10. Ballast outlet pipe; 20. Ballast valve; 30. Inflatable bladder; 40. Diffuser pipe; 401. Converging section; 50. Steering mechanism; 501. Steering gear; 502. Adjusting rudder blade; 60. Battery swapping device; 601. Openable and closable housing; 6011. Fixed door panel; 6012. First movable door panel; 6013. Second movable door panel; 6014. Third movable door panel; 602. Extraction jib equipment; 6021. Moving fixture; 6022. Vertical guide rail; 6023. Electric cross screwdriver; 6024. Spring-loaded frustum-shaped buckle; 603. Installation jib equipment; 604. Clamping equipment; 605. Infrared and camera positioning equipment; 606. Central control equipment with water level sensor; 607. High-power water pump; 608. Rubber buffer block; 609. Central control computer. Detailed implementation manners

[0023] In order to make the objectives, technical solutions and advantages of the present invention more clear and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0024] In order to solve the technical problem that in the prior art, when a pool cleaning robot propels through an impeller in a pool body, the impeller is easily entangled with hair and other foreign objects, which has an adverse impact on the movement of the pool robot, the present invention provides a bionic device for autonomous operation and maintenance cleaning of a pool, which can clean the pool water body while avoiding the entanglement of the blades of the water jet thruster with foreign objects such as hair, and ensuring the stable operation of the cleaning device.

[0025] Please refer to Figures 1 to 4 , Figures 1 to 4 which is a schematic structural diagram of the bionic device for autonomous operation and maintenance cleaning of a pool in an embodiment of the present invention. The bionic device for autonomous operation and maintenance cleaning of a pool includes a floating body 1, a filtering component and a water jet thruster 3; the floating body 1 has a fluid channel 1a for fluid to flow through; the filtering component is arranged in the fluid channel 1a; the water jet thruster 3 includes a mounting part 31, blades 32 and a driving part 33. The mounting part 31 is connected to the floating body 1, and the mounting part 31 forms a mounting channel 31a communicating with the fluid channel 1a. The blades are rotatably arranged in the mounting channel 31a and can guide the fluid to flow from the fluid channel towards the mounting channel 31a when rotating. The driving part 33 is drivingly connected to the blades 32 for driving the blades 32 to rotate.

[0026] In the bionic device for autonomous operation and maintenance cleaning of a pool provided by the present invention, when the blades 32 of the water jet thruster 3 rotate, the water is guided from the fluid channel 1a to the mounting channel 31a. Thus, on the one hand, when the water body passes through the filtering component in the fluid channel 1a, it can filter the hair and other foreign objects in the water body, so that the water passing through the blades 32 is free of foreign objects, and the filtered water body is finally discharged through the blades 32. Furthermore, while cleaning the pool water, the water jet thruster 3 can stably push the water body outwards, driving the floating body 1 to move and ensuring the normal operation of the cleaning device. On the other hand, since the water flow through the water jet thruster 3 flows from the fluid channel 1a to the mounting channel 31a, it can effectively prevent foreign objects such as hair in the water body from entering through the liquid discharge port 31b of the mounting channel 31a, further reducing the probability of the blades being entangled with foreign objects. Therefore, this solution can clean the pool water body while avoiding the entanglement of the blades 32 of the water jet thruster 3 with foreign objects such as hair, ensuring the stable operation of the cleaning device, facilitating the automation of pool cleaning and maintenance, and increasing the diversity of pool services.

[0027] In addition, since the water jet thruster 3 propels the cleaned water body, the propulsion efficiency of the cleaning device can be further improved, facilitating the flexible movement of the cleaning device. Moreover, since the paddle 32 is located in the installation channel 31a, the paddle 32 can be isolated through the installation channel 31a, so that when the cleaning device moves in the cleaning water body, the paddle 32 will not cause harm to the users in the pool. That is, the cleaning device can clean synchronously while the users are swimming, which is conducive to realizing all-weather automatic cleaning and has good practicability.

[0028] In one embodiment, the pool autonomous operation and maintenance cleaning bionic device further includes a water body purifier 2. The water body purifier 2 is arranged on the floating body 1 and has a purification flow channel 2a. The purification flow channel 2a is located between the fluid channel 1a and the installation channel 31a and communicates with the fluid channel 1a and the installation channel 31a.

[0029] In this embodiment, when the paddle 32 of the water jet thruster 3 rotates, it guides the water from the liquid inlet 2b of the purification flow channel 2a to the liquid outlet 31b of the installation channel 31a. In this way, when the water body passes through the purification flow channel 2a of the water body purifier 2, it can further filter the hair and other foreign matters in the water body, so that the water passing through the paddle 32 is free of foreign matters, and the filtered water body is finally discharged through the paddle 32. Thus, while cleaning the pool water, the water jet thruster 3 can stably push the water body out.

