Swimming pool cleaning equipment and waterline cleaning method

Abstract

The invention provides a swimming pool cleaning device and a waterline cleaning method.The swimming pool cleaning device comprises a cleaning body, a water level sensor and a water level sensor, the cleaning body can walk on the side wall of a swimming pool, and a water outlet is formed in the top of the cleaning body; the drainage pump is arranged on the cleaning main body and is used for discharging the fluid from the drainage port so as to provide thrust towards the side wall of the swimming pool for the cleaning equipment; the gravity center adjusting device is connected to the cleaning body, the gravity center adjusting device comprises a balance weight body, the balance weight body forms a longitudinal section capable of being close to or away from the cleaning body so as to adjust the relative position of the gravity center of the cleaning equipment and the water outlet, and the longitudinal section is one of a plurality of vertical sections of the cleaning body in the width direction of the cleaning body; wherein the counterweight body is provided with a first position opposite to the longitudinal section before the waterline is cleaned and a second position opposite to the longitudinal section when the waterline is cleaned, and the second position is different from the first position; when the counterweight body is in the second position, the drainage pump provides pushing force so that the cleaning body can move on the side wall of the swimming pool along the waterline.

Description

Technical Field

[0001] The present application relates to the technical field of robots, and more specifically, to a pool cleaning device and a water line cleaning method. Background Art

[0002] A swimming pool is a place where people engage in swimming activities. During the use of the pool, garbage may fall in or bacteria and floating substances may breed. These contaminants will be mixed in the water body or attached to the bottom and side walls of the pool. At the same time, the water line area where the pool water surface contacts the pool side wall will be in contact with the contaminants floating on the water surface for a long time, so a large amount of water surface contaminants will adhere to the water line on the wall.

[0003] The cleaning of the pool wall, pool bottom and water body can be carried out by a pool cleaning device. A cleaning device such as a cleaning roller is provided on the body of the pool cleaning device. While the device main body moves along a preset path, the bottom and side walls of the pool are cleaned by the rotation of the cleaning roller.

[0004] When cleaning the pool wall, the cleaning device moves along a "bow" - shaped path. When moving near the water surface, part of the body of the cleaning device emerges from the water surface to clean the water line. However, in this cleaning method, when emerging from the water surface, the buoyancy of the body changes, resulting in difficult control of the posture of the cleaning device, and thus poor cleaning effect.

[0005] In related technologies, it is also possible to control the cleaning device to adsorb on the side wall and move horizontally in the water line area to clean the water line area. However, this method requires additional driving devices such as drainage pumps for driving the cleaning device to move laterally, and precise control of the states of the drainage pump and the walking unit of the body, resulting in a complex structure and high hardware cost of the cleaning robot. Summary of the Invention

[0006] The present application mainly provides a pool cleaning device and a water line cleaning method. The following introduces each aspect involved in the embodiments of the present application.

[0007] In a first aspect, a pool cleaning device is provided. The pool cleaning device includes: a cleaning main body configured to be able to move on the side wall of the pool, and a drain opening is provided at the top of the cleaning main body; a drain pump provided on the cleaning main body for discharging fluid from the drain opening to provide a thrust force for the cleaning device towards the side wall of the pool; a center of gravity adjusting device connected to the cleaning main body, the center of gravity adjusting device includes a counterweight, and the counterweight is configured to be able to approach or move away from the longitudinal section of the cleaning main body to adjust the relative position of the center of gravity of the cleaning device and the drain opening, and the longitudinal section is one of a plurality of vertical sections of the cleaning main body in its width direction; wherein, the counterweight has a first position relative to the longitudinal section in front of the cleaning water line and a second position relative to the longitudinal section when at the cleaning water line, and the second position is different from the first position; when the counterweight is in the second position, the drain pump provides the thrust force to cause the cleaning main body to move along the water line on the side wall of the pool.

[0008] According to the above technical means, by providing a center of gravity adjusting device in the pool cleaning device and using the counterweight to approach or move away from the longitudinal section of the cleaning main body, the positional relationship between the center of gravity of the pool cleaning device and the drain pump can be flexibly adjusted. When the counterweight is in the second position away from the longitudinal section, combined with the thrust force provided by the drain pump, the cleaning main body can move along the water line on the side of the pool, so as to specifically clean the water line. The center of gravity adjusting device has a simple and reliable structure, has good economy on the premise of meeting the adjustment requirements, and can reduce the hardware cost of the pool cleaning device.

[0009] In some embodiments, the counterweight is configured to be able to approach or move away from the longitudinal section of the cleaning main body under the action of a first acting force, and the first acting force includes gravity.

[0010] According to the above technical means, since gravity is a naturally existing and stable force, using gravity to adjust the position of the counterweight eliminates the need to provide an additional driving mechanism for the counterweight, enabling the pool cleaning device to automatically adjust the center of gravity according to the position and / or attitude change of the cleaning main body during operation, reducing the energy consumption and complexity of the pool cleaning device.

[0011] In some embodiments, the cleaning main body is further configured to be able to tilt relative to the vertical direction on the side wall of the pool; in a state where the cleaning main body tilts towards a first side relative to the vertical direction, the counterweight changes its position relative to the longitudinal section under the action of gravity, so that the center of gravity of the cleaning device shifts towards the first side relative to the drain opening.

[0012] According to the above technical means, by tilting the cleaning body, the counterweight body can change the center of gravity position of the swimming pool cleaning equipment under the action of gravity; combined with the thrust generated by the drainage pump and the adjustment of the posture of the swimming pool cleaning equipment, the reasonable offset of the center of gravity can better convert the thrust into the power for the cleaning body to move along the waterline direction, reduce the energy loss caused by unreasonable center of gravity distribution, and improve the waterline cleaning ability and cleaning efficiency.

[0013] In some embodiments, the center of gravity adjustment device includes a folding piece, which is arranged to form a first cavity, and the counterweight body is located in the first cavity and is configured to be able to change its position in the first cavity under the action of gravity; the folding piece includes a first section and a second section, and along the axial direction of the folding piece, the second section is located on at least one side of the first section, and along the direction of the axis of the folding piece away from the first section, the second section extends in a direction close to the axis of the folding piece.

[0014] According to the above technical means, the cavity formed by the gathering piece is used to constrain the moving range and moving path of the counterweight, so as to prevent the counterweight from shaking randomly or leaving the adjustment range, thereby improving the stability and reliability of the center of gravity adjustment; the shape of the second section of the gathering piece is set to be conical, so as to ensure that the counterweight can move to the second section when cleaning the waterline area, and can remain in the first section when cleaning the non-waterline area, thereby avoiding the movement of the counterweight in this state from affecting the operating stability of the swimming pool equipment.

[0015] In some embodiments, the folding member includes a first positioning portion, and the first positioning portion is provided in the first section. When the counterweight body is located in the first section, the counterweight body can be positioned in the first positioning portion.

[0016] According to the above technical means, when the counterweight is located in the first section, it is positioned in the first positioning portion, which can ensure the stability of the center of gravity of the swimming pool cleaning device. Stability helps the swimming pool cleaning device to move smoothly when cleaning the pool bottom or water surface, avoiding tilting or displacement caused by the shaking of the counterweight.

[0017] In some embodiments, the folding member further comprises a second positioning portion, and the second positioning portion is disposed in the second section. When the counterweight body is located in the second section, the counterweight body can be positioned in the second positioning portion.

[0018] According to the above technical means, by setting the second positioning part in the second section, the counterweight body can be constrained in the second section when the swimming pool cleaning equipment is cleaning the water line, reducing the change of the center of gravity position caused by the shaking of the counterweight body, and ensuring that the swimming pool cleaning equipment can move stably in the horizontal direction when cleaning the water line.

[0019] In some embodiments, the cleaning body is further configured to be able to walk on the bottom or the water surface of the swimming pool; when the cleaning body walks on the bottom or the water surface of the pool, the counterweight is positioned at the first positioning portion.

[0020] In some embodiments, the converging member includes a peripheral wall and side walls provided on both sides of the peripheral wall along the axial direction of the converging member, and the peripheral wall and the side walls together enclose to form the first cavity; the center of gravity adjusting device further includes a buffer member, and the buffer member is disposed in the first cavity and at least partially covers the side walls.

[0021] According to the above technical means, the impact force of the counterweight on the converging member can be alleviated by the buffer member. Especially when the pool equipment is inclined relative to the vertical direction, the counterweight will abut against the buffer member instead of directly hitting the side wall, which can avoid affecting the strength of the converging member and the overall posture of the machine.

[0022] In some embodiments, the center of gravity adjusting device is disposed in a closed second cavity formed by the cleaning body, or the first cavity is a closed cavity.

[0023] According to the above technical means, the counterweight is disposed in a closed cavity formed by the cleaning body or a closed cavity formed by the converging member, so that the direct contact between the counterweight and water can be avoided. On the one hand, this can prevent the counterweight from rusting and other situations during long-term use. On the other hand, it can avoid the pollution of the pool water body caused by the rusting and other situations of the counterweight.

[0024] In some embodiments, a plurality of drain holes are formed in the converging member, and the drain holes communicate the first cavity with the external environment, so that the water in the external environment can enter the first cavity or the water in the first cavity can be discharged to the external environment.

[0025] By providing drain holes in the converging member, the first cavity is communicated with the external environment. When the counterweight moves in the first cavity, the center of gravity position of the cleaning device can be changed, but the buoyancy of the cleaning device will not be affected. After the pool is cleaned, the water in the first cavity can be discharged through the drain holes, so that the inside of the first cavity and the counterweight are in a dry environment, avoiding the influence of the rusting of the converging member and the counterweight on the pool water body; in addition, the dry environment in the first cavity can reduce the possibility of bacteria breeding.

[0026] In some embodiments, along the traveling direction of the cleaning body, the center of gravity adjusting device is located at the rear of the cleaning body.

