Automatic pool cleaning device, control method thereof, and computer storage medium

Abstract

This application provides an automatic pool cleaning device, its control method, and a computer storage medium. The automatic pool cleaning device includes a filter, a buoyancy adjustment mechanism, a housing, and a water pump at least partially located within the housing. The water pump draws external water into the filter. The housing has an opening connected to the water pump. The control method includes: controlling the automatic pool cleaning device to move upward underwater until the opening emerges above the water surface; when the opening emerges, controlling the water pump to draw air from outside the housing into the opening, wherein the pitch angle of the automatic pool cleaning device changes after the external air enters the opening; determining whether the change in the pitch angle of the automatic pool cleaning device or the duration of the water pump drawing air from outside the housing into the opening meets a predetermined condition; if so, controlling the buoyancy adjustment mechanism to increase the buoyancy of the automatic pool cleaning device. This method can improve the stability and safety of buoyancy adjustment when the machine floats.

Description

Technical Field

[0001] This application relates to the field of cleaning device technology, and in particular to an automatic water tank cleaning device, its control method, and a computer storage medium. Background Technology

[0002] With the development of computer technology, robotics technology has also developed rapidly. Currently, underwater robots are being used more and more widely in various fields, assisting people in carrying out work in water, such as underwater cleaning.

[0003] The robot that cleans the pool can clean the bottom, walls and surface of the pool. This requires adjusting the position of the robot in the water according to the operation requirements. For example, when the machine switches from cleaning the bottom of the pool to cleaning the surface, it needs to be controlled to switch the machine from the bottom of the pool to a floating state on the surface. Summary of the Invention

[0004] According to one aspect of this disclosure, a control method for an automatic water tank cleaning device is provided. The automatic water tank cleaning device includes a filter device, a buoyancy adjustment mechanism, a housing, and a water pump at least partially located within the housing. The water pump is used to draw external water into the filter device. The housing has an opening that communicates with the water pump. The control method includes:

[0005] Control the automatic cleaning device of the pool to move upward underwater until the opening is exposed above the water surface;

[0006] When the opening is exposed above the water surface, the water pump is controlled to draw air from outside the housing into the opening. After the outside air enters the opening, the pitch angle of the automatic cleaning device for the water tank will change.

[0007] Determine whether the change in the pitch angle of the automatic water tank cleaning device or the duration for which the water pump draws air from outside the housing into the opening meets a predetermined condition. If it does, control the buoyancy adjustment mechanism to increase the buoyancy of the automatic water tank cleaning device.

[0008] Furthermore, the predetermined condition includes a change in the pitch angle of the automatic water tank cleaning device that is greater than 30°.

[0009] Furthermore, the change in pitch angle is measured by an inertial measurement unit.

[0010] Furthermore, the predetermined conditions include a duration of 3-10 seconds.

[0011] Furthermore, the opening is located at the head or middle of the automatic cleaning device for the pool and is not connected to the buoyancy adjustment mechanism.

[0012] Furthermore, the opening includes at least one of the following: an air vent, a drain, a head inlet, and a bottom inlet of the automatic cleaning device for the water tank.

[0013] Furthermore, the buoyancy adjustment mechanism includes an air intake device, an air intake port, and an airbag. The air intake device can draw in external air into the airbag through the air intake port.

[0014] Furthermore, the method of controlling the buoyancy adjustment mechanism to increase the buoyancy of the automatic pool cleaning device includes controlling the air intake to open so that external air can enter the airbag.

[0015] Furthermore, the buoyancy adjustment mechanism includes an air intake, which is positioned above the water surface when the change in the pitch angle of the automatic cleaning device for the pool or the duration for which the water pump draws air from outside the housing into the opening meets a predetermined condition.

[0016] Furthermore, when the opening is exposed above the water surface, controlling the water pump to draw air from outside the housing into the opening includes:

[0017] Check if the opening is above the water surface. If so, turn on the water pump to allow air from outside the housing to enter the opening through the pump's suction action.

[0018] Furthermore, the presence or absence of the opening is detected by a water outlet detection sensor, a depth gauge, a power change of the water pump, or an image sensor.