[0030] It should be noted that the installation part can be a seat body on which the installation channel 31a is formed; it can also be a shell that encloses to form the installation channel 31a. Specifically, in this solution, the installation part 31 is set in the form of an installation sleeve, the installation channel 31a is formed inside the installation sleeve, and the liquid outlet 31b is provided at one end of the installation sleeve far from the fluid channel. In addition, the purification flow channel 2a of the water body purifier also has a liquid inlet 2b and a liquid outlet 2c. The liquid inlet 2b communicates with the fluid channel 1a, and the liquid outlet 2c communicates with the installation channel 31a.

[0031] In addition, it should be noted that the floating body 1 can be a hull or an airbag suspended on the water surface. Specifically, in this solution, the floating body 1 is a shell with a chamber, which can float and dive in the water and can float on the water surface.

[0032] In one embodiment, please refer to Figure 2 and Figure 3 , the fluid channel 1a has a communication port 1b and a liquid passing port 1c. The communication port 1b communicates with the outside, and the liquid passing port 1c communicates with the purification flow channel 2a; the filtering assembly further includes a primary filter plate 4 and a secondary filter plate 5. The primary filter plate 4 is arranged in the fluid channel 1a and is separated between the communication port 1b and the liquid passing port 1c, and a sedimentation chamber is formed between its lower part and the communication port 1b. The secondary filter plate 5 is arranged at the liquid passing port 1c, and the liquid inlet 2b communicates with the liquid passing port 1c.

[0033] In this embodiment, the fluid passage 1a is separated into two chambers by the primary filter plate 4. Among them, the one close to the communication port 1b is the primary filter chamber 1a1, and the one close to the liquid passing port 1c is the secondary filter chamber 1a2. During the cleaning process, the pool water to be filtered enters the primary filter chamber 1a1 through the communication port 1b. During the process of passing through the primary filter plate 4 and entering the secondary filter chamber 1a2, large impurities in the water are filtered out by the primary filter plate 4, and then enter the purification flow passage 2a of the water purifier 2 through the secondary filter plate 5, further filtering out the impurities in the water body and improving the purification efficiency of the water body.

[0034] It should be noted that the communication port 1b is located at the front end of the floating body 1, and the drain port 31b is located at the rear end of the floating body 1 to facilitate water intake when moving forward. In addition, in one embodiment, the primary filter plate 4 is a 2-mm-thick metal plate with holes having a diameter of 5 mm, forming a primary metal filter mesh. The secondary filter plate 5 is a 2-mm-thick metal plate with holes having a diameter of 2 mm, forming a secondary metal filter mesh. In addition, a sedimentation chamber is formed between the primary filter plate 4 and the communication port 1b. The sedimentation chamber is located between the communication port 1b and the primary filter chamber 1a1 and below the primary filter plate 4 to accommodate some sundries and prevent the filter plate from being blocked.

[0035] In one of the embodiments, please refer to Figure 3 and Figure 5 , the pool autonomous operation and maintenance cleaning bionic device further includes a pump body 6, a self-cleaning pipeline 61 and a self-cleaning valve 62. The pump body 6 is installed on the floating body 1 and has an inlet end communicating with the fluid passage 1a. The inlet end of the pump body 6 is located on the side of the primary filter plate 4 close to the liquid passing port 1c. The self-cleaning pipeline 61 communicates the outlet end of the pump body 6 and one end of the purification passage 2a close to the installation passage 31a. The self-cleaning valve 62 is arranged on the self-cleaning pipeline 61.

[0036] In this embodiment, the inlet end of the pump body 6 communicates with the secondary filter chamber 1a2, and its outlet end communicates with the liquid outlet 2c of the purification flow passage 2a through the self-cleaning pipeline 61. Thus, when the pool autonomous operation and maintenance cleaning bionic device is taken offline, it can be placed in a clean water source, and the water in the secondary filter chamber 1a2 can be pumped to the liquid outlet 2c of the purification flow passage 2a through the pump body 6, so that the water can push back the filter residue in the purification flow passage 2a and improve the filtering efficiency of the water purifier 2.

[0037] It should be noted that the water purifier 2 can be a filter screen type purifier or a purifier with multiple filter layers stacked. Specifically, in this solution, the water purifier 2 is a precision membrane filter, including an outer cylinder and multiple filter membranes placed therein, which plays a role in sterilizing and disinfecting the water body through the precision membrane filter, reducing the usage amount of chlorine-containing disinfectants in the pool, saving costs, and at the same time reducing the adverse effects of disinfectants on users.

[0038] In one embodiment, please refer to Figure 7 , the water purifier 2 further has a waste discharge channel 2d, the waste discharge channel 2d communicates with one end of the purification channel 2a close to the liquid passing port 1c, and has a waste discharge port 2d1 located below the liquid passing port 1c; the pool self-operating and maintaining cleaning bionic device further includes a waste discharge valve, and the waste discharge valve is arranged in the waste discharge channel 2d.

[0039] In this embodiment, a waste discharge channel 2d is also arranged at the liquid inlet 2b of the water purifier 2, and the waste discharge port 2d1 of the waste discharge channel 2d is placed below the liquid passing port 1c, so as to facilitate the discharge of the filter residue through the waste discharge channel 2d when back-pushing the filter residue in the water purifier 2.