[0027] According to the above technical means, the center-of-gravity adjusting device is arranged at the rear of the cleaning main body, so that the center of gravity of the cleaning device moves backward. During the movement of the cleaning main body, when the bottom surface of the swimming pool is uneven or when encountering water flow impact during cleaning the water surface, etc., it can effectively prevent the cleaning device from tipping forward and enhance the running stability of the cleaning device; when the cleaning device turns, due to the center of gravity being at the rear, it is more conducive to changing the movement direction. In addition, the cleaning unit, the driving device and related accessories in the cleaning main body usually need to be arranged in the middle and front of the cleaning device. Arranging the center-of-gravity adjusting device at the rear can avoid occupying the internal space of the cleaning main body and is more conducive to mechanism and structure design.

[0028] In some embodiments, a third cavity is formed in the cleaning main body, and the center-of-gravity adjusting device is arranged in the third cavity. The center-of-gravity adjusting device includes a counterweight and a supporting part; the supporting part is configured to have a first supporting position and a second supporting position; the first supporting position is the lowest point of the supporting part along the vertical direction when the cleaning main body is in a horizontal state; the second supporting position is the lowest point of the supporting part along the vertical direction when the cleaning main body is in a vertical state; when the cleaning main body walks along the bottom or water surface of the swimming pool, the counterweight is positioned at the first supporting position; when the cleaning main body walks along the vertical direction on the side wall of the swimming pool, the counterweight is positioned at the second supporting position; when the cleaning main body tilts to the first side relative to the vertical direction on the side wall of the swimming pool, the counterweight disengages from the second supporting position and moves to the first side under the action of the supporting part.

[0029] In some embodiments, the center-of-gravity adjusting device further includes a rigid connecting piece. The first end of the rigid connecting piece is connected to the counterweight, and the second end of the rigid connecting piece is hinged to the cleaning main body; the counterweight and the rigid connecting piece can swing around the second end of the rigid connecting piece under the action of the first acting force, so that the counterweight deviates from the longitudinal section.

[0030] In some embodiments, an elastic resetting piece is further arranged between the second end of the rigid connecting piece and the cleaning main body; the elastic resetting piece is used for: when the cleaning main body walks on the bottom or water surface of the swimming pool, making the center-of-gravity adjusting device return to the initial position; in the initial position, the counterweight and the second end of the rigid connecting piece are located on the same vertical section.

[0031] In some embodiments, the counterweight is configured to be able to approach or move away from the longitudinal section of the cleaning main body under the action of a first acting force, and the first acting force includes the driving force of the driving unit; the center-of-gravity adjusting device further includes the driving unit, and the counterweight is configured to be able to deviate from the longitudinal section under the driving force of the driving unit.

[0032] According to the above technical means, by using the driving unit to drive the counterweight to move, the position of the counterweight can be actively adjusted in different cleaning scenarios, so that the pool cleaning device can maintain good stability and flexibility in different scenarios.

[0033] In some embodiments, the pool cleaning device includes one drain opening, and the drain opening is arranged at the middle position in the width direction of the cleaning main body; alternatively, the pool cleaning device includes two drain openings, and the two drain openings are symmetrically arranged along the longitudinal section, and the longitudinal section is the middle longitudinal section of the cleaning main body in its width direction.

[0034] In the pool cleaning device provided in the embodiments of the present application, the center of gravity adjustment device can adapt to different design methods of the drain opening. For the setting method of one or two drain openings, the center of gravity adjustment device can adjust the position of the center of gravity of the cleaning main body to support the pool cleaning device to clean the water line.

[0035] In a second aspect, a water line cleaning method is provided, which is applied to the pool cleaning device as described in the first aspect. The water line cleaning method is characterized in that the water line cleaning method includes: adjusting the counterweight to the second position; controlling the drainage pump to provide the thrust so that the cleaning main body moves along the water line on the side wall of the pool. Description of the Drawings

[0036] Figure 1 It is a schematic structural diagram of a pool cleaning device in the related art;

[0037] Figure 2 It is a schematic diagram of the moving path during the working process of the pool cleaning device in the related art;

[0038] Figure 3 It is a schematic diagram of the pool cleaning device in the related art when cleaning the water line;

[0039] Figure 4 It is a schematic diagram of another pool cleaning device in the related art when cleaning the water line;

[0040] Figure 5 It is a schematic structural diagram of the pool cleaning device provided in an embodiment of the present application;

[0041] Figure 6 For Figure 5 the state schematic diagram of the pool device in

[0042] Figure 7 when it is tilted relative to the vertical direction;

[0043] Figure 8 Schematic structural diagram of a pool cleaning device provided in another embodiment of the present application;

[0044] Figure 9 is Figure 8 A - A cross - sectional view of the pool cleaning device in when it is in a horizontal state;

[0045] Figure 10 is Figure 8 A - A cross - sectional view of the pool cleaning device in when it is in a vertical state;

[0046] Figure 11 is Figure 8 Schematic structural diagram of the pool cleaning device in when it is inclined relative to the vertical direction on the pool side wall;

[0047] Figure 12 Schematic structural diagram of the center - of - gravity adjustment device in the pool cleaning device provided in an embodiment of the present application;

[0048] Figure 13 is Figure 12 Schematic structural diagram of the center - of - gravity adjustment device when the cleaning main body of the pool cleaning device in is inclined relative to the vertical direction;

[0049] Figure 14 Schematic structural diagram of the center - of - gravity adjustment device in the pool cleaning device provided in another embodiment of the present application;

[0050] Figure 15 Schematic structural diagram of the center - of - gravity adjustment device in the pool cleaning device provided in yet another embodiment of the present application;

[0051] Figure 16 Schematic structural diagram of the pool cleaning device provided in still another embodiment of the present application;

[0052] Figure 17 Schematic flowchart of the water - line cleaning method provided in the embodiments of the present application. Detailed implementation manners

[0053] In order to make the objectives, technical solutions, and advantages of the present application clearer, the present application will be further described in detail below in conjunction with the accompanying drawings. The described embodiments should not be regarded as limitations on the present application. All other embodiments obtained by those of ordinary skill in the art without creative efforts fall within the scope of protection of the present application.

[0054] In the following description, reference is made to "some embodiments", which describe a subset of all possible embodiments. However, it can be understood that "some embodiments" can be the same subset or different subsets of all possible embodiments and can be combined with each other without conflict.

[0055] In the following description, the terms "first", "second", and "third" only distinguish similar objects and do not represent a specific order for the objects. Understandably, "first", "second", and "third" can be interchanged in a specific order or sequence when allowed, so that the embodiments of the present application described herein can be implemented in an order other than that illustrated or described herein.

[0056] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those of ordinary skill in the technical field to which this application belongs. The terms used herein are only for the purpose of describing the embodiments of this application and are not intended to limit this application.

[0057] Embodiments of the present application provide a pool cleaning device and a water line cleaning method using the pool cleaning device. Before introducing the method implemented in the present application, a detailed example of the pool cleaning device in the related art and the problems thereof will be given.

[0058] A swimming pool is a place where people engage in swimming. During the use of the pool, some garbage or bacterial floating substances will appear. These contaminants will be mixed in the water body or attached to the bottom and side walls of the pool. At the same time, the water line area where the pool water surface contacts the pool side wall will be in contact with the floating contaminants on the water surface for a long time, so a large amount of water surface contaminants will adhere to the water line on the wall. These contaminants not only affect the aesthetics of the pool, reduce the water quality, but also may pose a threat to the health of swimmers. To ensure the environmental hygiene of the pool, regular cleaning treatment of the pool is required.

[0059] Currently, for the contaminants in the pool water body, a water quality filtration device is usually used for filtration to keep the water body itself clean; while the cleaning of the bottom and side walls of the pool is still mostly carried out manually by workers. Workers need to use tools such as brushes and scrapers to manually clean the bottom and side surfaces of the pool.

[0060] Although this manual cleaning method has high flexibility, it has a large labor intensity, low cleaning efficiency, it is difficult to ensure the uniformity of cleaning, and it is easy to miss some areas during manual cleaning. In addition, manual cleaning cannot be carried out in real time, resulting in the long-term accumulation of dirt and increasing the cleaning difficulty.

[0061] To solve the above problems, a pool cleaning device (or a pool cleaning robot) is proposed in the related art to replace manual cleaning of the pool.

[0062] Figure 1 It is a structural diagram of the pool cleaning device in the related art. Figure 1 The pool cleaning device 100 in includes a device main body 110, a moving device 120, and a cleaning device 130.

[0063] Among them, the mobile device 120 and the cleaning device 130 are arranged on the device main body 110. The mobile device 120 is used to drive the pool cleaning device 100 to move, and the cleaning device 130 is used to clean the surface (pool bottom or pool wall) where the cleaning device contacts the pool.

[0064] Refer to Figure 1 , two mobile devices 120 are respectively arranged on both sides of the device main body 110. Each mobile device 120 on each side may include a driving wheel 121, a driven wheel 122, and a crawler 123. The crawler 123 is wound outside the driving wheel 121 and the driven wheel 122. The driving wheel 121 can be driven to rotate, thereby driving the crawler 123 to rotate.

[0065] When the mobile devices 120 on both sides move synchronously, they can drive the device main body 110 to linearly move forward or backward. When the speeds of the mobile devices 120 on both sides are not synchronized, the cleaning main body can be steered.

[0066] The cleaning device 130 may be Figure 1 the cleaning roller shown in , which is arranged on the bottom surface of the device main body 110 and can rotate relative to the device main body 110. When the device main body 110 moves driven by the mobile device 120, the cleaning roller can rub the side wall or the bottom surface of the pool to remove dirt.

[0067] When cleaning the pool bottom, the above-mentioned pool cleaning device 100 can adhere to the pool bottom, and the mobile device 120 drives the device main body 110 to move along a "bow" - shaped path or a "return" - shaped path, while the cleaning device works to complete the cleaning of the pool bottom.