[0019] Furthermore, the opening includes a water inlet at the head of the fuselage and / or a water inlet at the bottom of the fuselage. When the opening is exposed above the water surface, the method further includes:

[0020] Control the opening of the water inlet at the head of the fuselage and / or the water inlet at the bottom of the fuselage so that the water pump draws air from outside the housing into the opening.

[0021] According to a second aspect of this disclosure, an automatic pool cleaning device is provided, which is capable of performing the control methods described above.

[0022] According to a third aspect of this disclosure, a computer storage medium is provided, wherein a computer program is stored therein, which, when executed by a processor, implements any of the methods described above.

[0023] The embodiments described in this application have the following beneficial effects:

[0024] The control method for the automatic pool cleaning device provided in this application controls the device to move upwards from underwater until the opening on the machine protrudes above the water surface. Through the suction action of a water pump, air from outside the machine casing is drawn into the casing through the opening. This air displaces the water inside the casing, reducing the machine's weight and increasing buoyancy, thus causing the machine to float. Furthermore, the air drawn in is more concentrated at the head of the machine than at the tail, resulting in greater buoyancy at the head and a tilted posture with the head higher than the tail, thus changing the machine's pitch angle. Since the number and size of the openings on the machine are generally greater than the air intake, and the water pump is also relatively powerful, the buoyancy of the machine can increase rapidly under the suction action of the pump. This allows the part of the machine head protruding above the water surface to be stably maintained, keeping the air intake of the buoyancy adjustment mechanism above the water surface. By controlling the buoyancy adjustment mechanism to further increase the buoyancy of the automatic pool cleaning device, the machine is controlled to float on the water surface. This avoids the situation where the machine's buoyancy increases slowly when directly increasing buoyancy through the buoyancy adjustment mechanism. In the initial stage of buoyancy adjustment, the machine detaches from the pool wall, making it impossible for the walking mechanism to provide upward force. When the machine's buoyancy is insufficient, the machine head and air intake will float up and down on the water surface, causing water to enter the buoyancy adjustment mechanism and affecting the stability and safety of the machine's buoyancy adjustment. Attached Figure Description

[0025] To more clearly illustrate the technical solutions of the embodiments of this disclosure, the accompanying drawings used in the description of the embodiments will be briefly introduced below. The accompanying drawings in the following description are merely exemplary embodiments of this disclosure.

[0026] Figure 1 A schematic diagram of the automatic water tank cleaning device provided in this application is shown;

[0027] Figure 2 A flowchart illustrating the control method of the automatic water tank cleaning device provided in this application is shown;

[0028] Figure 3 This illustration shows a scenario where the automatic pool cleaning device provided in this application floats to the surface of the water via the pool wall.

[0029] The above figures include the following reference numerals:

[0030] 100. Automatic water tank cleaning device; 101. Housing; 102. Water inlet at the head of the machine body; 103. Air trapping and exhaust port; 104. Water inlet at the bottom of the machine body; 105. Drain port; 106. Air intake port. Detailed Implementation

[0031] To make the objectives, technical solutions, and advantages of this application clearer, the technical solutions of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0032] Unless otherwise specified, the following description will use a robot as an example of the automatic pool cleaning device and a swimming pool as an example of a pool or pool-shaped structure.

[0033] Automatic pool cleaning devices can be designed to move along a pre-planned route or predetermined rules on the bottom, walls, and / or surface of a pool, driven by electricity or other means, via their travel mechanism (which may include travel wheels, tracks, or water jet nozzles), while simultaneously operating their cleaning mechanism (which may include roller brushes, suction inlets, etc.) to clean dirt, filter pool water, and absorb waste in the current area.