[0040] In one embodiment, please refer to Figure 6 , Figure 8 and Figure 9 , the pool self-operating and maintaining cleaning bionic device further includes a water inlet multi-way joint 7 and a water outlet multi-way joint 8. The water inlet multi-way joint 7 communicates with the inlet end of the pump body 6, and has a first inlet communicating with the outside, and a second inlet communicating with one side of the fluid channel 1a close to the liquid passing port 1c. The water outlet multi-way joint 8 communicates with the outlet end of the pump body 6, and has a first outlet communicating with the self-cleaning pipeline 61, and a second outlet communicating with one side of the fluid channel 1a far from the liquid passing port 1c.

[0041] In this embodiment, the pump body 6 flexibly delivers water through the water inlet multi-way joint 7 and the water outlet multi-way joint 8. Specifically, the pump body 6 can directly transport the water in the pool body to the primary filter chamber 1a1 to improve the flexibility of transporting water to the primary filter chamber 1a1. At the same time, the water in the secondary filter chamber 1a2 can be transported to the liquid outlet 2c of the purification channel 2a to supply the water purifier 2 for back-pushing and cleaning. It should be noted that the specific structures and principles of the water inlet multi-way joint 7 and the water outlet multi-way joint 8 are prior arts and will not be elaborated here. In addition, it should be understood that in this solution, valves are respectively arranged at each joint end of the water inlet multi-way joint 7 and the water outlet multi-way joint 8.

[0042] Specifically, the first inlet communicates with the outside through the first input pipe 71, and the second inlet communicates with the secondary filter chamber 1a2 through the second input pipe 72. The first outlet communicates with the liquid outlet 2c of the water purifier 2 through the above-mentioned self-cleaning pipeline 61, and the second outlet communicates with the primary filter chamber 1a1 through the output pipe 81.

[0043] In one embodiment, the floating body 1 further has a ballast tank 1d, which is isolated from the fluid channel 1a. The self-operating and maintaining cleaning bionic device for the swimming pool further includes a ballast inlet pipe 9, a ballast outlet pipe 10 and two ballast valves 20. The ballast inlet pipe 9 and the ballast outlet pipe 10 are respectively connected to the ballast tank 1d, and the two ballast valves 20 are respectively arranged on the ballast inlet pipe 9 and the ballast outlet pipe 10. The water inlet multi-way joint 7 further has a third inlet communicating with the ballast outlet pipe 10, and the water outlet multi-way joint 8 further has a third outlet communicating with the ballast inlet pipe 9.

[0044] In this embodiment, water can be conveyed into the ballast tank 1d through the ballast inlet pipe 9, so that the water pressure at the bottom of the ballast tank 1d increases, and the self-operating and maintaining cleaning bionic device for the swimming pool sinks due to the increased ballast. And the water in the ballast tank 1d can be pumped out through the ballast outlet pipe 10, so that the water pressure at the bottom of the ballast tank 1d decreases, and the self-operating and maintaining cleaning bionic device for the swimming pool floats due to the reduced ballast.

[0045] In one embodiment, the self-operating and maintaining cleaning bionic device for the swimming pool further includes an inflatable bladder 30, and the inflatable bladder 30 is arranged in the ballast tank 1d.

[0046] In this embodiment, the inflatable bladder 30 is set as a constant-pressure bladder. When the water pressure in the ballast tank 1d increases, the constant-pressure inflatable bladder 30 is compressed, and the overall mass of the ballast tank 1d increases, so that the device sinks due to the increased ballast. When the water pressure in the ballast tank 1d decreases, the volume of the constant-pressure bladder increases, and the overall mass of the ballast water tank decreases, so that the device floats due to the reduced ballast.

[0047] In one embodiment, the self-operating and maintaining cleaning bionic device for the swimming pool further includes a diffuser pipe 40. The diffuser pipe 40 is located between the purification flow channel 2a and the installation channel 31a, communicates with the purification flow channel 2a and the installation channel 31a, and has a tapered section 401 that tapers in the direction close to the installation channel 31a.

[0048] In this embodiment, the purification flow channel 2a and the installation sleeve are connected through the diffuser pipe 40, and the tapered section 401 is arranged on the diffuser pipe 40 facing the installation sleeve to increase the water inlet pressure of the installation sleeve and improve the propulsion speed of the water jet thruster 3.

[0049] It should be noted that the autonomous operation and maintenance cleaning bionic device for the swimming pool further includes a steering mechanism 50. The steering mechanism 50 is arranged on the installation part. By adjusting the drainage flow direction through the steering mechanism 50, the floating body 1 is driven to move in any direction to ensure the normal operation of the floating body 1. The steering mechanism 50 may include a motor and a rotating shaft. The installation sleeve is rotatably installed on the floating body 1 through the rotating shaft, and the rotating shaft is driven to rotate by the motor, thereby adjusting the drainage direction of the liquid discharge port 31b. In another embodiment, the rotating mechanism includes a variable-direction nozzle and a robotic arm. The variable-direction nozzle is connected to the liquid discharge port 31b through a hose, and the direction of the nozzle is adjusted through the robotic arm.

