Pool cleaning equipment, control method thereof and storage medium

Abstract

The invention discloses pool cleaning equipment, a control method thereof and a storage medium. The pool cleaning equipment comprises a machine base, a first cleaning assembly and a second cleaning assembly. The first cleaning assembly and the second cleaning assembly are installed on the machine base and used for cleaning the pool wall. In the embodiment, the pool cleaning equipment is driven by the first cleaning assembly to run and conduct basic cleaning, meanwhile, the second driving device in the second cleaning assembly is used for driving the second cleaning piece to movably clean the pool wall, the running speed is guaranteed, and meanwhile the cleaning strength is remarkably enhanced; the problem of insufficient cleaning efficiency in the prior art is effectively solved. According to different cleaning scenes, the first driving device and the second driving device can be selected to work independently or cooperatively according to actual requirements, and the multifunctionality and use flexibility of the pool cleaning equipment are further enhanced.

Description

Technical Field

[0001] This invention belongs to the field of cleaning equipment technology, specifically relating to a water tank cleaning device, its control method, and a storage medium. Background Technology

[0002] In existing technologies, pool cleaning equipment typically includes a brush roller. As the equipment moves autonomously along the pool wall, the brush roller is driven to rotate, scraping and cleaning the pool surface (including sidewalls, bottom walls, and steps). However, while this cleaning structure ensures sufficient travel speed, it lacks cleaning power and efficiency. Furthermore, it cannot meet the diverse cleaning needs of pools in different scenarios. Summary of the Invention

[0003] The present invention aims to provide a pool cleaning device with higher cleaning efficiency, more diverse cleaning modes, and stronger obstacle-crossing ability, as well as its control method and storage medium.

[0004] To solve the above-mentioned technical problems, the present invention provides a water tank cleaning device, comprising:

[0005] Base;

[0006] A first cleaning assembly includes a first drive unit and a first cleaning component. The first drive unit is disposed in the base, and the first cleaning component is rotatably mounted on the base. The first drive unit is used to drive the pool cleaning equipment to move and is drively connected to the first cleaning component to drive the first cleaning component to rotate; and...

[0007] The second cleaning component includes a second driving device and a second cleaning element. The second driving device is disposed in the base, and the second cleaning element is movably mounted on the base. The second driving device is drivenly connected to the second cleaning element to drive the second cleaning element to move relative to the base.

[0008] Optionally, the pool cleaning equipment further includes a track, at least two first cleaning components are provided, and a second cleaning component is provided between the at least two first cleaning components in a first direction. The track is sleeved on the outer periphery of the at least two first cleaning components. The track is provided with two tracks, which are distributed on both sides of the base in a second direction.

[0009] Optionally, the base is provided with a suction port, and the water tank cleaning equipment also includes a water pump and a slag box disposed in the base. The water pump is used to drive water to flow into the base through the suction port and through the slag box.

[0010] The second cleaning component is disposed in front of and / or behind the suction port in the first direction.

[0011] Optionally, the second cleaning component is disposed in front of the suction port in the first direction, and the pool cleaning device further includes a guide component protruding from the bottom side of the base, the guide component having a gap extending through both sides in the first direction, the guide component comprising:

[0012] The first guide section is located behind the suction port in the first direction and is arranged side by side with the suction port;

[0013] Two second guide sections, each second guide section extending obliquely from both ends of the first guide section in a first direction from back to front in a direction away from the first guide section, and the rear end of each second guide section in the first direction extends at least to the front end of the second cleaning component.

[0014] Optionally, the flow guide is composed of multiple bristles.

[0015] Optionally, the multiple bristles are arranged in multiple groups, and the multiple bristles in each group are arranged in a way that is inclined outward from the middle of the machine base in the first direction in the second direction.

[0016] Optionally, the second cleaning component is rotatably mounted on the base and arranged side by side with the first cleaning component.

[0017] Optionally, the second cleaning assembly further includes a mounting base and a third drive device, wherein the second drive device and the second cleaning component are mounted on the mounting base;

[0018] Wherein, the mounting base is movably mounted on the machine base along a first direction, and the third driving device is drivenly connected to the mounting base to drive the mounting base to reciprocate along the first direction; and / or,

[0019] The mounting base is movably mounted on the base along the second direction, and the third driving device is driven to connect with the mounting base to drive the mounting base to reciprocate along the second direction.