[0034] like Figure 1 As shown in the figure, this specification provides an automatic water tank cleaning device 100. The automatic water tank cleaning device 100 may include a housing 101, a filter device (e.g., a filter basket), a buoyancy adjustment mechanism, and a water pump at least partially located within the housing 101. The water pump can draw water from outside the housing 101 into the filter device via suction, such as... Figure 1 As shown, the automatic cleaning device for the water tank is also equipped with a water outlet. Water drawn into the filtration device flows out from the outlet after filtration, thereby filtering out the garbage in the water tank into the filtration device. The housing 101 is provided with an opening, which can be a hole or gap on the housing 101 that allows communication with the outside. Furthermore, the opening can be connected to a water pump. When the opening is exposed above the water surface, the suction action of the water pump can draw outside air into the housing 101 through the opening.

[0035] The opening is located at the head or middle of the automatic water cleaning device 100. When the head or middle of the machine is exposed above the water surface, the opening is also located above the water surface, so that the air inside the housing can be connected to the outside air.

[0036] Specifically, such as Figure 1As shown, the openings may include at least one of the following: an air vent 103, a drain 105, a head inlet 102, and a bottom inlet 104 of the automatic water cleaning device 100. The air vent 103 is located on the housing 101 and can be multiple. Generally, the air vent 103 is relatively small. After the machine is submerged in water, the air inside the housing 101 can be discharged through the air vent 103. Similarly, when the air vent 103 is on the water surface, the pump can draw external air into the housing 101 through the air vent 103. The drain 105 is used to drain water from inside the machine after it is retrieved from the pool and is generally located at the bottom of the housing 101. The head inlet 102 can be understood as the inlet for external water to enter the filter device when the machine is cleaning the water surface. The water inlet 104 at the bottom of the machine can be understood as the inlet where external water flows into the filter device when the machine is moving underwater.

[0037] As can be seen, the air vent 103, the drain 105, the water inlet 102 at the head of the fuselage, and the water inlet 104 at the bottom of the fuselage can all enable the connection between the inside of the housing 101 and the external environment. Of course, the opening can also be a gap on the housing 101 that can connect with the outside, such as the gap at the joint of different parts of the housing 101.

[0038] Furthermore, the opening is not connected to the buoyancy adjustment mechanism in the automatic pool cleaning device 100, meaning that when outside air enters the opening, it will not enter the buoyancy adjustment mechanism.

[0039] The buoyancy adjustment mechanism can be used to adjust the buoyancy of the automatic pool cleaning device 100, thereby controlling the vertical movement of the automatic pool cleaning device 100 in the pool. For example, the buoyancy adjustment mechanism may include an air intake device, an air intake port, and an air bladder. The air intake device can be a suction pump, and the air intake port is connected to the air bladder. When the air intake port is exposed above the water surface, it can communicate with the outside air. When the air intake device is working, it can draw air from outside the housing into the air bladder through the air intake port, thereby increasing the buoyancy of the automatic pool cleaning device 100, allowing the automatic pool cleaning device 100 to rise and float on the water surface. Figure 1 As shown, the air intake 106 is generally located at the head of the machine. Of course, depending on the usage requirements, the air intake can also be located at the tail of the machine or other areas. The specific location can be determined according to the usage requirements.

[0040] The optimal position for the opening and air intake is at the top of the machine head. This ensures that even if only a small portion of the machine head is above the water, the opening and air intake will still be visible, allowing outside air to enter the casing or air intake.

[0041] Furthermore, the specific structures of the filtration device, buoyancy adjustment mechanism, and water pump are not shown in the accompanying drawings. The structure and position of the above-mentioned components can be selected according to actual needs. This specification does not impose specific limitations on the embodiments.

[0042] The existing method of controlling the machine's buoyancy involves increasing buoyancy directly through a buoyancy adjustment mechanism after the machine's head emerges from the water. However, this method causes the machine to detach from the pool wall after increasing buoyancy, preventing the walking mechanism from providing further upward force. The air intake is generally small, and the pump in the buoyancy adjustment mechanism has limited power, resulting in a slow rate of buoyancy increase. At the beginning of buoyancy adjustment, the air intake is insufficient, causing the machine's head to bob up and down on the water surface, leading to water entering the buoyancy adjustment mechanism and affecting the stability and safety of the buoyancy adjustment process. Furthermore, the buoyancy adjustment mechanism generally includes multiple air bladders, which are arranged at the head and tail of the machine. When the multiple air bladders are inflated, the air intake of different air bladders may be different, and the weight of the front and rear of the machine is also different. This means that when the buoyancy of the machine is adjusted by the buoyancy adjustment mechanism, the buoyancy at the front and rear of the machine will be different, which will make the machine's attitude unstable and the head of the machine will float up and down on the water surface.