[0050] In another embodiment, the steering mechanism 50 includes a servo motor 501 and an adjusting rudder 502. The servo motor 501 is installed on the installation part 31 and is connected to the adjusting rudder 502. The adjusting rudder 502 is located in the installation channel 31a and on the side of the paddle 32 away from the fluid channel 1a.

[0051] In this embodiment, the adjusting rudder 502 is arranged in the installation sleeve, and the drainage direction is adjusted by adjusting the orientation of the adjusting rudder 502 through the servo motor 501, thereby adjusting the sailing direction of the device. It should be noted that the specific structures and principles of the servo motor 501 and the adjusting rudder 502 are prior arts and will not be elaborated here.

[0052] In one embodiment, the autonomous operation and maintenance cleaning bionic device for the swimming pool further includes an ultrasonic transceiver device, and the ultrasonic transceiver device is arranged on the floating body 1.

[0053] In this embodiment, an ultrasonic transceiver device is also arranged on the floating body 1 for determining the position of the device in the pool. It should be noted that multiple ultrasonic transceiver devices can be arranged on the floating body 1. Specifically, ultrasonic transceiver devices are respectively arranged on both sides and the bottom of the floating body 1. The specific structures and principles of the ultrasonic transceiver devices are prior arts and will not be elaborated here.

[0054] In addition, it should be noted that in this solution, there are two sets of the water purifier 2, the water jet thruster 3 and the steering mechanism 50 respectively, and the liquid inlet ports 2b of the two sets of water purifiers 2 are respectively communicated with the secondary filter chamber 1a2.

[0055] In one embodiment, the driving part 33 of the water jet thruster 3 includes a driving power source 332 and a driving motor 331. The driving power source 332 and the driving motor 331 are respectively arranged on the floating body 1, and the two are electrically connected, and the paddle 32 is driven to rotate by the driving motor 331.

[0056] In addition, the self-operated and self-maintained pool cleaning bionic device further includes a sound device, a fountain device and an atmosphere light device disposed on the floating body 1; the sound device is placed at the rear of the driving power supply 332 and is used to play music via Bluetooth; the fountain device is respectively placed above the liquid discharge ports of the water jet thrusters 3 and is used to eject the water ejected by the water jet thrusters 3 upward to create a fountain; the atmosphere light device is arranged around the middle position of the outer part of the floating body 1 and is used to provide atmosphere lighting. Each valve is an electric control valve.

[0057] Please refer to Figure 10 and Figure 11 , to facilitate timely charging of the self-operated and self-maintained pool cleaning bionic device, a battery swapping device 60 is also provided corresponding to the self-operated and self-maintained pool cleaning bionic device. The battery swapping device 60 includes an openable and closable housing 601, an extraction jib device 602, an installation jib device 603, a clamping device 604, an infrared and camera positioning device 605, a centralized control device 606 with a water level sensor, a high-power water pump 607 and a rubber buffer block 608.

[0058] The extraction jib device 602 and the installation jib device 603 are connected to the openable and closable housing 601 through rails and are used to execute the power supply replacement process; the clamping device 604 is connected to the openable and closable housing 601 through a groove and is used to fix the self-operated and self-maintained pool cleaning bionic device; the upper part of the centralized control device 606 with a water level sensor is connected to the infrared and camera positioning device 605 and is placed in the groove of the openable and closable housing 601 and is used to determine the position of the self-operated and self-maintained pool cleaning bionic device; the high-power water pump 607 is placed inside the rear side slot of the openable and closable housing 601. The high-power water pump 607 is provided with a water suction port and a water discharge port. The water suction port is connected to the water inlet channel in the openable and closable housing 601 and is used to pump out the water in the openable and closable housing 601; the high-power water pump 607 is provided with a water discharge port connected to the water discharge channel in the openable and closable housing 601 and is used to drain the pumped water into the pool.

[0059] The extraction jib device 602 and the installation jib device 603 have the same component composition. Taking the extraction jib device 602 as an example, please refer to Figure 12, which includes a moving fixture 6021 and a vertical guide rail 6022; an electric cross screwdriver 6023 is provided at each of the four corners of the moving fixture 6021 for releasing the fixation of the power supply and the floating body 1; the tip of the electric cross screwdriver 6023 is equipped with a magnet for adsorbing the removed screws; a spring-equipped frustum-shaped buckle 6024 is provided on each of the left and right sides of the moving fixture 6021 for clamping the power supply; the vertical guide rail 6022 is connected to the moving fixture 6021 and internally houses a charging wire, which is connected to the spring-equipped frustum-shaped buckle 6024 for charging the power supply device. The frame of the infrared and camera positioning device 605 is in an "E" shape, and three protruding brackets are provided on the right side of the frame, each equipped with an infrared emission mechanism and an infrared reception mechanism; it is integrally installed on the top of the openable and closable housing 601 for precise positioning of the pool autonomous operation and maintenance cleaning bionic device; a camera is also provided at the end of the protruding bracket in the middle of the infrared and camera positioning device 605 for assisting in infrared positioning.