[0020] Optionally, the pool cleaning equipment further includes a chemical dispensing device in the base, the bottom of the base having a dispensing channel, the dispensing channel being located in front of the second cleaning component in the first direction, and the dispensing device communicating with the dispensing channel.

[0021] To address the aforementioned technical problems, the present invention also provides a control method for a water tank cleaning device, wherein the water tank cleaning device is as described above, and the control method includes:

[0022] Obtain the working mode;

[0023] The first drive unit and / or the second cleaning unit are controlled to operate according to the working mode.

[0024] Optionally, the working modes include a regular cleaning mode, a deep cleaning mode, and a local cleaning mode, and the step of controlling the first driving device and / or the second cleaning device to work according to the working mode includes:

[0025] When the working mode is the normal cleaning mode, the first drive device is controlled to start working, driving the first cleaning component to rotate in the forward direction to clean the surface to be cleaned, and driving the water tank cleaning equipment to move, while the second drive device is controlled to remain in the stopped state.

[0026] When the working mode is deep cleaning mode, the first drive device and the second drive device are controlled to start working simultaneously, driving the first cleaning component and the second cleaning component to rotate in the forward direction to clean the surface to be cleaned.

[0027] When the working mode is local cleaning mode, the second driving device is driven to start working, driving the second cleaning component to rotate in the forward direction to clean the surface to be cleaned, and the first driving device is controlled to remain in a stopped state.

[0028] Optionally, after the step of controlling the operation of the first drive device and / or the second cleaning device according to the working mode, the following steps are included:

[0029] In the normal cleaning mode, the driving resistance or body tilt angle of the pool cleaning equipment is obtained;

[0030] When the driving resistance exceeds a preset resistance threshold, or the body tilt angle exceeds a preset angle threshold, the second drive device is controlled to start working, driving the second cleaning component to rotate forward to assist the pool cleaning equipment in overcoming obstacles.

[0031] Optionally, after the step of controlling the second drive device to start working and drive the second cleaning component to rotate forward to assist the pool cleaning equipment in overcoming obstacles when the driving resistance exceeds a preset resistance threshold or the body tilt angle exceeds a preset angle threshold, the method includes:

[0032] After the second drive device starts working and a first preset time period has elapsed, the water tank cleaning equipment is judged to be operating normally based on the form resistance or the body tilt angle.

[0033] If so, then control the second drive device to stop working;

[0034] If not, the water tank cleaning equipment will issue a prompt signal.

[0035] Optionally, the pool cleaning equipment further includes a vision detection device mounted on the base, and after the step of controlling the first drive device and / or the second cleaning device according to the working mode, the following steps are included:

[0036] In the normal cleaning mode, the water tank cleaning equipment is controlled to complete the first full-area cleaning according to the preset first path;

[0037] The visual inspection device is controlled to acquire images of the cleaned area;

[0038] The image recognition algorithm identifies and marks areas with residual dirt.

[0039] Control the pool cleaning equipment to move to the dirt-marked area, and control the pool cleaning equipment to switch to the local cleaning mode to clean the area with residual dirt.

[0040] Optionally, the pool cleaning equipment further includes a chemical dispensing device disposed in the base, the bottom of the base is provided with a dispensing channel, the dispensing channel is disposed in front of the second cleaning component in the first direction, the dispensing device is connected to the dispensing channel, and the working mode further includes a chemical dispensing mode;

[0041] The step of controlling the operation of the first drive device and / or the second cleaning device according to the working mode includes:

[0042] When the working mode is the agent dispensing mode, the first drive device is controlled to start working, driving the first cleaning component to rotate forward at a preset first speed, so as to drive the water tank cleaning equipment to travel along a preset second path. The dispensing device is controlled to work, dispensing water quality conditioning agent into the water tank. The second drive device is controlled to start working, driving the second cleaning component to rotate in the opposite direction, so as to promote the dispensing of the agent.

[0043] Optionally, the step of controlling the operation of the first drive device and / or the second cleaning device according to the working mode further includes:

[0044] When the working mode is local cleaning mode, the second driving device is driven to start working, and the second cleaning component is driven to rotate forward at a preset second speed to clean the surface to be cleaned. The first driving device is controlled to remain in a stopped state, and the dispensing device is controlled to work to dispensing cleaning auxiliary agent into the water tank, wherein the second speed is greater than the first speed.