[0068] When the above-mentioned pool cleaning device 100 is cleaning the pool bottom, it can adhere to the pool bottom by its own gravity; while when cleaning the pool wall, additional adhesion needs to be provided to ensure that it can adhere to the wall surface. Figure 1 The pool cleaning device 100 shown in further includes a drainage pump 140. The drainage pump 140 is communicated with the water inlet of the device main body 110. The water inlet is arranged on the bottom surface of the cleaning device main body 110. The drainage pump 140 sucks water through the water inlet and discharges it from the drainage port, so that the device main body 110 can adsorb on the side wall of the pool.

[0069] When cleaning the pool wall, the mobile device 120 drives the device main body 110 to move along Figure 2 the first path 210 in the shape of a "bow" in . When moving to the water surface, part of the pool cleaning device 100 is exposed above the water surface, and the water line area is cleaned by the front cleaning roller.

[0070] Or, the cleaning device can be controlled to move along Figure 2The second path 220 shown moves, that is, the pool cleaning device 100 makes continuous ascending and descending movements near the water line to achieve the cleaning of the water line area.

[0071] In Figure 2 For the two ways of cleaning the water line shown, the pool cleaning device 100 needs to continuously ascend and descend near the water line. During this process, the buoyancy of the pool cleaning device 100, the driving force of the moving device 120, and the adhesion force generated by the drainage pump 140 will all change greatly, making it difficult to accurately control the position and attitude of the pool cleaning device 100, which will result in omissions in the cleaning effect.

[0072] Figure 3 Shows a way to solve the above problems in the related art. As Figure 3 shown, when the pool cleaning device 100 reaches the water line position from underwater, control the pool cleaning device 100 to turn so that its moving direction is parallel to the water line. After that, drive the pool cleaning device 100 to move along the Figure 3 third path 310 in to clean the water line.

[0073] The problem with the above technical solution is that when moving along the third path 310 shown in the figure, the direction of the driving force is perpendicular to the direction of gravity, and during the movement of the pool cleaning device 100, the buoyancy it receives is also in a changing state, which will result in an unbalanced force in the vertical direction, and thus it cannot move along the preset path; for example, if the gravity is greater than the buoyancy, the pool cleaning device 100 will gradually sink during the lateral movement, and its moving path is shown as the fourth path 320 in the figure. In this case, the pool cleaning device 100 obviously cannot complete the cleaning of the water line area. And if the path of the pool cleaning device 100 needs to be precisely controlled, the gravity and buoyancy of the pool cleaning device 100 need to be precisely controlled, which will greatly increase the complexity of the control system and the hardware cost of the pool cleaning device 100.

[0074] Figure 4 Shows another solution in the related art. Different from the above-mentioned various related technologies, in Figure 4In the technical solution shown, in addition to the conventional units such as the driving device 410 and the cleaning roller, the pool cleaning device 400 is provided with two drainage pumps 420 along its width direction, and the drainage pumps 420 can generate thrust by draining water. When cleaning the water line, first control the pool cleaning device 400 to be in an inclined state. At this time, the drainage direction of the drainage pump 420 on the side far from the inclined direction is basically horizontal. While the drainage pump 420 is working, control the speeds of the driving devices 410 on both sides to keep the pool cleaning device 400 in an inclined state. Under the combined action of the driving force of the driving device 410, the gravity of the pool cleaning device 400, and the buoyancy received, the pool cleaning device 400 moves along the path 401 shown in the figure.

[0075] The problem with this method is that in order for the pool cleaning device to adhere to the pool wall, it is necessary to set up drainage pumps to generate adhesion force; at the same time, in order to drive the pool cleaning device to move on both sides along the horizontal direction, it is also necessary to set up drainage pumps on both sides of the pool cleaning device, which results in a relatively high hardware cost.

[0076] Therefore, there is an urgent need to provide a solution with a simple structure, reliable operation, and low cost to ensure that the pool cleaning device can clean the pool water line with high quality and efficiency.

[0077] In view of the above problems, the embodiments of the present application provide a pool cleaning device and a water line cleaning method.

[0078] Next, the technical solution provided by the embodiments of the present application will be described in detail with reference to the accompanying drawings.

[0079] Figure 5 It is a schematic structural diagram of the pool cleaning device provided by the embodiments of the present application. Figure 5 The pool cleaning device 500 in includes a cleaning main body 510, a drainage pump 520, and a center of gravity adjustment device 530.

[0080] The cleaning main body 510 is the core part of the pool cleaning device 500, and it has the ability to walk on the side wall of the pool.

[0081] In some embodiments, the pool cleaning device 500 may include a driving device 540 and a cleaning unit 550.

[0082] The driving device 540 is used to drive the cleaning body 510 to move, and there are many ways to implement the driving device 540. For example, the driving device 540 may include a driver, and the driver may be a first driving motor 541, and the output end of the first driving motor 541 is connected to a driving wheel 542, and the driving wheel 542 can rotate under the action of the first driving motor 541. The driving devices 540 are arranged at intervals on both sides of the cleaning body 510 along the width direction, that is, two driving devices 540 are symmetrically arranged on both sides of the cleaning body 510.

[0083] In some embodiments, the drive device 540 may also include a drive track.

[0084] Alternatively, as another possible implementation, the driving device 540 may also be a propulsion device disposed on the cleaning body 510 , which can provide a propulsion force for driving the swimming pool cleaning device to move by draining water. The propulsion device may be disposed at the rear of the cleaning body 510 .

[0085] In the technical solution of the embodiment of the present application, the two driving devices 540 can move synchronously at the same speed so that the cleaning body 510 can move in a direction opposite to the friction between the driving devices 540 and the pool wall; in other words, when the two driving devices 540 move synchronously at the same speed, the cleaning body 510 can move along its length direction, which is perpendicular to the width direction of the aforementioned cleaning body; or, the two driving devices 540 can move relatively independently, for example, the two driving devices 540 can move at different speeds to assist the swimming pool cleaning equipment 500 to turn and adjust the direction of movement.

[0086] The cleaning unit 550 may be a cleaning roller 551 or a cleaning brush (not shown). Taking the cleaning roller 551 as an example, it may be arranged at the front and / or rear side of the cleaning body 510 along the direction of the driving force generated by the driving device 540, and the cleaning roller 551 may roll to clean dirt on the bottom surface or side wall of the swimming pool.

[0087] The above-mentioned cleaning unit 550 can be driven independently. For example, a driving member for driving the cleaning roller 551 or the cleaning brush to rotate can be set in the cleaning body 510; or, the cleaning unit 550 can also be set to be coupled with the driving device 540 in the cleaning body 510, and the driving device 540 drives the cleaning unit 550 to work while driving the cleaning body 510 to move, and the cleaning unit 550 stops synchronously when the cleaning body 510 stops moving.

[0088] The drainage pump 520 is disposed on the cleaning body 510. Figure 5, a water inlet and a drain outlet are provided on the cleaning main body 510. The water inlet (not shown) is provided at the bottom of the cleaning main body 510, and the drain outlet 511 is provided at the top. The water inlet and the drain outlet 511 are connected to form a fluid channel. The drain pump 520 is used to drive the fluid to flow in the above fluid channel. The fluid is the water in the swimming pool. The process in which the drain pump 520 sucks water from the bottom of the cleaning main body 510 and discharges it from the drain outlet 511 at the top provides a thrust for the swimming pool cleaning device 500 in the direction opposite to the water flow direction.

[0089] When cleaning the bottom of the swimming pool, the thrust generated by the drain pump 520 can make the swimming pool cleaning device 500 adhere to the bottom of the pool. When cleaning the side wall of the swimming pool, on the one hand, the thrust generated by the drain pump 520 can enhance the contact between the swimming pool cleaning device 500 and the side wall of the swimming pool, preventing the swimming pool cleaning device from falling off the pool wall. On the other hand, it can increase the friction between the swimming pool cleaning device 500 and the pool wall surface, reducing the risk of sliding downward under the action of gravity, thereby making it easier to control the posture of the swimming pool cleaning device 500.

[0090] The center of gravity adjustment device 530 is connected to the cleaning main body 510. The center of gravity adjustment device 530 includes a counterweight 531. The counterweight 531 is movable and can approach or be close to the longitudinal section of the cleaning main body 510 within a certain range to adjust the relative position of the center of gravity of the swimming pool cleaning device and the drain outlet. By changing the position of the counterweight 531, the center of gravity position of the entire swimming pool cleaning device can be adjusted, further changing the relative position of the center of gravity position of the entire swimming pool cleaning device and the drain outlet.

[0091] In the embodiments of the present application, the longitudinal section mentioned refers to one of a plurality of vertical sections; wherein, the distribution direction of the plurality of vertical sections is consistent with the width direction of the swimming pool cleaning device, and the plurality of vertical sections are perpendicular to the horizontal plane or the bottom surface of the swimming pool cleaning device. Or rather, the direction of the driving force generated by the aforementioned driving device is parallel to the plurality of vertical sections.

[0092] In the embodiments of the application, when the cleaning main body 510 is in a horizontal state or a vertical state, the center of gravity of the cleaning main body 510 basically falls into the above longitudinal section; or rather, the center of gravity of the cleaning main body 510 is within the longitudinal section. The horizontal state mentioned here can be the state when the cleaning main body 510 is located on the water surface or the bottom of the swimming pool, and the vertical state can be the state when the cleaning main body 510 moves vertically along the pool wall.

[0093] The embodiments of the present application do not specifically limit the position of the above longitudinal section, and it can be any one of the plurality of vertical sections of the cleaning main body 510.

[0094] To Figure 5Taking the cleaning body 510 with a symmetrical configuration as an example, the longitudinal section 512 may be a symmetrical plane of the cleaning body 510 along the width direction, or in other words, the longitudinal section 512 is the middle longitudinal section of the plurality of vertical longitudinal sections of the cleaning body 510. Figure 5 Taking the middle longitudinal section in as an example, the technical solution of the present application is explained in more detail.

[0095] Understandably, Figure 5 What is shown is only an example, and the embodiment of the present application does not specifically limit the position of the longitudinal section 512 .

[0096] The counterweight body 531 has a first position relative to the longitudinal section 512 when cleaning the waterline, and a second position relative to the longitudinal section 512 when cleaning the waterline, the second position being different from the first position.