[0060] In one embodiment, the high-power water pump 607 is provided with a water intake and a water outlet. The water intake is connected to the water inlet channel of the openable and closable housing 601 for pumping out the water in the openable and closable housing 601; the high-power water pump 607 is provided with a water outlet connected to the water outlet channel in the openable and closable housing 601 for discharging the pumped water into the pool. The surface of the clamping device 604 is attached with a layer of rubber material and is placed in the slot of the openable and closable housing 601, and can move horizontally for fixing the pool autonomous operation and maintenance cleaning bionic device so that the electric screwdriver can correctly disassemble the screws; rubber buffer blocks 608 are arranged on the left and right sides of the openable and closable housing 601 to prevent the pool autonomous operation and maintenance cleaning bionic device from being knocked and damaged.

[0061] In addition, a gate assembly is provided at the rear end of the openable and closable housing 601 for opening and closing the housing. Please refer to Figure 13 , and the gate device is composed of a fixed door panel 6011, a first movable door panel 6012, a second movable door panel 6013 and a third movable door panel 6014; the fixed door panel 6011 is fixed to the upper part of the openable and closable housing 601; the first movable door panel 6012 is placed inside the fixed door panel 6011 through a track and can move up and down along the track; the second movable door 6013 is placed inside the first movable door panel 6012 through a track and can move up and down along the track; the third movable door panel 6014 is placed inside the second movable door panel 6013 through a track and can move up and down along the track.

[0062] For a better understanding of the present invention, the following steps of the indoor pool automatic cleaning method of the present invention will be described in detail in combination with Figures 1 to 13 : It should be noted that the indoor pool automatic cleaning method in this solution is used for the pool autonomous operation and maintenance cleaning bionic device as described above, and multiple pool autonomous operation and maintenance cleaning bionic devices can be placed in the same pool simultaneously.

[0063] Specifically, the centralized control device 606 with a water level sensor has a built-in intelligent monitoring module. The working process is to exchange information with the centralized control computer 609 of the swimming pool's autonomous operation and maintenance cleaning bionic device. The centralized control computer 609 returns the data on the position, power and filter residue collection amount of the swimming pool's autonomous operation and maintenance cleaning bionic device to the centralized control device 606 with a water level sensor for analysis.

[0064] The centralized control device 606 with a water level sensor receives the cleaning task signal, calculates the power consumption of the area to be cleaned and predicts the amount of filter residue collected, and calculates the area to be cleaned for each swimming pool autonomous operation and maintenance cleaning bionic device in the swimming pool autonomous operation and maintenance cleaning bionic device cluster in combination with the water absorption coverage and water absorption speed of the pump body 6 preset in the swimming pool autonomous operation and maintenance cleaning bionic device; then selects the swimming pool autonomous operation and maintenance cleaning bionic device that can execute the task; selects multiple swimming pool autonomous operation and maintenance cleaning bionic devices that are relatively closer to the starting point of the cleaning area from the swimming pool autonomous operation and maintenance cleaning bionic devices that can execute the task; sends a signal to the selected robot that the area needs to be cleaned; selects one of the swimming pool autonomous operation and maintenance cleaning bionic devices that cannot execute the task, and sends a signal to execute the automatic power replacement process; the swimming pool autonomous operation and maintenance cleaning bionic device that has not received the signal will start the water jet thruster 3 to arrive at the shore of the swimming pool and wait.

[0065] When the swimming pool autonomous operation and maintenance cleaning bionic device receives a signal indicating an area that needs cleaning, the ultrasonic transceiver device emits ultrasonic waves, and the centralized control computer 609 calculates the distances of the robot's front end, rear end, left end, right end and bottom end relative to the swimming pool based on the transmission and reception time interval data returned by the ultrasonic transmitting device, and establishes a spatial rectangular coordinate system containing x, y, and z axes with the centroid of the swimming pool as the origin, and determines the coordinates of the swimming pool autonomous operation and maintenance cleaning bionic device itself in the spatial rectangular coordinate system.

[0066] The centralized control computer 609 analyzes the coordinates of all endpoints of the three-dimensional figure in the rectangular coordinate system of space, and determines the endpoint with the shortest distance to the coordinates of the swimming pool autonomous operation and maintenance cleaning bionic device itself as the cleaning starting point; slices the three-dimensional figure of the area to be cleaned with a unit height of 120mm in the z direction, and on the plane where the midpoint of the slice thickness is located and parallel to the upper and lower planes of the tangent, a thick line of 100mm symmetrical to the axis of the swimming pool autonomous operation and maintenance cleaning bionic device is used as the cleaning starting point to start "Z"-shaped coverage, and the motion trajectory of the swimming pool autonomous operation and maintenance cleaning bionic device itself is obtained as the route. Among them, the centralized control computer 609 calculates the coordinates x1, y1, z1 of the swimming pool autonomous operation and maintenance cleaning bionic device itself in each route and x2, y2, z2 of the destination.