[0045] Optionally, the pool cleaning equipment further includes a visual inspection device and a water quality detection sensor mounted on the base, and the step of obtaining the working mode includes the following prior to:

[0046] The visual inspection device is controlled to acquire images of the cleaned area, and the water quality detection sensor is controlled to acquire the water quality of the pool.

[0047] The working mode of the water tank cleaning equipment is matched according to the dirt level of the water tank and the water quality of the water tank.

[0048] To solve the above-mentioned technical problems, the present invention also provides a water tank cleaning device, comprising:

[0049] At least one processor; and,

[0050] A memory that is communicatively connected to the at least one processor;

[0051] The memory stores instructions, and when the instructions are executed, the processor controls the pool cleaning equipment to perform the control method for the pool cleaning equipment as described above.

[0052] To address the aforementioned technical problems, the present invention also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the control method for the pool cleaning equipment described above.

[0053] This invention provides a pool cleaning device, its control method, and a storage medium. The pool cleaning device includes a base, a first cleaning component, and a second cleaning component. The first and second cleaning components are respectively mounted on the base and used for cleaning the pool walls. In the embodiment provided by this invention, the pool cleaning device is driven by the first cleaning component to perform basic cleaning, while a second driving device in the second cleaning component drives a second cleaning component to clean the pool walls. This significantly enhances cleaning power while maintaining travel speed, effectively solving the problem of insufficient cleaning efficiency in existing technologies. Depending on different cleaning scenarios and actual needs, the first and second driving devices can be selected to work individually or collaboratively, further enhancing the versatility and flexibility of the pool cleaning device. Attached Figure Description

[0054] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0055] Figure 1 This is a three-dimensional structural diagram of an embodiment of the water tank cleaning device of the present invention;

[0056] Figure 2 for Figure 1 A three-dimensional structural diagram of the greywater tank cleaning equipment from another perspective;

[0057] Figure 3 for Figure 1 Front view of the bottom of the greywater tank cleaning equipment;

[0058] Figure 4 This is a schematic diagram of the control method of the water tank cleaning equipment of the present invention in the first embodiment;

[0059] Figure 5 This is a schematic diagram of the control method of the water tank cleaning equipment of the present invention in a second embodiment;

[0060] Figure 6 This is a schematic diagram of the control method of the water tank cleaning equipment of the present invention in the third embodiment;

[0061] Figure 7 This is a schematic diagram of the control method of the water tank cleaning equipment of the present invention in the fourth embodiment;

[0062] Figure 8 This is a schematic diagram of an embodiment of a water tank cleaning device.

[0063] Explanation of icon numbers:

[0064] 100-Water pool cleaning equipment; 10-First cleaning component; 11-First cleaning element; 20-Second cleaning component; 21-Second cleaning element; 30-Flow guide; 31-First flow guide section; 32-Second flow guide section; 40-Crawler track; 50-Base; 51-Suction port; 52-Dispensing channel; 701-Processor; 702-Memory.

[0065] The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0066] In this embodiment of the invention, the term "and / or" describes the relationship between associated objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. The character " / " generally indicates that the preceding and following associated objects have an "or" relationship.

[0067] It should be noted that the terms "first," "second," etc., in the specification, claims, and drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence.

[0068] In this embodiment of the invention, the term "multiple" refers to two or more, and other quantifiers are similar.

[0069] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the various embodiments of the present invention will be described in detail below with reference to the accompanying drawings. However, those skilled in the art will understand that many technical details are presented in the embodiments of the present invention to facilitate a better understanding of the invention. However, the technical solutions claimed in the present invention can be implemented even without these technical details and various variations and modifications based on the following embodiments. The division of the following embodiments is for ease of description and should not constitute any limitation on the specific implementation of the present invention. The various embodiments can be combined with and referenced by each other without contradiction.

[0070] The present invention provides a pool cleaning device 100, which is used to clean the walls (including the side walls, bottom walls, and step surfaces of the pool) of various pools, such as landscape pools, fish ponds, and especially swimming pools, and maintains the water quality in the pool by adding chemicals.