[0097] The first position may be within the longitudinal section 512, and the second position may be away from the longitudinal section in a direction perpendicular to the longitudinal section 512. Alternatively, the first position may be a position at a first distance from the longitudinal section 512, and the second position may be a position at a second distance from the longitudinal section 512, and the second distance is different from the first distance.

[0098] In the embodiment of the present application, the counterweight 531 is made of a material with a certain mass, such as a metal with a high density (steel, iron, etc.), or the material of the counterweight 531 can also be a high-density engineering plastic. When the counterweight 531 with a certain mass switches between the first position and the second position, the center of gravity of the swimming pool cleaning device 500 will change.

[0099] The state of the swimming pool cleaning device 500 before cleaning the water line in the embodiment of the present application includes any one of the following: cleaning the swimming pool wall, cleaning the swimming pool bottom or cleaning the water surface.

[0100] In the above-mentioned multiple states, the counterweight body 531 is in the first position, and the center of gravity of the swimming pool cleaning device 500 is maintained on the longitudinal section 512 or at a position close to the longitudinal section 512, so that the force on the swimming pool cleaning device 500 is more balanced, and it can be more stably attached to the side wall of the swimming pool, and can maintain a stable working state even when encountering water flow fluctuations. At the same time, the center of gravity of the equipment is stable, and there is no need to frequently adjust the posture to maintain balance during walking and cleaning. This means that power components such as the drainage pump 520 and the drive device 540 do not need to output too much additional energy to overcome the adverse effects caused by the unstable center of gravity, thereby reducing the overall energy consumption of the equipment and improving energy utilization efficiency.

[0101] When cleaning the water line, the counterweight 531 is placed in the second position. The drainage pump 520 uses the thrust towards the pool sidewall generated by the fluid it discharges, and in conjunction with the adjusted center of gravity position, enables the cleaning main body 510 to move along the water line on the pool sidewall under the action of gravity, buoyancy, and the driving device. The moving direction is consistent with the direction of the center of gravity offset.

[0102] According to the above technical means, by providing a center of gravity adjustment device in the pool cleaning equipment and utilizing the feature that the counterweight approaches or moves away from the longitudinal section of the cleaning main body, the positional relationship between the center of gravity of the pool cleaning equipment and the drainage opening can be flexibly adjusted. When the counterweight is in the second position far from the longitudinal section, in conjunction with the thrust provided by the drainage pump, the cleaning main body can move along the water line on the pool sidewall, thereby specifically cleaning the water line. This center of gravity adjustment device has a simple and reliable structure, good economy, and can reduce the hardware cost of the pool cleaning equipment.

[0103] In some embodiments, the aforementioned counterweight 531 is configured to be able to approach or move away from the longitudinal section 512 of the cleaning main body 510 under the action of a first acting force. That is to say, the pool cleaning equipment 500 can adjust its center of gravity position under the action of the first acting force.

[0104] In the embodiments of the present application, the first acting force includes gravity. It is easy to understand that under the action of gravity, an object has a tendency to move to a lower position; when the cleaning main body 510 is in different positions and / or postures, the direction of the gravity acting on the counterweight 531 will change with the relative positional relationship with the cleaning main body 510, thereby causing the counterweight 531 to approach or move away from the longitudinal section 512 of the cleaning main body 510 under the action of gravity.

[0105] According to the above technical means, since gravity is a naturally existing and stable force, using gravity to adjust the position of the counterweight eliminates the need to provide an additional driving mechanism for the counterweight, enabling the pool cleaning equipment to automatically adjust the center of gravity according to the changes in the position and / or posture of the cleaning main body during operation, reducing the energy consumption and complexity of the pool cleaning equipment.

[0106] In some embodiments, the aforementioned cleaning main body is also configured to be able to tilt relative to the vertical direction on the pool sidewall. Figure 6 It is a schematic diagram when the cleaning main body 610 is in an inclined state. In the state where the cleaning main body 610 tilts towards the first side relative to the vertical direction, the counterweight 621 can change its position relative to the longitudinal section 611 under the action of gravity, so that the center of gravity of the pool cleaning equipment 600 offsets towards the first side relative to the drainage opening. The technical solution described in this embodiment is still illustrated by taking the longitudinal section 611 as the middle longitudinal section among multiple vertical longitudinal sections as an example.

[0107] It should be noted that in the embodiments of the present application, the first side is consistent with the inclination direction of the cleaning main body 610. For example, Figure 6 as shown in Figure 6 , the cleaning main body 610 is inclined to the right, and this first side is the right side of the cleaning main body 610; at this time, the counterweight 621 will move from the illustrated first position to the second position under the action of gravity, thereby changing its position relative to the longitudinal section 611 of the cleaning main body 610. Based on the same principle, when the cleaning main body 610 is inclined to the left, the counterweight 621 will move to the left from the first position under the action of gravity, causing its position relative to the longitudinal section 611 to change.

[0108] According to the previous description, when the position of the counterweight 621 changes relative to the longitudinal section 611, the position of the center of gravity of the pool cleaning device 600 will change. In Figure 6 the example of Figure 6 , when the counterweight 621 is in the first position, the center of gravity position of the pool cleaning device 600 is Figure 6 the first center of gravity position 631 in Figure 6 , and when the counterweight 621 moves to the second position, the center of gravity position of the pool cleaning device 600 is Figure 6 the second center of gravity position 632 in Figure 6 .

[0109] It can be understood that in the pool cleaning device 600 provided in the embodiments of the present application, the drainage pump is used to provide a thrust towards the pool side wall for the cleaning main body 610. To ensure the overall balance of forces, the drainage pump is usually located at the center position of the pool cleaning device 600, and this center position is the middle position along the width direction of the cleaning main body 610; or rather, the center of action of the thrust generated by the drainage pump is within the longitudinal section 611 of the cleaning main body 610; in the state where the cleaning main body 610 is inclined to the first side relative to the vertical direction, the position change of the counterweight 621 causes the center of gravity of the pool cleaning device 600 to shift towards the first side relative to the drainage port.

[0110] By inclining the cleaning main body, the counterweight can change the position of the center of gravity of the pool cleaning device under the action of gravity; combined with the thrust generated by the drainage pump and the adjustment of the posture of the pool cleaning device, the reasonable offset of the center of gravity causes the moment generated by the gravity and buoyancy of the cleaning main body to change; the above-mentioned gravity moment, buoyancy moment, gravity, buoyancy, and driving force generated by the driving device reach equilibrium, thereby driving the cleaning main body to move along the water line direction with a stable posture, improving the water line cleaning ability and cleaning efficiency.

[0111] There are many ways to make the cleaning main body 610 reach the above-mentioned inclined state to the first side, which will be illustrated below.

[0112] When the drive device in the pool cleaning equipment is the drive wheels arranged on both sides along the width direction of the cleaning main body as described in the previous text, by controlling the speeds of the drive wheels on both sides, the cleaning main body can be tilted to one side. Taking Figure 6 the situation shown as an example, the rotational speed of the drive wheel on the left side of the pool cleaning equipment can be controlled to be greater than the speed of the drive wheel on the right side; or, the drive wheel on the left side can be controlled to rotate forward, and the drive wheel on the right side can be controlled to rotate backward; or, the drive wheel on the left side can be controlled to rotate while the drive wheel on the right side remains stationary. When the drive wheels on both sides move according to the above motion rules, the pool cleaning equipment can be tilted to the right side.

[0113] Or, as a possible way, when the drive device is the propulsion device arranged at the tail of the cleaning main body as described in the previous text, the drainage direction of the propulsion device can be controlled so that the tail of the cleaning main body swings to the side opposite to the drainage direction, thereby realizing the deflection of the pool cleaning equipment.

[0114] The following will combine Figure 7 to Figure 5 in the structure of the center of gravity adjustment device 530 will be described in detail. As Figure 7 shown, the center of gravity adjustment device 530 includes a converging member 532. The converging member 532 encloses to form a first cavity. The counterweight 531 is located in the first cavity and can change its position in the first cavity under the action of gravity. The first cavity can limit the movement range of the counterweight 531 and restrict the movement path of the counterweight 531 to prevent the counterweight 531 from swaying randomly or detaching from the center of gravity adjustment device 530.

[0115] Figure 7 The converging member 532 in

[0116] includes a first section 5321 and a second section 5322. The first section 5321 and the second section 5322 are arranged along the axial direction of the converging member 532. Along the axial direction of the converging member 532, the second section 5322 is located on at least one side of the first section 5321. Figure 7 In some embodiments, as

[0117] shown, the number of the second sections 5322 can be two. The two second sections 5322 are respectively located on both sides of the first section 5321 along the axial direction.

[0118] When the two second sections 5322 are symmetrically arranged on both sides of the first section 5321, when the cleaning body 510 is tilted toward the first side relative to the vertical direction, the counterweight body 531 can move from the first section 5321 to one second section 5322, and when the cleaning body moves to the second side away from the first side, the counterweight body 531 moves to the other second section 5322.

[0119] When the number of the second sections 5322 is one, the direction of the second section 5322 relative to the first section 5321 is consistent with the inclination direction of the aforementioned cleaning body, so that when the cleaning body is tilted toward the first side relative to the vertical direction, the counterweight body 531 can move from the first section 5321 of the folding piece 532 to the second section 5322, thereby changing the position of the counterweight body 531 relative to the longitudinal section.

[0120] Continue reading Figure 7 , along the direction of the axis of the folding member 532 away from the first section 5321, the second section 5322 extends in the axial direction close to the folding member 532. That is to say, the farther away from the first section 5321, the closer the second section 5322 is to the axis, so that the second section 5322 presents a frustum shape with a large proximal end and a small distal end. Such a configuration makes the folding member 532 as a whole present a shape with a low middle and high sides. When the swimming pool cleaning device cleans the non-waterline area, the counterweight body 531 can be in the first section 5321, preventing the counterweight body 531 from moving away from the longitudinal section, thereby improving the stability of the device in this state; when the cleaning body is tilted to one side to a certain angle, the second section 5322 is lower than the first section 5321, and the counterweight body 531 can move to the second section 5322 under the action of gravity.