[0067] Control the starting power of the water jet thruster 3 to determine the uniform traveling speed v of the pool self-operated and maintained cleaning bionic device, with the starting time being t. Control the rudder angle so that the pool self-operated and maintained cleaning bionic device can travel stably in a direction deviated by an angle a along the axis of the pool self-operated and maintained cleaning bionic device.

[0068] Control the opening of the ballast valve 20 on the ballast inlet pipe 9 to make the pool self-operated and maintained cleaning bionic device sink uniformly at a speed of v1 for a starting time t1; control the opening of the ballast valve 20 on the ballast outlet pipe 10 to make the pool self-operated and maintained cleaning bionic device float uniformly at a speed of v2 for a starting time t2. Calculate the path of the pool self-operated and maintained cleaning bionic device according to the following formula: Specifically, when the pool self-operated and maintained cleaning bionic device moves forward, water naturally enters the primary filter chamber 1a1 through the communication port 1b composed of a circular opening and an oval opening at the front of the floating body 1, then passes upward through the primary metal filter screen with a diameter of 5 mm, and large impurities such as fallen leaves are filtered out, and then enters the secondary filter chamber 1a2.

[0069] The water in the secondary filter chamber 1a2 passes through the secondary metal filter screen with a diameter of 2 mm, and small block impurities such as gravel are filtered out and enter the water purifier 2 in the form of a self-cleaning precision membrane filter; then the water is filtered by the self-cleaning precision membrane filter to remove macromolecular impurities and bacteria; finally, it enters the water jet thruster 3 and is sprayed outside the pool self-operated and maintained cleaning bionic device.

[0070] When the pool self-operated and maintained cleaning bionic device completes the above operations, it will return to the starting point of this cleaning. During the return journey, it will continue to suck in water, and the detection sensor 41 in front of the filter screen will detect the cleaning quality of the water. If it meets the standard, it will control the pool self-operated and maintained cleaning bionic device to clean the next layer of water area. If it does not meet the standard, it will clean again along the original route.

[0071] When the centralized control computer 609 receives the automatic battery replacement process signal sent by the centralized control device 606 with a water level sensor, it will record the original position X and plan the route to cooperate with the water jet thruster 3 to make the pool self-operated and maintained cleaning bionic device come to the openable and closable housing 601 of the battery replacement device 60, and at the same time conduct data interaction with the centralized control device 606 with a water level sensor.

[0072] The water jet thruster 3 slowly advances into the openable and closable housing 601 according to the instruction from the centralized control computer 609, and successively makes the third movable door panel, the second movable door panel, and the first movable door panel descend along the track until the openable and closable housing 601 is closed; the high-power water pump 607 starts to work to pump out the water in the openable and closable housing 601.

[0073] The interior of the openable and closable housing 601 is connected to the infrared and camera positioning device 605. Three infrared emission mechanisms in the infrared and camera positioning device 605 respectively emit infrared rays. Three infrared receiving mechanisms in the infrared and camera positioning device 605 receive the infrared rays reflected by the target. After passing through the objective lens, an infrared image is formed on the photocathode surface of the infrared image intensifier tube, and then it is converted into an electrical signal to display the specific position of the pool autonomous operation and maintenance cleaning bionic device.

[0074] The camera device in the infrared and camera positioning device 605 compares the captured image with the electrical signal received by the infrared receiving mechanism, and at the same time feeds back data to the centralized control computer 609. The centralized control computer 609 compares the received data with the required battery replacement position, and adjusts the angle of the adjusting rudder blade 502 and the opening power of the water jet thruster 3 until the pool autonomous operation and maintenance cleaning bionic device is stable at the required battery replacement position.

[0075] The clamping device 604 moves towards the pool autonomous operation and maintenance cleaning bionic device, applies force to fix the pool autonomous operation and maintenance cleaning bionic device at the required battery replacement position. The centralized control device 606 with a water level sensor conducts data interaction with the centralized control computer 609. The pool autonomous operation and maintenance cleaning bionic device turns off the water jet thruster 3, and the process is completed.

[0076] The moving fixture of the extraction boom device 602 moves downward along the vertical guide rail, and at the same time conducts data interaction with the centralized control computer 609. There is a power supply chamber above the floating body 1 for installing the driving power supply 332, which is opened and closed by a sliding cover. The floating body 1 and the driving power supply 332 are fixed by screws. When the sliding cover above the floating body 1 is opened, since there are four electric cross screwdrivers at the four corners of the moving fixture respectively, when the moving fixture drops to the lowest point, the electric screwdrivers will just cooperate with the screws of the driving power supply 332.