[0071] Please see Figures 1 to 3 The pool cleaning equipment 100 includes a base 50, a first cleaning component 10, and a second cleaning component 20. The first cleaning component 10 and the second cleaning component 20 are respectively mounted on the base 50 and used for cleaning the pool walls. Specifically, the first cleaning component 11 assembly includes a first drive device and a first cleaning component 11. The first drive device is disposed in the base 50, and the first cleaning component 11 is rotatably mounted on the base 50. The first drive device drives the pool cleaning equipment 100 to move and is drively connected to the first cleaning component 11 to drive the first cleaning component 11 to rotate, so that while the pool cleaning equipment 100 moves in a first direction, the first cleaning component 11 cleans the pool wall. The second cleaning component 20 includes a second drive device and a second cleaning component 21. The second drive device is disposed in the base 50, and the second cleaning component 21 is movably mounted on the base 50. The second drive device is drively connected to the second cleaning component 21 to drive the second cleaning component 21 to move relative to the base 50.

[0072] In this embodiment, the main support structure of the base 50 of the pool cleaning device 100 has an internal mounting cavity for accommodating components such as the first drive device and the second drive device. The first and second drive devices can be motors, and the specific structural materials of the first cleaning component 11 and the second cleaning component 21 can be selected as needed. The first cleaning component 11 is rotatably mounted on the bottom of the base 50 via a rotating shaft, and is preferably a brush roller. In an optional embodiment, the output end of the first drive device is connected to the first cleaning component 11 via a transmission mechanism (such as a gear, belt, or chain). When the first drive device operates, it drives the first cleaning component 11 to rotate around its own axis. Since the first cleaning component 11 is in contact with the pool wall, the friction generated during its rotation can drive the pool cleaning device 100 to travel in a first direction. In other optional embodiments, the first drive device can also be driven and connected to other traveling mechanisms (such as traveling wheels, tracks, etc.) and transmitted to the first cleaning component 11, so that the first cleaning component 11 rotates synchronously with the traveling motion of the pool cleaning device 100.

[0073] It should be noted that in this embodiment, the first direction and the second direction are perpendicular to each other, wherein the second direction is parallel to the axis of rotation of the first cleaning component 11.

[0074] The movement of the second cleaning component 21 is not limited; it can be a reciprocating, angle-adjustable scraper, cleaning brush, or cloth, or it can be configured as a brush rod, similar to the first cleaning component 11. The second cleaning component 21 is mounted on the base 50 via a movable connection structure, allowing it to reciprocate along a first or second direction, or rotate around a pivot. The output end of the second drive device is connected to the second cleaning component 21, providing it with dedicated driving force to move and clean the pool wall. Preferably, the second cleaning component 21 is rotatably mounted. When the second cleaning component 21 rotates in the same direction as the first cleaning component 11, it strengthens the driving force on the pool cleaning equipment 100, thereby improving the obstacle-crossing ability of the pool cleaning equipment 100.

[0075] In this embodiment, the pool cleaning device 100 performs basic cleaning simultaneously with the first cleaning component 10 during operation, while the second cleaning component 20 utilizes a second drive device to drive the second cleaning element 21 to clean the pool wall. This significantly enhances cleaning power while maintaining operating speed, effectively solving the problem of insufficient cleaning efficiency in existing technologies. Depending on the cleaning scenario, the first and second drive devices can be selected to work individually or collaboratively, further enhancing the versatility and flexibility of the pool cleaning device 100.

[0076] Please continue reading. Figures 1 to 3The pool cleaning device 100 also includes a track 40, and at least one, preferably two or more, first cleaning elements 11 are provided. Optionally, a second cleaning element 21 is disposed between at least two first cleaning elements 11 in a first direction. The track 40 is fitted around the outer periphery of the first cleaning elements 11, and the track 40 can be fitted around the outer periphery of a single first cleaning element 21 or around the outer periphery of multiple synchronously rotating first cleaning elements 21. Preferably, two tracks 40 are provided, and the two tracks 40 are distributed on both sides of the base 50 in a second direction. Specifically, a first cleaning element 11 is installed on each side of the bottom of the base 50, and the first cleaning element 11 can be a brush roller with a rotating shaft extending along the second direction. The two tracks 40 are respectively fitted around the outer periphery of the two first cleaning elements 11, forming a track 40-like walking mechanism. The second cleaning element 21 is also installed on the bottom of the base 50 and is located between the two first cleaning elements 11 in the first direction, and its movement can include rotation and / or reciprocating movement.