[0043] This application, after controlling the machine's head to emerge from the water, first uses a water pump to draw external air into the casing through an opening, causing the water inside the casing to be expelled by the air, reducing the machine's weight and increasing buoyancy. Furthermore, the drawn-in air is more concentrated at the head than at the tail, resulting in greater buoyancy at the head than at the tail. This causes the machine to tilt in the water with its head higher than its tail, thus changing its pitch angle. Additionally, the number and size of the openings are typically greater than the air intake, and the water pump's power is greater than the suction pump in the buoyancy adjustment mechanism. The pump's suction action rapidly increases the machine's buoyancy, allowing the pitch angle to change significantly in a short time and be stably maintained, keeping the air intake above the water surface. While the machine is in this state, the buoyancy adjustment mechanism further increases the buoyancy of the automatic pool cleaning device, preventing the air intake from floating up and down on the water surface and causing water to enter the buoyancy adjustment mechanism, thus improving the stability and safety of the machine's buoyancy control.

[0044] Figure 2 A flowchart illustrating the control method of the automatic water tank cleaning device provided in this application is shown below. Figure 2This paper introduces a control method for an automatic water tank cleaning device. This method can be applied to the controller of the automatic water tank cleaning device, which can control the sensors and drive mechanisms on the device to obtain data collected by the sensors and control the drive mechanisms to move the machine. For example... Figure 2 As shown, the control method includes:

[0045] S202. Control the automatic cleaning device of the pool to move upward underwater until the opening is exposed above the water surface.

[0046] Specifically, the automatic cleaning device for the pool can be controlled to float directly from the bottom of the pool using airbags or propellers, or it can be controlled to move upwards along the pool wall until the opening emerges from the water. For example, during the machine's upward movement, the presence of the opening can be detected by a water outlet detection sensor, depth gauge, change in water pump power, or image sensor. If the water outlet detection sensor (or depth gauge or image sensor) and the opening are located at the machine's head, when the water outlet detection sensor (or depth gauge or image sensor) detects water coming out of the machine's head, it indicates that the opening is also emerging from the water. The water pump power will differ when the machine is in water and in air; changes in water pump power can also be used to detect whether water is coming out of the machine (opening). The water outlet detection sensor can include capacitive water outlet sensors, ultrasonic water outlet sensors, light cone water outlet sensors, radar water outlet sensors, Hall effect water outlet sensors, or float-type water outlet sensors; the type of sensor can be selected according to needs.

[0047] Typically, a water outlet detection sensor or depth gauge is located at the head of the machine. When the water outlet detection sensor or depth gauge detects water outlet, it means that the location of the sensor or depth gauge has emerged above the water surface. At this point, the machine can continue to move upward for a predetermined time or distance to ensure that the opening is exposed above the water surface. Alternatively, if the machine has multiple openings, continuing to move upward can expose more openings above the water surface, thereby increasing the speed at which outside air enters the housing through the openings.

[0048] S204. When the opening is exposed above the water surface, the water pump is controlled to draw air from outside the housing into the opening, wherein the pitch angle of the automatic cleaning device for the water tank changes after the outside air enters the opening.

[0049] Specifically, when the opening is above the water surface, the water pump is controlled to perform a suction action, thereby drawing air from outside the casing into the casing through the opening. Once the outside air enters the casing through the opening, the machine is in a trapped-air state, increasing its buoyancy and thus changing the pitch angle of the automatic water cleaning device. For example... Figure 3As shown in Part A, the automatic cleaning device for the pool moves upwards along the pool wall until it reaches the opening above the water surface. At this point, the water pump draws in outside air through the opening. This air displaces the water inside the pool, reducing the machine's weight and increasing buoyancy. Furthermore, with the machine head above the water, it receives more air than the tail, resulting in greater buoyancy at the head. This causes the head to rise a greater distance than the tail, thus changing the machine's pitch angle, and the machine appears as follows: Figure 3 The tilt state shown in section B.