[0077] The four electric screwdrivers start to rotate, the screws are unscrewed, and the fixation between the driving power supply 332 and the floating body 1 is released; the tips of the electric cross screwdrivers are equipped with magnets for adsorbing the removed screws; there is a spring-mounted frustum-shaped buckle on each side of the moving fixture, and circular grooves are provided on both sides of the driving power supply 332; the frustum-shaped buckle cooperates with the circular groove, and the power supply device starts to charge.

[0078] The installation boom device 603 includes another set of moving fixtures, vertical guide rails and spring-mounted frustum-shaped buckles, and is connected to the openable and closable housing 601 through a track for installing a backup power supply. Its working principle is the same as that of the extraction boom device 602. After the power supply replacement is completed, the centralized control device 606 with a water level sensor conducts data interaction with the centralized control computer 609, closes the sliding cover on the floating body 1, and the third movable door panel, the second movable door panel and the first movable door panel on the power supply replacement device 60 rise along the track in sequence until the openable and closable housing 601 is completely opened.

[0079] The centralized control computer 609 calculates the route for the pool autonomous operation and maintenance cleaning bionic device to return to the original position X from the openable housing 601 of the battery swapping device 60, and controls the water jet thruster 3 to make the device return to the position on the X route. The departure process ends, and thus the automatic battery swapping process ends.

[0080] In addition, the cleaning robot system is provided with a full-automatic cleaning mode. After starting, the centralized control device 606 with a water level sensor will divide the pool model into m layer areas with a height of 0.5 meters from bottom to top according to the built-in pool model, and number them as layer 1, layer 2, until layer m from bottom to top. m only depends on the depth of the pool itself. Then each layer area is further divided into small cuboids with a length and width of 0.6 meters. In the cuboid geometry of this layer, they are numbered as position 1, position 2, until position n from near to far in the order of the distance from the centralized control device 606 with a water level sensor. n depends on the structure and area of the pool when viewed from above in this layer area.

[0081] Furthermore, the centralized control device 606 with a water level sensor records the current time t, and sends the position information of position 1 in layer 1 and issues a movement command to the cleaning robot device with the battery power and filter residue amount meeting the requirements. The centralized control computer 609 receives the information and controls the cleaning robot to move to the position of position 1 in layer 1. The detection sensor 41 in front of the filter screen detects the water quality and sends the data back to the centralized control device 606 with a water level sensor. After receiving the return information, the centralized control device 606 with a water level sensor will send the position information of position 2 in layer 1 and repeat the above steps until it is sent to position n in layer 1. Furthermore, the centralized control device 606 with a water level sensor will send the position information of position 1 in layer 2, and then repeat the above steps until the centralized control device 606 with a water level sensor receives the information of position n in layer m, and then sends a stop command to the cleaning robot device.

[0082] Furthermore, the centralized control device 606 with a water level sensor compares the data of each point received with the set value, obtains the position information where the water quality does not meet the standard, obtains the area corresponding to the position point, sends the area information to the cleaning robot device with the battery power and filter residue amount meeting the requirements, and issues a cleaning command to the centralized control computer 609. The centralized control computer 609 plans the route by itself and cleans this area.

[0083] Furthermore, when it is monitored that the time is t + 1 hour, it will send the position information of position 1 in layer 1 to the cleaning robot device with the battery power and filter residue amount meeting the requirements again, and issue a movement command and repeat the above process.

[0084] This process requires no human intervention throughout, has a long duration, is not easily affected by changes in the environment of the people in the pool and the speed of water quality pollution, has a high degree of intelligence and automation, low energy consumption, and effectively solves the problems of high labor requirements for pool cleaning, inability to guarantee water quality in real time, low automation degree, and high energy consumption of traditional pool covering continuous cleaning.

[0085] The present invention solves the problems such as high labor cost for pool cleaning, inability to guarantee the quality of pool water in real time, and inability of traditional pool cleaning robots to achieve fixed-point cleaning, realizes the automation of pool cleaning and maintenance, increases the diversity of pool services, and can improve the market value of the pool; a series of intelligent devices cooperate to ensure the efficient and continuous progress of pool cleaning, and has broad market application prospects.

[0086] The specific embodiments of the present invention described above do not constitute a limitation on the protection scope of the present invention. Any other corresponding changes and deformations made according to the technical concept of the present invention shall be included in the protection scope of the claims of the present invention.

Claims

1. A bionic device for autonomous operation, maintenance and cleaning of a swimming pool, characterized in that: include: a floating body having a fluid passage through which a fluid flows; A filter assembly, disposed in the fluid channel; and A water jet propulsion device includes a mounting portion, a blade and a driving portion, wherein the mounting portion is connected to the float, the mounting portion forms a mounting channel connected to the fluid channel, the blade is rotatably arranged in the mounting channel, and can guide the fluid to flow from the fluid channel toward the mounting channel when rotating, and the driving portion is connected to the blade driving and is used to drive the blade to rotate.