[0077] In this embodiment, the track 40 cooperates with at least two first cleaning components 11 to form a track 40-type drive structure. When the first drive device drives the first cleaning components 11 to rotate, the track 40 rolls accordingly, driving the equipment along the pool wall. The traction force of the track 40 allows the equipment to adapt to pool walls with different inclination angles. The second cleaning component 21 is located between the tracks 40 and can perform secondary cleaning on the areas cleaned by the first cleaning components 11 during the equipment's movement, achieving a supplementary cleaning effect. The track 40-type structure increases the contact area between the pool cleaning equipment 100 and the wall surface, improving its climbing ability and obstacle-crossing ability, especially suitable for pool walls with steps or uneven surfaces. The second cleaning component 21, located between the tracks 40, can promptly clean the areas rolled by the tracks 40, preventing stains from remaining. When the second cleaning component 21 is also configured to rotate, when the second cleaning component 21 is driven to rotate by the second drive device, it also increases the driving force of the pool cleaning equipment 100 and improves the equipment's obstacle-crossing ability.

[0078] For further information, please refer to [link / reference]. Figure 2 and Figure 3 The base 50 has a suction port 51. The water tank cleaning device 100 also includes a water pump and a sludge box disposed in the base 50. The water pump drives water to flow into the base 50 through the suction port 51 and through the sludge box. A second cleaning component 21 is disposed in front of and / or behind the suction port 51 in a first direction. Preferably, the second cleaning component 21 rotates in the same direction as the first cleaning component 11 during operation, and the second cleaning component 21 is disposed in front of the suction port 51 in the first direction. Specifically, a suction port 51 is provided at the bottom of the base 50, and a pipe is formed inside the base 50. The suction port 51 is connected to the water pump inlet inside the base 50 through the pipe. A sludge box is disposed in the pipe to intercept and store impurities in the water flow.

[0079] During operation, the water pump starts, creating negative pressure. Water carrying impurities from the wall surface enters the base 50 through the suction port 51, is filtered through the sludge box, and then discharged. The second cleaning component 21, positioned in front of the suction port 51, first scrapes the wall surface, removing stubborn stains for easier suction. The front-to-back arrangement of the second cleaning component 21 and the suction port 51 ensures that impurities scraped by the second cleaning component 21 are promptly sucked into the suction port 51, preventing them from escaping and negatively impacting water quality. This design is particularly suitable for removing mud, sand, fallen leaves, and other debris from pool walls, improving overall cleaning effectiveness.

[0080] Furthermore, the pool cleaning device 100 also includes a guide member 30 protruding from the bottom side of the base 50. The guide member 30 has a gap extending through both sides in a first direction. The guide member 30 includes a first guide section 31 and two second guide sections 32. The first guide section 31 is located behind the suction port 51 and is arranged side by side with the suction port 51. The two second guide sections 32 extend obliquely from both ends of the first guide section 31 in the first direction from back to front in a direction away from the first guide section 31. The rear end of each second guide section 32 extends at least to the front end of the second cleaning member 21 in the first direction.

[0081] Specifically, the first guide section 31 is elongated and parallel to the length of the suction port 51. Two second guide sections 32 extend forward from both ends of the first guide section 31, forming a V-shaped structure. The gaps in the guide components 30 allow water to flow through. The guide component 30 can be composed of multiple bristles, which can be made of nylon, rubber, silicone, or other soft materials, possessing elasticity and wear resistance.

[0082] When the pool cleaning equipment 100 is in operation, the first and second drive units work simultaneously. The second cleaning component 21 first scrapes up the impurities, and the water flows towards the suction port 51 under the negative pressure of the water pump. The second guide section 32 of the guide component 30 guides the water and impurities to converge towards the suction port 51, while the first guide section 31 prevents impurities from escaping to both sides, ensuring that the impurities are sucked in through the suction port 51. In this way, the guide component 30 optimizes the water flow path, improves the dirt collection efficiency of the suction port 51, and reduces the residue of impurities on the wall surface.

[0083] Furthermore, the guide member 30 is composed of multiple bristles arranged in multiple groups. Each group of bristles is arranged in a diagonal pattern from the center of the base 50 outwards in the first direction, and in the second direction. The bristle density can be adjusted according to the flow requirements, with denser bristles in the central area and sparser bristles on the sides. This fan-shaped arrangement of bristles guides the water flow more evenly, avoiding localized turbulence and reducing resistance, thus lowering the load on the first drive device. When water flows through the guide member 30, the diagonally arranged bristles guide the water flow towards the suction port 51, while the elasticity of the bristles blocks larger impurities, causing them to move towards the suction port 51 under the impact of the water flow.