[0121] According to the above technical means, the cavity formed by the gathering piece is used to constrain the moving range and moving path of the counterweight, so as to prevent the counterweight from shaking randomly or leaving the adjustment range, thereby improving the stability and reliability of the center of gravity adjustment; the shape of the second section of the gathering piece is set to be conical, so as to ensure that the counterweight can move to the second section when cleaning the waterline area, and can remain in the first section when cleaning the non-waterline area, thereby avoiding the movement of the counterweight in this state from affecting the operating stability of the swimming pool equipment.

[0122] In some embodiments, continue to refer to Figure 7 The folding member 532 includes a first positioning portion 5323 , and the first positioning portion 5323 is located in the first section 5321 . When the counterweight body 531 is located in the first section 5321 , the counterweight body 531 can be positioned in the first positioning portion 5323 .

[0123] The first positioning portion 5323 may be a first recessed area provided in the first segment 5321, and the shape of the first recessed area matches that of the counterweight 531, so that the counterweight 531 can be positioned within the first recessed area.

[0124] The above-mentioned first recessed area may be, for example, a first groove on the inner side of the first segment 5321, and the groove may be an annular groove provided around the axis of the retractable member 532; alternatively, the first recessed area may also be a first positioning hole 53231 provided on the inner side of the first segment 5321.

[0125] According to the above technical means, positioning the counterweight at the first positioning portion when the counterweight is located in the first segment can ensure the stability of the center of gravity of the pool cleaning device. It helps the pool cleaning device to walk smoothly when cleaning the bottom or the water surface of the pool, and avoids tilting or displacement caused by the shaking of the counterweight.

[0126] As mentioned before, the cleaning main body is configured to be able to walk on the bottom or the water surface of the pool. When cleaning the bottom of the pool, the buoyancy received by the cleaning main body is relatively large; when cleaning the water surface, the movement of the pool cleaning device will be affected by factors such as water flow. In the above two cases, if the counterweight shakes, it will change the position of the center of gravity of the pool cleaning device, causing the attitude of the pool cleaning device to change, which will affect the cleaning effect of the pool cleaning device and is not conducive to controlling its movement trajectory.

[0127] Therefore, in the embodiment of the present application, when the cleaning main body walks on the bottom or the water surface of the pool, the counterweight 531 can be positioned in the first positioning portion 5323.

[0128] In some embodiments, the retractable member 532 further includes a second positioning portion 5324, and the second positioning portion 5324 is located in the second segment 5322. When the counterweight 531 is located in the second segment 5322, the counterweight 531 can be positioned in the second positioning portion 5324.

[0129] According to the previous description, when cleaning the water line, the counterweight 531 needs to move from the first segment 5321 to the second segment 5322 to adjust the center of gravity position; the setting of the second positioning portion 5324 enables the counterweight 531 to be stably positioned when it is in the second segment 5322, so that the counterweight 531 will not move within the second segment 5322 during the lateral movement of the pool cleaning device on the pool wall, further preventing the position of the center of gravity of the pool cleaning device from changing, thereby improving the walking stability of the pool cleaning device.

[0130] In the embodiment of the present application, the second positioning portion 5324 is located at one end of the second segment 5322 away from the first segment 5321. Similar to the first positioning portion 5323, the second positioning portion 5324 may be a second recessed area provided inside the second segment 5322. The shape of the second recessed area matches the shape of the counterweight 531, so that the counterweight 531 can be positioned in the second recessed area.

[0131] The second recessed area may be a second groove or a second positioning hole 53241 provided near the end of the second segment 5322. It can also be understood that the number of the above-mentioned second positioning portions 5324 is the same as the number of the second segments 5322 in the folding member 532.

[0132] According to the above technical means, by providing the second positioning portion on the second segment, when the pool cleaning device performs water line cleaning, the counterweight can be constrained in the second segment, reducing the change in the position of the center of gravity caused by the shaking of the counterweight, and ensuring that the pool cleaning device can walk stably in the horizontal direction when cleaning the water line.

[0133] In some embodiments, when the first positioning portion 5323 and the second positioning portion 5324 are the first positioning hole 53231 and the second positioning hole 53241 respectively, the axis of the first positioning hole 53231 is consistent with the height direction of the cleaning main body 510, and the axis of the second positioning hole 53241 is perpendicular to the axis of the first positioning hole 53231. When cleaning the pool bottom or the water surface, the first positioning hole 53231 is located below the first cavity along the direction of gravity. At this time, the axis of the first positioning hole 53231 is consistent with the direction of gravity (i.e., the vertical direction), and at this time the counterweight 531 can be positioned in the first positioning hole 53231 under the action of gravity; when cleaning the water line area, the second positioning hole 53241 is located below along the direction of gravity. At this time, the axis of the second positioning hole is consistent with the direction of gravity (i.e., the vertical direction), and the counterweight 531 can be positioned in the second positioning hole 53241 under the action of gravity when moving to the second segment 5322.

[0134] In some embodiments, the folding member 532 includes a peripheral wall 5325 and side walls 5326 provided on both sides of the peripheral wall 5325 along the axial direction. The peripheral wall 5325 and the side walls 5326 jointly enclose a first cavity.

[0135] In the embodiment of the present application, as Figure 7 shown, the peripheral wall 5325 in the folding member includes a first peripheral wall 53251 and at least one second peripheral wall 53252; wherein, the first peripheral wall 53251 surrounds and forms the first segment 5321, and the second peripheral wall 53252 surrounds and forms the second segment 5322.

[0136] When two second segments 5322 are included in the retracting member, the two side walls 5326 are respectively located on the sides of the two second segments 5322 away from the first segment 5321.

[0137] When only one second segment 5322 is included in the retracting member, the number of the second peripheral walls 53252 is one. At this time, the side wall 5326 includes a first side wall provided at one end of the first segment 5321 away from the second segment 5322 and a second side wall provided at one end of the second segment 5322 away from the first segment 5321.

[0138] The gravity center adjusting device provided by the embodiment of the present application further includes a buffer member 537. The buffer member 537 is disposed in the first cavity and at least partially covers the side wall 5326.

[0139] The buffer member 537 can relieve the impact force of the counterweight 531 on the retracting member. For example, when the pool equipment is inclined relative to the vertical direction, the counterweight 531 will move in the first cavity from the first segment 5321 to the second segment 5322. When moving to the end of the second segment 5322, the counterweight 531 will abut against the buffer member 537 instead of directly hitting the side wall 5326, which can avoid affecting the strength of the retracting member and the attitude of the whole machine.

[0140] In some embodiments, the housing of the cleaning main body 510 forms a closed second cavity, the interior of which is not communicated with the external environment, and the gravity center adjusting device 530 is disposed in the second cavity. Alternatively, the first cavity formed by the retracting member 532 is a closed cavity, and the counterweight 531 is restricted to move in the closed cavity.

[0141] According to the foregoing description, in the embodiment of the present application, the counterweight 531 can be made of a metal material with a relatively high density such as steel or iron, and is disposed in the closed cavity formed by the cleaning main body 510 or the closed cavity formed by the retracting member 532, so as to avoid direct contact between the counterweight 531 and water. On the one hand, this can prevent the counterweight 531 from rusting and other situations during long-term use. On the other hand, it can avoid polluting the pool water when the counterweight 531 rusts and other situations occur.

[0142] It should also be noted that when the first cavity formed by the retracting member 532 is a closed cavity, the gravity center adjusting device 530 can be disposed outside the housing of the cleaning main body 510; or, in some implementation manners, the housing of the cleaning main body 510 forms a non-closed space, and the gravity center adjusting device 530 can be disposed within the accommodation range of the housing. In the above cases, the counterweight 531 is in the closed cavity formed by the retracting member 532 and will not come into contact with water.

[0143] It can also be understood that when the center-of-gravity adjusting device is arranged in the aforementioned sealed second cavity, whether the first cavity formed by the folding member is a sealed cavity will not affect the working environment of the counterweight. In this case, the structure form of the folding member is not limited in the embodiments of the present application.

[0144] According to the above technical means, arranging the center-of-gravity adjusting device 530 in the sealed cavity formed by the housing of the cleaning main body 510 or setting the folding member 532 as a sealed cavity can avoid the direct contact between the counterweight 531 and water.

[0145] In some embodiments, a plurality of drain holes 538 are arranged on the folding member 532, and the drain holes 538 communicate the first cavity with the external environment, so that the water in the external environment enters the first cavity or the water in the first cavity is discharged to the external environment.

[0146] According to the previous description, the center-of-gravity adjusting device 530 can be arranged outside the housing of the cleaning main body 510, and it can be fixedly connected or detachably connected to the outer shell of the cleaning main body 510; alternatively, the housing of the cleaning main body 510 forms a non-sealed space, and the center-of-gravity adjusting device 530 can be arranged in the non-sealed space.

[0147] In this case, if the first cavity is set as a sealed structure, when the sealed structure is in the area below the water surface, it will cause an increase in the buoyancy of the cleaning main body 510, which is not conducive to the control of the cleaning device.

[0148] In this case, a plurality of drain holes 538 can be arranged on the folding member 532 to communicate the first cavity with the external environment. When the counterweight 531 moves in the first cavity, the center-of-gravity position of the cleaning device can be changed, but the buoyancy of the cleaning device will not be affected. After the pool is cleaned, the water in the first cavity can be discharged through the drain holes 538, so that the inside of the first cavity and the counterweight 531 are in a dry environment, avoiding the influence of the rust of the folding member 532 and the counterweight 531 on the pool water body; in addition, the dry environment in the first cavity can reduce the possibility of bacteria breeding.

[0149] In some embodiments, along the traveling direction of the cleaning main body, the center-of-gravity adjusting device is arranged at the rear of the cleaning main body; the above-mentioned traveling direction can be the same as the moving direction when the cleaning main body climbs upward on the pool wall.