2. The swimming pool autonomous operation and cleaning bionic device according to claim 1 is characterized in that: The swimming pool autonomous operation and maintenance cleaning bionic device also includes a water purifier, which is arranged on the float and has a purification flow channel. The purification flow channel is located between the fluid channel and the installation channel, and connects the fluid channel and the installation channel.

3. The swimming pool autonomous operation and cleaning bionic device according to claim 2 is characterized in that: The fluid channel has a communication port and a liquid passage port, the communication port is connected to the outside, and the liquid passage port is connected to the purification flow channel; The filter assembly includes a primary filter plate and a secondary filter plate. The primary filter plate is arranged in the fluid channel and is separated between the connecting port and the liquid outlet. A sedimentation chamber is formed between the lower portion of the primary filter plate and the connecting port. The secondary filter plate is arranged at the liquid outlet.

4. The swimming pool autonomous operation and cleaning bionic device according to claim 3 is characterized in that: The swimming pool autonomous operation and maintenance cleaning bionic device also includes a pump body, a self-cleaning pipe and a self-cleaning valve. The pump body is installed on the float and has an inlet end connected to the fluid channel. The inlet end of the pump body is located on the side of the primary filter plate close to the liquid outlet. The self-cleaning pipe is connected to the outlet end of the pump body and one end of the purification flow channel close to the installation channel. The self-cleaning valve is arranged on the self-cleaning pipe.

5. The swimming pool autonomous operation and cleaning bionic device according to claim 4 is characterized in that: The water purifier also has a waste discharge channel, which is connected to one end of the purification channel close to the liquid outlet and has a waste discharge port located below the liquid outlet; The swimming pool autonomous operation, maintenance and cleaning bionic device also includes a waste discharge valve, which is arranged in the waste discharge flow channel.

6. The swimming pool autonomous operation and cleaning bionic device according to claim 4 is characterized in that: The swimming pool autonomous operation and maintenance cleaning bionic device also includes a water inlet multi-directional joint and a water outlet multi-directional joint. The water inlet multi-directional joint is connected to the inlet end of the pump body, and has a first inlet connected to the outside, and has a second inlet connected to the fluid channel close to the liquid outlet. The water outlet multi-directional joint is connected to the outlet end of the pump body, and has a first outlet connected to the self-cleaning pipe, and has a second outlet connected to the fluid channel away from the liquid outlet.

7. The swimming pool autonomous operation, maintenance and cleaning bionic device according to claim 6, characterized in that: The floating body also has a ballast tank, which is isolated from the fluid channel. The swimming pool autonomous operation and maintenance cleaning bionic device also includes a ballast water inlet pipe, a ballast water outlet pipe and two ballast valves. The ballast water inlet pipe and the ballast water outlet pipe are respectively connected to the ballast tank, and the two ballast valves are respectively arranged on the ballast water inlet pipe and the ballast water outlet pipe; The water inlet multi-directional joint also has a third inlet connected to the ballast water outlet pipe, and the water outlet multi-directional joint also has a third outlet connected to the ballast water inlet pipe.

8. The swimming pool autonomous operation and cleaning bionic device according to claim 7, characterized in that: The swimming pool autonomous operation, maintenance and cleaning bionic device also includes an inflatable bladder, which is arranged in the ballast tank.

9. An automatic cleaning method for an indoor swimming pool, used in the swimming pool autonomous operation and cleaning bionic device as claimed in any one of claims 1 to 8, characterized in that: The automatic cleaning method for an indoor swimming pool comprises the following steps: Obtaining coordinate information, volume and amount of collected residue of the area to be cleaned, and obtaining coordinate information, power information and amount of collected residue of a plurality of said swimming pool autonomous operation and maintenance cleaning bionic devices; The swimming pool autonomous operation and maintenance cleaning bionic device that can cover the power consumption and filter residue amount of the area to be cleaned is determined as the target device, and the target device closest to the area to be cleaned is controlled to clean the area to be cleaned, and the swimming pool autonomous operation and maintenance cleaning bionic device with insufficient power and filter residue amount is controlled to drive to the charging area for charging and filter residue removal; The target device for controlling cleaning the area to be cleaned slices the height of the area to be cleaned, and controls the target device to perform covering cleaning on the plane where the midpoint of the thickness of each slice is located and parallel to the upper and lower planes of the tangent.

10. The automatic cleaning method for an indoor swimming pool according to claim 9, characterized in that: The steps of obtaining the coordinate information, volume and amount of collected residue of the area to be cleaned, and obtaining the coordinate information, power information and amount of collected residue of the plurality of bionic swimming pool autonomous operation and maintenance cleaning devices include: The pool body is divided into m layers from top to bottom, and defined as layer 1, layer 2, ... and layer m from top to bottom, and each layer is divided into n positions along its length direction, which are defined as position 1, position 2, ... and position n in sequence; The swimming pool autonomous operation and maintenance cleaning bionic device is controlled to drive to layer 1 position 1, and detect and feedback the water quality of layer 1 position 1 area, and repeat the above steps until the water quality information of layer m position n is detected to obtain the position information of all areas to be cleaned.

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