[0084] Based on the above embodiments, preferably, the second cleaning component 21 is rotatably mounted on the base 50 and arranged side by side with the first cleaning component 11. For example, the second cleaning component 21 is a brush roller, whose rotation axis is parallel to the rotation axis of the first cleaning component 11, both extending in a second direction, and is mounted on the bottom of the base 50 via bearings. A second drive device drives the second cleaning component 21 to rotate via a belt or other transmission. The bristle hardness of the second cleaning component 21 may differ from that of the first cleaning component 11, and it is preferably made of a relatively hard material for removing stubborn stains. In addition, the rotation direction of the second cleaning component 21 may be the same as or opposite to that of the first cleaning component 11 to adapt to different cleaning needs.

[0085] In this embodiment, the rotatably mounted second cleaning component 21 is arranged side-by-side with the first cleaning component 11 to form a dual-brush cleaning structure, significantly improving cleaning efficiency. Furthermore, the rotational speed and direction of the second cleaning component 21 can be adjusted to adapt to walls with varying degrees of dirt, enhancing the equipment's adaptability. The side-by-side arrangement of the first cleaning component 11 and the second cleaning component 21 creates a compact structure that does not increase the overall size of the equipment, facilitating operation in confined spaces.

[0086] Optionally, the second cleaning component 20 further includes a mounting base and a third drive device. The second drive device and the second cleaning component 21 are mounted on the mounting base, which is movably mounted on the base 50 along a first direction. The third drive device is driven by the mounting base to drive the mounting base to reciprocate along the first direction; and / or, the mounting base is movably mounted on the base 50 along a second direction, and the third drive device is driven by the mounting base to drive the mounting base to reciprocate along the second direction. For example, the mounting base is mounted on the base 50 along the first direction via a linear guide rail, and the third drive device is a motor that drives the mounting base to reciprocate via a screw and nut mechanism; or the mounting base is mounted along the second direction via another set of guide rails, and the third drive device drives it to move left and right. The second cleaning component 21 is a roller brush, mounted on the mounting base together with the second drive device, and driven to rotate by the second drive device.

[0087] When the third drive device drives the mounting base to reciprocate along the first or second direction, the second cleaning component 21 moves back and forth on the wall surface along with the mounting base, enhancing the cleaning effect. In this embodiment, the third drive device drives the mounting base to reciprocate, allowing the cleaning area of ​​the second cleaning component 21 to cover a larger wall surface area. Combined with its own rotation, this achieves all-around cleaning. Furthermore, the range and speed of the reciprocating motion can be adjusted according to the distribution of dirt on the wall surface, improving the targeted cleaning.

[0088] In an optional embodiment, the pool cleaning equipment 100 further includes a chemical dispensing device disposed in a base 50. A dispensing channel 52 is provided at the bottom of the base 50, positioned in front of the second cleaning component 21 in the first direction. The dispensing device communicates with the dispensing channel 52. For example, the chemical dispensing device includes a chemical tank and a solenoid valve. The chemical tank is installed inside the base 50 and communicates with the dispensing channel 52 via a pipe. The solenoid valve controls the amount of chemical dispensed. The dispensing channel 52 is a through-hole located at the bottom of the base 50, in front of the second cleaning component 21 in the first direction.

[0089] When the agent needs to be added, the solenoid valve opens, and the agent is sprayed from the agent tank onto the wall surface through the dispensing channel 52. The second cleaning component 21 then rotates, spreading the agent evenly and promoting the reaction between the agent and the stain. In this embodiment, the rotation of the second cleaning component 21 assists in the diffusion of the agent, improving its effectiveness.

[0090] Based on the above-described pool cleaning device 100, the implementation details of the control method of the pool cleaning device 100 of the first embodiment of the present invention (i.e., the method of cleaning the pool using the pool cleaning device 100) will be described below. The following implementation details are provided for ease of understanding only and are not necessary for implementing this solution.

[0091] The specific process of this implementation method is as follows: Figure 4 As shown, it specifically includes:

[0092] Step S1: Obtain the working mode.