[0150] The center-of-gravity adjustment device is arranged at the rear of the cleaning main body, so that the center of gravity of the cleaning device moves backward. When the cleaning main body is moving, in the case of an uneven bottom surface of the swimming pool or encountering water flow impact when cleaning the water surface, etc., it can effectively prevent the cleaning device from tilting forward and enhance the running stability of the cleaning device; when the cleaning device turns, due to the center of gravity being at the rear, it is more conducive to changing the moving direction. In addition, the cleaning unit, the driving device and related accessories in the cleaning main body usually need to be arranged in the middle and front of the cleaning device. Arranging the center-of-gravity adjustment device at the rear can not occupy the internal space of the cleaning main body and is more conducive to the mechanism and structural design.

[0151] In some embodiments, as Figure 8 shown, a third cavity is formed in the cleaning main body 510, and the center-of-gravity adjustment device 530 is arranged in the third cavity.

[0152] Figure 9 and Figure 10 is Figure 8 the A-A sectional view of Figure 11 and is the structural schematic diagram of the pool cleaning device when the cleaning main body is inclined to the first side relative to the vertical direction on the pool side wall. Figure 9 and Figure 10 respectively show the forms of the center-of-gravity adjustment device 530 when the cleaning main body 510 is in the horizontal and vertical states.

[0153] The center-of-gravity adjustment device 530 includes a supporting part 533, and the supporting part 533 is configured to have a first supporting position 5331 and a second supporting position 5332.

[0154] As described above, when cleaning the bottom or water surface of the swimming pool, it is necessary to keep the center of gravity of the pool cleaning device 500 stable to prevent the attitude of the pool cleaning device 500 from being affected. To achieve the above purpose, in the embodiments of the present application, when the cleaning main body 510 walks along the bottom or water surface of the swimming pool, the counterweight can be constrained at the first supporting position 5331 by the supporting part 533.

[0155] As Figure 9As shown, the supporting part 533 has a first supporting position 5331. When the cleaning main body 510 is in a horizontal state, the first supporting position 5331 is the lowest point of the supporting part 533 in the vertical direction. Or rather, the first supporting position 5331 is the lowest point of the supporting part 533 in the height direction of the cleaning main body 510. From the width direction of the cleaning main body 510, the above-mentioned first supporting position 5331 is within the longitudinal section of the cleaning main body 510. By setting the first supporting part 533 at the lowest point of the supporting part 533, the counterweight 531 can be positioned at the first supporting position 5331 under the action of its own gravity; and since all other positions around the first supporting position 5331 are higher than the first supporting position 5331, the counterweight 531 cannot move in other directions, making the overall center of gravity of the pool cleaning device 500 stable.

[0156] When the pool cleaning device 500 is cleaning the pool wall, it also needs to keep its center of gravity stable so that the movement trajectory of the pool cleaning device 500 is controllable. In the solution of the embodiment of the present application, the supporting part 533 also has a second supporting position 5332. When the cleaning main body 510 walks vertically on the side wall of the pool, the second supporting position 5332 is located at the lowest point of the supporting part 533 in the vertical direction. Or rather, the second supporting position 5332 is the outermost end of the supporting part 533 in the length direction of the cleaning main body 510. From the width direction of the cleaning main body 510, the above-mentioned second supporting position 5332 is on the longitudinal section of the cleaning main body 510, or rather, the counterweight is in the first position relative to the longitudinal section as described above.

[0157] Combined with the above description, both the first supporting position 5331 and the second supporting position 5332 are within the longitudinal section of the cleaning main body 510. When the pool cleaning device 500 is converted from a horizontal state to a vertical state, the counterweight moves from the first supporting position 5331 to the second supporting position 5332, and the movement trajectory of the counterweight at this time is also located on this longitudinal section.

[0158] Refer to Figure 11 , when the cleaning main body 510 tilts to the first side relative to the vertical direction on the side wall of the pool, the counterweight can break away from the second supporting position 5332 and move to the first side under the action of the supporting part 533; in this case, the positional relationship between the counterweight and the aforementioned longitudinal section changes, that is, it moves from the first position relative to the longitudinal section in front of the cleaning water line to the second position relative to the longitudinal section when at the cleaning water line.

[0159] When the counterweight breaks away from the second supporting position 5332 and moves to the first side, the center of gravity of the pool cleaning device 500 moves correspondingly to the first side. In this way, under the combined action of the thrust of the drainage pump and the center of gravity offset, the pool cleaning device 500 can clean the water line.

[0160] When the pool cleaning device 500 switches from the inclined state of the cleaning water line to the state of walking in the vertical direction, since the second supporting position 5332 is at the lowest point, the counterweight can return to the second supporting position 5332 under its own gravity.

[0161] In some embodiments, as Figure 9 and Figure 10 shown, the supporting part 533 further has a third positioning part 5333 and a fourth positioning part 5334. When the counterweight is located at the first supporting position 5331, the counterweight can be positioned in the third positioning part 5333. When the counterweight is located at the second supporting position 5332, the counterweight can be positioned in the fourth positioning part 5334. The above-mentioned third positioning part 5333 and fourth positioning part 5334 can ensure the stability of the center of gravity position of the pool cleaning device 500 in the horizontal or vertical walking state.

[0162] In some embodiments, as Figure 11 shown, the supporting part 533 further has at least one fifth positioning part 5335. When the cleaning main body 510 is inclined on the pool wall, the counterweight 531 disengages from the fourth positioning part 5334 and shifts to the side consistent with the inclined direction and is positioned in the fifth positioning part 5335. The positions where the counterweight 531 is located in the fourth positioning part 5334 and the fifth positioning part 5335 are the first position and the second position mentioned above.

[0163] It can also be understood that the number of the above-mentioned fifth positioning parts 5335 can be one. At this time, the pool cleaning device 500 performs water line cleaning in one direction. The number of the fifth positioning parts 5335 can also be two. The two fifth positioning parts 5335 are symmetrically arranged with respect to the longitudinal section. In this way, no matter which side the pool cleaning device 500 inclines to, the counterweight can be positioned in the corresponding fifth positioning part 5335, ensuring that the center of gravity of the pool cleaning device 500 does not change greatly during the cleaning of the water line area and ensuring that the running track of the pool cleaning device 500 is controllable.

[0164] In some embodiments, the above-mentioned third positioning part 5333, fourth positioning part 5334 and fifth positioning part 5335 can be recessed areas or positioning holes provided on the supporting part 533.

[0165] In some embodiments, the above-mentioned supporting part can be a space groove structure with a circular or U-shaped cross section.

[0166] Alternatively, as another possible implementation manner of the present application, the above-mentioned supporting part can also be a hollow sphere fixedly connected to the cleaning main body, and the counterweight is arranged inside the hollow sphere and can roll on its wall surface.

[0167] In some embodiments, asFigure 12 As shown, the center-of-gravity adjusting device 530 may further include a rigid connecting member 534. The first end of the rigid connecting member 534 is fixedly connected to the counterweight 531, and the second end of the rigid connecting member is hinged to the cleaning main body 510.

[0168] In an embodiment of the present application, the rigid connecting member 534 may be made of a material with relatively high mechanical strength. For example, the rigid connecting member 534 may be made of metal materials such as steel, iron, and aluminum; or, the rigid connecting member 534 may also be made of engineering plastics or other materials with relatively high strength.

[0169] The manner in which the rigid connecting member 534 is fixedly connected to the counterweight 531 may include any one of welding, bonding, and threaded connection. For example, when both the rigid connecting member 534 and the counterweight 531 are made of metal materials such as iron, welding may be used to connect them. Or, as a possible implementation manner, an internal thread may be machined on the counterweight 531, and an external thread may be machined at one end of the rigid connecting member 534. Through the screwing of the above internal and external threads, the fixed connection between the rigid connecting member 534 and the counterweight 531 is achieved. When the materials of the rigid connecting member 534 and the counterweight 531 are different, the counterweight 531 may be fixed to one end of the rigid connecting member 534 by bonding.

[0170] In an embodiment of the present application, when the pool cleaning device 500 is in a horizontal state, the axis direction of the rotation axis of the rigid connecting member 534 relative to the cleaning main body 510 is consistent with the vertical direction; or, on the other hand, when the pool cleaning device 500 is in a vertical state, the axis direction of the rotation axis of the rigid connecting member 534 is substantially horizontal.

[0171] When the cleaning main body 510 moves vertically on the pool wall, as Figure 12 shown, the counterweight 531 and the rigid connecting member 534 will hang under their own gravity. At this time, the line connecting the center of gravity of the counterweight 531 and the hinge point is consistent with the vertical direction. As Figure 13 shown, when the cleaning main body 510 is inclined relative to the vertical direction, the center-of-gravity adjusting device will maintain the state where the line connecting the center of gravity of the counterweight 531 and the hinge point is consistent with the vertical direction under the action of gravity; and at this time, the position of the longitudinal section of the cleaning main body 510 changes, so that the position of the counterweight 531 relative to the longitudinal section changes from the first position to the second position.

[0172] In a state where the above-mentioned rigid connecting member 534 can freely rotate around the hinge point, when the cleaning main body 510 moves vertically on the pool wall or tilts relative to the vertical direction, due to the gravitational force of the counterweight 531, the counterweight 531 will always maintain a substantially stable state. When cleaning the bottom or surface of the pool, since the rotation directions of the rigid connecting member 534 and the mating member are not in the same plane as the direction of gravity, this causes the counterweight 531 to be unable to maintain a stable state under the action of gravity. If it rotates around the hinge point, it will cause the center of gravity of the pool cleaning device 500 to shift, and further cause the pool cleaning device 500 to be unable to work stably.

[0173] To solve the above problems, in some embodiments of the present application, an elastic reset member can be provided between the second end of the rigid connecting member 534 and the cleaning main body 510. The elastic reset member is used to restore the center-of-gravity adjusting device to its initial state when the cleaning main body 510 walks on the bottom or surface of the pool. In this initial state, the counterweight 531 and the second end of the rigid connecting member 534 are located in the same vertical section plane, and this vertical section plane can be the longitudinal section plane mentioned in the previous text. The elastic reset member can be, for example, a spring.