[0050] The definition, type, and location of the openings can be referred to the description in the above embodiments, and will not be repeated here. When the opening includes a water inlet at the head of the fuselage and / or a water inlet at the bottom of the fuselage, the water inlets at the head and bottom of the fuselage are generally equipped with baffles that can open or close the corresponding water inlets. When the opening is detected to be above the water surface, the water inlets at the head and / or bottom of the fuselage can be opened, which can increase the speed at which external air is drawn into the housing through the opening, thereby increasing the speed at which the machine floats to the water surface. Of course, there is a certain gap between the baffle and the corresponding water inlet, including the water inlets at the head and bottom of the fuselage. When the opening is above the water surface, the water inlets at the head and / or bottom of the fuselage can also remain closed, and external air can enter the housing through the gap, but the air intake speed is relatively slow.

[0051] Furthermore, the water pump can be in an active or off state when the machine moves upward. If the water pump is off, it can be turned on when the opening is detected to be above the water surface. If the machine is on when it moves upward, the water pump can maintain its original power or increase its power when the opening is detected to be above the water surface. In other words, the water pump is active after the opening is above the water surface, and the pump's suction action draws air from outside the casing into the casing through the opening, thereby changing the machine's orientation.

[0052] Understandably, when the water pump is drawing in air, the opening needs to be kept above the water surface so that the pump's suction can draw in outside air and into the casing.

[0053] S206. Determine whether the change in the pitch angle of the automatic water tank cleaning device or the duration for which the water pump draws air from outside the housing into the opening meets a predetermined condition. If it does, control the buoyancy adjustment mechanism to increase the buoyancy of the automatic water tank cleaning device.

[0054] Specifically, the machine is relatively heavy, while the amount of air drawn into the housing by the water pump is limited and dispersed within the housing. The buoyancy provided by this method of drawing air from the housing is usually insufficient to support the machine in a horizontal or near-horizontal state on the water surface, or to allow it to float for an extended period. To ensure the machine can float stably on the water surface for a longer period, this embodiment of the specification monitors the change in the pitch angle of the automatic water tank cleaning device or the duration of the water pump drawing air from outside the housing into the opening during the process of the water pump. If the change in pitch angle or the duration meets predetermined conditions, the buoyancy adjustment mechanism can be controlled to increase the buoyancy of the automatic water tank cleaning device. Figure 3 As shown in section C, after the buoyancy adjustment mechanism increases the buoyancy of the automatic pool cleaning device, the automatic pool cleaning device can float on the water surface to clean the water surface or facilitate users to retrieve the items.

[0055] Specifically, when the change in pitch angle or its duration meets predetermined conditions, it indicates that the buoyancy adjustment mechanism can stably adjust the buoyancy of the automatic cleaning device for the pool. For example, the buoyancy adjustment mechanism includes an air intake, such as... Figure 3 As shown in Part B, when the change in the pitch angle of the automatic pool cleaning device or the duration of the water pump drawing air from outside the housing into the opening meets predetermined conditions, the air intake 106 can be positioned above the water surface. This avoids insufficient buoyancy during buoyancy adjustment, especially in the initial stage, causing the machine's attitude to be unstable and the air intake 106 to float above or below the water. When external air is injected into the buoyancy adjustment mechanism (e.g., an air bladder) through the air intake 106, water may enter the air bladder, affecting the buoyancy adjustment of the automatic pool cleaning device. Figure 3 As shown in Part B, if the machine moves upward through the pool wall until the opening is exposed above the water surface, the water pump draws in outside air through the opening into the casing, increasing the machine's buoyancy. After the machine's pitch angle changes, at least a part of the machine will detach from the pool wall. The distance between the machine and the pool wall can also be monitored to determine whether the change in the machine's pitch angle meets the requirements.