[0174] The elastic reset member is configured such that when the cleaning main body 510 is in a horizontal state, the elastic force provided by the elastic reset member can keep the center-of-gravity adjusting device stable in the initial state; when the cleaning main body 510 tilts relative to the vertical direction, the gravitational moments of the counterweight 531 and the rigid connecting member 534 are greater than the moment of the elastic force, so that the counterweight 531 and the rigid connecting member 534 can rotate around the hinge point.

[0175] The embodiments of the present application do not limit the connection position between the rigid connecting member 534 and the cleaning main body 510. As a way of implementation, both the above-mentioned rigid connecting member 534 and the counterweight 531 are located in the space surrounded by the housing of the cleaning main body 510, where the space surrounded by the housing can be the second cavity or the third cavity mentioned in the previous text. Or, as a possible way of implementation, the above-mentioned rigid connecting member 534 can be provided outside the housing of the cleaning main body 510. For example, the rigid connecting member 534 and the counterweight 531 are provided on the bottom surface of the cleaning main body 510 or at the tail of the cleaning main body 510.

[0176] In some embodiments, the counterweight 531 in the center-of-gravity adjusting device 530 is configured to be able to approach or move away from the longitudinal section plane of the cleaning main body under the action of a first acting force, and the first acting force includes the driving force of the driving unit.

[0177] In the embodiments of the present application, the center-of-gravity adjusting device 530 further includes a driving unit 536, and the driving unit 536 can provide power for the counterweight 531 according to the working requirements of the pool cleaning device 500, so that the counterweight 531 deviates from the longitudinal section plane of the cleaning main body 510.

[0178] There can be many ways to implement the driving force of the driving unit 536. It can be an electric drive, for example, using a motor to drive the counterweight to move through structures such as gears, chains, or lead screws. The driving method of the driving unit can also be a hydraulic drive or a pneumatic drive, using the energy of a hydraulic system or compressed air to push the counterweight to move. The driving method of the driving unit can also be an electromagnetic drive. An electromagnetic coil is provided on the cleaning body. When the electromagnetic coil is energized or the current changes, different intensities of magnetic fields are generated. This magnetic field interacts with the counterweight made of ferromagnetic material to generate an electromagnetic force, thereby driving the counterweight to move.

[0179] The following will combine several examples to elaborate in detail on several possible implementation methods of the driving unit.

[0180] Figure 14 A possible implementation method of the center-of-gravity adjustment device is shown. Figure 14 The driving unit 536 shown in includes a second driving motor 5361, a first pulley 5362, a second pulley 5363, and a timing belt 5364. Among them, the second driving motor 5361 is connected to the first pulley 5362 and is used to drive the first pulley 5362 to rotate. The first pulley 5362 and the second pulley 5363 are arranged at intervals along the width direction of the cleaning body. The timing belt 5364 is wound around the outside of the first pulley 5362 and the second pulley 5363. The counterweight 531 is fixedly connected to the timing belt 5364. When the second driving motor 5361 drives the first pulley 5362 to rotate, the timing belt 5364 can drive the counterweight 531 to move along the width direction of the cleaning body.

[0181] Or, as a possible implementation method, as shown in Figure 15 The driving unit 536 includes a third driving motor 5365, a lead screw 5366, and a lead nut 5367. Among them, the third driving motor 5365 is connected to the lead screw 5366 and is used to drive the lead screw 5366 to rotate. The counterweight 531 in the center-of-gravity adjustment device is connected to the lead nut 5367. The lead nut 5367 is sleeved on the lead screw 5366 and is threadedly connected to the lead screw 5366.

[0182] The axial direction of the lead screw 5366 is consistent with the width direction of the cleaning body 510. When the third driving motor 5365 drives the lead screw 5366 to rotate, the lead nut 5367 can drive the counterweight 531 to move along the axial direction of the lead screw 5366, thereby changing the position of the counterweight 531 along the width direction of the cleaning body 510.

[0183] In some embodiments, in combination with Figure 12In the technical solution, the rigid connecting member and the counterweight can rotate around the hinge point under the action of an external force provided by the driving unit. This external force can be provided by a motor (or a servo motor). When the pool cleaning device is in a horizontal state or moves vertically on the pool wall, the counterweight is controlled by the motor to be in a first position relative to the longitudinal section. When cleaning the water line, the rigid connecting member and the counterweight are driven to swing so as to move the counterweight to a second position relative to the longitudinal section.

[0184] It can also be understood that in the technical solution where the first force is gravity in the foregoing text, when the cleaning body is inclined relative to the vertical direction, the offset distance of the counterweight relative to the longitudinal section, or rather, the distance of the second position relative to the first position, is related to the inclination angle of the cleaning body. The greater the inclination angle of the cleaning body, the greater the offset distance of the counterweight. The method of adjusting the center of gravity position according to gravity as described above is a passive adjustment.

[0185] However, in the technical solution provided in the foregoing embodiment, by using the driving unit to drive the counterweight to move, the position of the counterweight can be actively adjusted in different cleaning scenarios, enabling the pool cleaning device to maintain good stability and flexibility in different scenarios.

[0186] In some embodiments, the number of drain openings 511 in the pool cleaning device 500 can be one as shown in Figure 5 which is provided at the middle position in the width direction of the cleaning body 510. Such a setting helps to evenly distribute the thrust generated by the drainage pump on the cleaning body 510.

[0187] Or, as shown in Figure 16 , the number of drain openings 511 can be two, and these two drain openings 511 are symmetrically arranged along the middle longitudinal section in the width direction of the cleaning body 510.

[0188] In the embodiments of the present application, the two drain openings 511 can respectively correspond to a drainage pump. During the cleaning process, the two drainage pumps can work together to provide a greater thrust; or, one of the drainage pumps can be selected to work according to different cleaning scenarios. For example, when cleaning the water line, the drainage pump on the side away from the offset direction of the cleaning body can be controlled to work.

[0189] Alternatively, as an implementation, the above two drain outlets 511 can be connected to the same drain pump through a fluid channel inside the cleaning main body 510, and the two drain outlets 511 can be selectively opened or closed; the two drain outlets 511 can be in the open state simultaneously, and the fluid sucked by the drain pump can be discharged through the two drain outlets 511 at the same time. At this time, symmetrical thrusts can be generated on both sides of the middle longitudinal section; when cleaning the water line, the drain outlet close to the inclined side of the cleaning main body can be controlled to be closed, and the other drain outlet can be opened, so that the cleaning device can move along the water line towards the inclined side. For example, when the center of gravity of the pool cleaning device 500 shifts to the right, the drain outlet on the right side can be controlled to be closed, and the drain outlet on the left side can be opened, so that the pool cleaning device 500 can move along the water line to the right side.

[0190] The embodiment of the present application also provides a water line cleaning method. Figure 17 It is a schematic flowchart of the water line cleaning method. The water line cleaning method is applied to a pool cleaning device, and the pool cleaning device can be the pool cleaning device described in any of the foregoing embodiments.

[0191] The pool cleaning device includes: a cleaning main body configured to be able to walk on the pool side wall, and a drain outlet is provided at the top of the cleaning main body; a drain pump provided on the cleaning main body for discharging fluid from the drain outlet to provide a thrust force for the pool cleaning device towards the pool side wall; a center of gravity adjusting device connected to the cleaning main body, and the center of gravity adjusting device includes a counterweight body, and the counterweight body is configured to be able to approach or move away from the longitudinal section of the cleaning main body to adjust the relative position of the center of gravity of the pool cleaning device and the drain outlet, and the longitudinal section is one of a plurality of vertical sections of the cleaning main body in its width direction.

[0192] Figure 17 The method in includes: step S1710, adjusting the counterweight body to the second position. In the technical solution of the present application, the counterweight body has a first position relative to the longitudinal section before cleaning the water line and a second position relative to the longitudinal section when cleaning the water line, and the second position is different from the first position.

[0193] Step S1720, controlling the drain pump to provide a thrust force so that the cleaning main body can move along the water line on the pool side wall.

[0194] In some embodiments, the counterweight body is configured to be able to approach or move away from the longitudinal section of the cleaning main body under the action of a first acting force, and the first acting force includes gravity.

[0195] In some embodiments, the cleaning main body is further configured to be able to tilt relative to the vertical direction on the pool side wall.

[0196] Adjusting the counterweight to the second position in the foregoing step S1710 includes: when the cleaning main body is tilted towards the first side relative to the vertical direction, the counterweight changes its position relative to the longitudinal section under the action of gravity, so that the center of gravity of the pool cleaning device shifts towards the first side relative to the drain opening.

[0197] In some embodiments, the center of gravity adjusting device includes a converging member that encloses and forms a first cavity. The counterweight is located in the first cavity and is configured to be able to change its position in the first cavity under the action of gravity. The converging member includes a first section and a second section. Along the axial direction of the converging member, the second section is located on at least one side of the first section, and along the direction away from the first section along the axis of the converging member, the second section extends towards the direction close to the axis of the converging member.

[0198] In some embodiments, the converging member includes a first positioning portion provided on the first section. When the counterweight is located on the first section, the counterweight can be positioned in the first positioning portion.

[0199] In some embodiments, the converging member further includes a second positioning portion provided on the second section. When the counterweight is located on the second section, the counterweight can be positioned in the second positioning portion.

[0200] In some embodiments, the cleaning main body is further configured to be able to walk on the bottom or surface of the pool. When the cleaning main body walks on the bottom or surface of the pool, the counterweight is positioned in the first positioning portion.

[0201] In some embodiments, the converging member includes a peripheral wall and side walls provided on both sides of the peripheral wall along the axial direction of the converging member. The peripheral wall and the side walls together enclose and form the first cavity. The center of gravity adjusting device further includes a buffer member provided in the first cavity and at least partially covering the side walls.

[0202] In some embodiments, the center of gravity adjusting device is disposed in a closed second cavity formed by the cleaning main body, or the first cavity is a closed cavity.

[0203] In some embodiments, a plurality of drain holes are formed in the converging member. The drain holes communicate the first cavity with the external environment, so that water in the external environment enters the first cavity or the water in the first cavity is discharged to the external environment.

[0204] In some embodiments, along the traveling direction of the cleaning main body, the center of gravity adjusting device is located at the rear of the cleaning main body.

[0205] In some embodiments, a third cavity is formed in the cleaning body, and the center-of-gravity adjusting device is disposed in the third cavity. The center-of-gravity adjusting device includes a counterweight and a supporting portion; the supporting portion is configured to have a first supporting position and a second supporting position; the first supporting position is the lowest point of the supporting portion in the vertical direction when the cleaning body is in a horizontal state; the second supporting position is the lowest point of the supporting portion in the vertical direction when the cleaning body is in a vertical state; when the cleaning body walks along the bottom or the water surface of the swimming pool, the counterweight is positioned at the first supporting position; when the cleaning body walks vertically on the side wall of the swimming pool, the counterweight is positioned at the second supporting position; when the cleaning body tilts to the first side relative to the vertical direction on the side wall of the swimming pool, the counterweight disengages from the second supporting position and moves to the first side under the action of the supporting portion.

[0206] In some embodiments, the center-of-gravity adjusting device further includes a rigid connecting member. The first end of the rigid connecting member is connected to the counterweight, and the second end of the rigid connecting member is hinged to the cleaning body; the counterweight and the rigid connecting member can swing around the second end of the rigid connecting member under the action of a first acting force, so that the counterweight deviates from the longitudinal section.

[0207] In some embodiments, an elastic reset member is further disposed between the second end of the rigid connecting member and the cleaning body; the elastic reset member is used for: when the cleaning body walks on the bottom or the water surface of the swimming pool, restoring the center-of-gravity adjusting device to the initial position; in the initial position, the counterweight and the second end of the rigid connecting member are located on the same vertical section.

[0208] In some embodiments, the center-of-gravity adjusting device further includes a driving unit. Adjusting the counterweight to the second position in the foregoing step S1710 includes: driving the counterweight to deviate from the longitudinal section by using the driving force of the driving unit.

[0209] In some embodiments, the pool cleaning device includes a drain opening, and the drain opening is disposed at the middle position in the width direction of the cleaning body; alternatively, the pool cleaning device includes two drain openings, and the two drain openings are symmetrically disposed along the longitudinal section, and the longitudinal section is the middle longitudinal section of the cleaning body in its width direction.

[0210] In the description of the present application, it should be understood that the orientation or positional relationship indicated by the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present application.

[0211] In this application, unless otherwise clearly stipulated and defined, terms such as "install", "connect", "link", "fix", etc. shall be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or integrated; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two components or the interaction relationship between two components, unless otherwise clearly defined. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0212] In this application, unless otherwise clearly stipulated and defined, the first feature being "on" or "under" the second feature can be that the first and second features are in direct contact, or the first and second features are indirectly in contact through an intermediate medium. Moreover, the first feature being "above", "over" and "on top of" the second feature can be that the first feature is directly above or obliquely above the second feature, or merely indicates that the first feature has a higher horizontal height than the second feature. The first feature being "under", "below" and "beneath" the second feature can be that the first feature is directly below or obliquely below the second feature, or merely indicates that the first feature has a lower horizontal height than the second feature.

[0213] In the description of this specification, the description with reference to terms such as "one embodiment", "some embodiments", "example", "specific example", or "some examples", etc. means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of this application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in a suitable manner in any one or more embodiments or examples. In addition, without contradiction, those skilled in the art can combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples.

[0214] As mentioned above, it is only the preferred embodiment of this application, and is not used to limit the protection scope of this application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of this application shall be included in the protection scope of this application.

Claims

1. A pool cleaning device, characterized in that, The pool cleaning device includes: A cleaning main body configured to be able to walk on the side wall of the pool, and a drain opening is provided at the top of the cleaning main body; A drain pump is provided on the cleaning main body for discharging fluid from the drain opening to provide a thrust for the cleaning device towards the side wall of the pool; A center of gravity adjusting device is connected to the cleaning main body. The center of gravity adjusting device includes a counterweight body. The counterweight body is configured to be able to approach or move away from the longitudinal section of the cleaning main body to adjust the relative position of the center of gravity of the cleaning device and the drain opening. The longitudinal section is one of a plurality of vertical sections of the cleaning main body in its width direction; Wherein, the counterweight body has a first position relative to the longitudinal section before the cleaning water line and a second position relative to the longitudinal section at the cleaning water line, and the second position is different from the first position; When the counterweight body is in the second position, the drain pump provides the thrust so that the cleaning main body can move along the water line on the side wall of the pool.

2. The pool cleaning device according to claim 1, wherein The counterweight body is configured to be able to approach or move away from the longitudinal section of the cleaning main body under the action of a first acting force, and the first acting force includes gravity.

3. The pool cleaning device according to claim 2, wherein The cleaning main body is further configured to be able to tilt relative to the vertical direction on the side wall of the pool; In a state where the cleaning main body tilts towards the first side relative to the vertical direction, the counterweight body changes its position relative to the longitudinal section under the action of gravity, so that the center of gravity of the cleaning device shifts towards the first side relative to the drain opening.

4. The pool cleaning device according to claim 3, wherein The center of gravity adjusting device includes a converging member. The converging member encloses to form a first cavity. The counterweight body is located in the first cavity and is configured to be able to change its position in the first cavity under the action of gravity; The converging member includes a first section and a second section. Along the axial direction of the converging member, the second section is located on at least one side of the first section, and along the direction in which the second section is away from the first section along the axis of the converging member, the second section extends towards the direction close to the axis of the converging member.

5. The pool cleaning device according to claim 4, wherein The converging member includes a first positioning portion provided on the first section. When the counterweight body is located in the first section, the counterweight body can be positioned in the first positioning portion.

6. The pool cleaning device according to claim 5, wherein The converging member further includes a second positioning portion provided on the second section. When the counterweight body is located in the second section, the counterweight body can be positioned in the second positioning portion.

7. The pool cleaning device according to claim 5, wherein, The cleaning main body is further configured to be able to walk on the bottom or the water surface of the pool; When the cleaning main body walks on the bottom or the water surface of the pool, the counterweight body is positioned in the first positioning portion.

8. The pool cleaning device according to any one of claims 4-7, wherein The folding member includes a peripheral wall and side walls provided on both sides of the peripheral wall along the axial direction of the folding member, and the peripheral wall and the side walls jointly enclose to form the first cavity; The center-of-gravity adjusting device further includes a buffer member, the buffer member is provided in the first cavity, and at least partially covers the side walls.

9. The pool cleaning device according to any one of claims 4-7, characterized in that The center-of-gravity adjusting device is provided in a closed second cavity formed by the cleaning main body, or the first cavity is a closed cavity.

10. The pool cleaning device according to any one of claims 4-7, characterized in that, A plurality of drain holes are formed in the folding member, and the drain holes communicate the first cavity with the external environment, so that the water in the external environment enters the first cavity or the water in the first cavity is discharged to the external environment.

11. The pool cleaning device according to claim 10, characterized in that Along the traveling direction of the cleaning main body, the center-of-gravity adjusting device is located at the rear of the cleaning main body.

12. The pool cleaning device according to claim 2, characterized in that A third cavity is formed in the cleaning main body, the center-of-gravity adjusting device is provided in the third cavity, and the center-of-gravity adjusting device includes a counterweight and a supporting portion; The supporting portion is configured to have a first supporting position and a second supporting position; The first supporting position is the lowest point of the supporting portion along the vertical direction when the cleaning main body is in a horizontal state; The second supporting position is the lowest point of the supporting portion along the vertical direction when the cleaning main body is in a vertical state; When the cleaning main body walks along the bottom or the water surface of the pool, the counterweight is positioned at the first supporting position; When the cleaning main body walks along the vertical direction on the side wall of the pool, the counterweight is positioned at the second supporting position; When the cleaning main body inclines to the first side relative to the vertical direction on the side wall of the pool, the counterweight disengages from the second supporting position and moves to the first side under the action of the supporting portion.

13. The pool cleaning device according to claim 2, characterized in that The center-of-gravity adjusting device further includes a rigid connecting member, a first end of the rigid connecting member is connected to the counterweight, and a second end of the rigid connecting member is hinged to the cleaning main body; The counterweight and the rigid connecting member can swing around the second end of the rigid connecting member under the action of the first acting force, so that the counterweight deviates from the longitudinal section.

14. The pool cleaning device according to claim 13, characterized in that, An elastic reset member is further provided between the second end of the rigid connecting member and the cleaning main body; The elastic reset member is used for: when the cleaning main body walks on the bottom or the water surface of the pool, restoring the center-of-gravity adjusting device to the initial position; In the initial position, the counterweight and the second end of the rigid connecting member are located on the same vertical section.

15. The pool cleaning device according to claim 1, characterized in that The counterweight is configured to be able to approach or move away from the longitudinal section of the cleaning main body under the action of a first acting force, and the first acting force includes the driving force of the driving unit; The center-of-gravity adjustment device further includes the driving unit, and the counterweight is configured to be able to deviate from the longitudinal section under the action of the driving force of the driving unit.

16. The pool cleaning device according to any one of claims 1-7, 11-15, characterized in that the pool cleaning device includes one of the drain openings, and the drain opening is arranged at a middle position in the width direction of the cleaning main body; alternatively, the pool cleaning device includes two of the drain openings, and the two drain openings are symmetrically arranged along the longitudinal section, and the longitudinal section is the middle longitudinal section of the cleaning main body in its width direction.

17. A water line cleaning method, applied to the pool cleaning device as described in any one of claims 1-16, characterized in that, The water line cleaning method includes: adjusting the counterweight to the second position; controlling the drainage pump to provide the thrust so that the cleaning main body can move along the water line on the pool side wall.

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