[0056] Before controlling the buoyancy adjustment mechanism to increase the buoyancy of the automatic cleaning device in the pool, it is possible to further determine whether the air intake is above the water surface by using water outlet detection sensors or depth gauges, in order to improve the stability and safety of the buoyancy adjustment mechanism in adjusting the buoyancy of the machine.

[0057] The predetermined conditions may include a pitch angle change of more than 30° for the automatic pool cleaning device. The machine's pitch angle can be detected by an IMU (Inertial Measurement Unit), or it can be obtained by the measurement results of water outlet detection sensors or depth gauges installed at different locations on the machine. Figure 3 As shown in Part A, when the machine moves upward along the pool wall, its pitch angle is typically 90°. When the water pump draws air from outside the casing into the casing through the opening, the machine's buoyancy increases, causing at least part of the machine to detach from the pool wall and move towards the water surface, resulting in the machine tilting. Figure 3 As shown in Part B, when the machine's pitch angle decreases to 45°, the change in pitch angle can be considered to meet a predetermined condition, allowing the buoyancy adjustment mechanism to be controlled to adjust the machine's buoyancy. Of course, the predetermined condition can be adjusted according to actual needs. For example, if the change in pitch angle is less than 30°, but the air intake of the buoyancy adjustment mechanism can still be kept above the water surface, the predetermined condition can be appropriately adjusted to greater than 20° or 15°, etc. This specification does not impose specific limitations on the embodiments. By monitoring the change in the machine's pitch angle, the timing of the buoyancy adjustment mechanism's adjustment of the machine's buoyancy can be more accurately controlled. This ensures that when the buoyancy adjustment mechanism begins to increase the machine's buoyancy, the air intake is above the water surface, improving the stability and safety of the buoyancy adjustment mechanism.

[0058] The predetermined conditions may also include a duration of 3-10 seconds. Referring to the description in the above embodiments, the size of the opening is generally larger than the air intake, or the number of openings is also greater, and the power of the water pump is also greater. When the opening is exposed above the water surface, the speed and volume of air drawn into the opening by the water pump from outside the casing are relatively large, which can increase the buoyancy of the machine in a relatively short time, change the pitch angle of the machine, and keep the head of the machine above the water surface. Verification has shown that, generally, when the duration of air drawn into the opening by the water pump is 3-10 seconds, the change in the pitch angle of the machine meets the requirements, ensuring that the air intake of the buoyancy adjustment mechanism is located on the water surface. When the machine is in a trapped air state, increasing the buoyancy of the machine through the buoyancy adjustment mechanism can prevent the air intake from floating up and down on the water surface, thus avoiding water entering the buoyancy adjustment mechanism. By monitoring the duration of air drawn into the opening by the water pump, the timing of opening the buoyancy adjustment mechanism to adjust the machine's buoyancy can be easily and quickly controlled, improving the efficiency of buoyancy adjustment.

[0059] The structure of the buoyancy adjustment mechanism can be referred to the description in the above embodiment. A valve can be installed on the air intake of the buoyancy adjustment mechanism. When controlling the buoyancy adjustment mechanism to increase the buoyancy of the automatic water cleaning device, the air intake of the buoyancy adjustment mechanism can be opened, i.e., the valve of the air intake can be opened. This allows outside air to be injected into the airbag through the air intake when the suction pump is working, thereby increasing the volume of gas inside the airbag and increasing the buoyancy of the machine, allowing it to float on the water surface. After the suction pump has worked for a certain period and the airbag is full, the air intake can be closed. At this time, the airbag is full of gas, maintaining a certain buoyancy for the machine, allowing it to float on the water surface. Figure 3 As shown in section C, it floats on the water surface and is used for water surface cleaning operations.

[0060] According to a second aspect of this application, an automatic pool cleaning device is also provided, which includes an image acquisition device and is capable of performing the control methods described in the various embodiments above.

[0061] According to a third aspect of this application, a non-transitory computer-readable storage medium is also provided, on which a computer program is stored. When executed by a processor, the computer program implements a control method for the automatic water tank cleaning device provided in the above embodiments. The automatic water tank cleaning device includes an image acquisition device. The principle and scheme of the control method are described above in conjunction with the various embodiments and accompanying drawings, and will not be repeated here.

[0062] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0063] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments.

[0064] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of those different embodiments or examples.

[0065] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "a plurality of" means two or more, unless otherwise explicitly specified.

[0066] In this application, unless otherwise stated, directional terms such as "up" and "down" are generally used in relation to the direction shown in the accompanying drawings, or in relation to the vertical, perpendicular, or gravitational direction; similarly, for ease of understanding and description, "left" and "right" are generally used in relation to the left and right shown in the accompanying drawings; "inner" and "outer" refer to the inner and outer contours of each component itself, but the above directional terms are not intended to limit this application.

[0067] The above description is merely an exemplary embodiment of this application, but the scope of protection of this application is not limited thereto. Any person skilled in the art can easily conceive of various variations or substitutions within the technical scope described in this application, and these should all be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A control method for an automatic water tank cleaning device, characterized in that, The automatic water tank cleaning device includes a filter, a buoyancy adjustment mechanism, a housing, and a water pump at least partially located within the housing. The water pump is used to draw external water into the filter. The housing has an opening that communicates with the water pump. The control method includes: Control the automatic cleaning device of the pool to move upward underwater until the opening is exposed above the water surface; When the opening is exposed above the water surface, the water pump is controlled to draw air from outside the housing into the opening. After the outside air enters the opening, the pitch angle of the automatic cleaning device for the water tank will change. Determine whether the change in the pitch angle of the automatic water tank cleaning device or the duration for which the water pump draws air from outside the housing into the opening meets a predetermined condition. If it does, control the buoyancy adjustment mechanism to increase the buoyancy of the automatic water tank cleaning device. The buoyancy adjustment mechanism includes an air intake device, an air intake port, and an air bladder. The air intake device can draw in external air into the air bladder through the air intake port. When the change in the pitch angle of the automatic water tank cleaning device or the duration for which the water pump draws external air into the opening of the housing meets a predetermined condition, the air intake port is located above the water surface.

2. The control method according to claim 1, characterized in that, The predetermined condition includes a change in the pitch angle of the automatic water tank cleaning device that is greater than 30°.

3. The control method according to claim 2, characterized in that, The change in pitch angle is measured by an inertial measurement unit.

4. The control method according to claim 1, characterized in that, The predetermined conditions include a duration of 3-10 seconds.

5. The control method according to any one of claims 1-4, characterized in that, The opening is located at the head or middle of the automatic cleaning device for the pool and is not connected to the buoyancy adjustment mechanism.

6. The control method according to claim 5, characterized in that, The opening includes at least one of the following: the air vent of the automatic cleaning device for the water tank, the drain outlet, the water inlet at the head of the machine body, and the water inlet at the bottom of the machine body.

7. The control method according to claim 1, characterized in that, The method of controlling the buoyancy adjustment mechanism to increase the buoyancy of the automatic cleaning device for the pool includes controlling the air intake to open so that external air can enter the airbag.

8. The control method according to claim 1, characterized in that, When the opening is exposed above the water surface, controlling the water pump to draw air from outside the housing into the opening includes: Check if the opening is above the water surface. If so, turn on the water pump to allow air from outside the housing to enter the opening through the pump's suction action.

9. The control method according to claim 8, characterized in that, Whether the opening is above the water surface is detected by a water outlet detection sensor, a depth gauge, a power change of the water pump, or an image sensor.

10. The control method according to claim 1, characterized in that, The opening includes a water inlet at the head of the fuselage and / or a water inlet at the bottom of the fuselage. When the opening is above the water surface, the method further includes: Control the opening of the water inlet at the head of the fuselage and / or the water inlet at the bottom of the fuselage so that the water pump draws air from outside the housing into the opening.

11. An automatic water tank cleaning device, characterized in that, The automatic water tank cleaning device is capable of performing the control method according to any one of claims 1-10.

12. A non-volatile computer storage medium, characterized in that, The storage medium stores a computer program, which, when executed by a processor, implements the control method according to any one of claims 1-10.

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