[0093] In this step, the working mode can be set via buttons on the device panel or a remote control terminal, or it can be generated based on sensor data through a preset automatic recognition program. In one specific embodiment, the pool cleaning device 100 also includes a mode switching button located on the base 50, allowing the user to cycle through different working modes by pressing the button. In another parallel embodiment, the device can receive mode commands sent by an external terminal via a wireless communication module to achieve remote switching. Multiple implementation methods can be combined, thus providing diverse mode acquisition methods to meet the needs of different operating scenarios. Button operation facilitates on-site control, remote control is suitable for unattended scenarios, and automatic recognition enhances the device's intelligence level, enabling the device to flexibly adjust its working state according to actual needs, thereby enhancing ease of use and adaptability.

[0094] Step S2: Control the first drive device and / or the second cleaning device to work according to the working mode.

[0095] Preferably, such as Figure 7 As shown, the working modes include a regular cleaning mode, a deep cleaning mode, and a spot cleaning mode. Step S2 includes:

[0096] Step S21: When the working mode is the normal cleaning mode, control the first drive device to start working, drive the first cleaning component 11 to rotate in the forward direction to clean the surface to be cleaned, and drive the pool cleaning equipment 100 to move, while controlling the second drive device to remain in the stopped state.

[0097] In this step, under normal cleaning mode, for example, the rotation speed of the first cleaning component 11 can be set to 100 rpm and the equipment travel speed to 0.3 m / s, suitable for routine maintenance of lightly soiled water tanks. Thus, when routine cleaning of the water tank is required, only the first drive unit is activated, using the friction force of the rotating first cleaning component 11 to drive the equipment and perform basic cleaning, while the second drive unit remains in standby to save energy. This approach reduces energy consumption while ensuring basic cleaning effectiveness, making it suitable for daily water tank maintenance and avoiding resource waste caused by over-cleaning.

[0098] Step S22: When the working mode is deep cleaning mode, control the first drive device and the second drive device to start working simultaneously, drive the first cleaning component 11 and the second cleaning component 21 to rotate in the forward direction to clean the surface to be cleaned.

[0099] In this step, under deep cleaning mode, the rotation speed of the first cleaning component 11 can be increased to 150 rpm, while the second cleaning component 21 rotates synchronously at 120 rpm. The combined effect of the two brushes enhances the cleaning power for stubborn stains. During operation, the synchronous rotation of the first cleaning component 11 and the second cleaning component 21 creates a superimposed cleaning force, performing a scrubbing-like cleaning on the wall surface, which enhances the impact and removal effect on stubborn stains. Thus, the cleaning power is significantly improved in deep cleaning mode, making it suitable for heavily soiled pools and effectively removing stains that are difficult to handle with conventional cleaning methods, thereby improving cleaning efficiency.

[0100] Step S23: When the working mode is local cleaning mode, drive the second drive device to start working, drive the second cleaning component 21 to rotate in the forward direction to clean the surface to be cleaned, and control the first drive device to keep it in the stopped state.

[0101] In this step, under the localized cleaning mode, the second cleaning component 21 can be set to rotate at a high speed of 200 rpm, while the first cleaning component 11 stops rotating, and the pool cleaning equipment 100 stops moving, allowing for concentrated cleaning of stubborn localized stains. In this step, the high-speed rotation of the second cleaning component 21 performs high-intensity mechanical friction cleaning on the localized area, while the first drive device stops operating to prevent equipment movement. This allows for focused treatment of stubborn localized stains on the pool wall (such as limescale and algae accumulation areas), avoiding the waste of resources from general cleaning and improving cleaning targeting and efficiency.

[0102] like Figure 5As shown, based on the first embodiment of the control method for the beverage preparation equipment described above, a second embodiment of the control method for the beverage preparation equipment provided by the present invention is proposed. In this embodiment, step S2 is followed by:

[0103] Step S31: In the normal cleaning mode, obtain the driving resistance or body tilt angle of the pool cleaning device 100.

[0104] In this step, a pressure sensor can be installed inside the base 50 to detect the driving resistance, and an tilt sensor can be installed on the machine body to monitor the tilt angle and obtain real-time equipment operating status data.

[0105] Step S32: When the driving resistance exceeds a preset resistance threshold, or the body tilt angle exceeds a preset angle threshold, control the second drive device to start working and drive the second cleaning component 21 to rotate forward to assist the pool cleaning equipment 100 in overcoming obstacles.

[0106] In this step, when the equipment travels to a wall step that causes a sudden increase in resistance or tilts the machine, the second cleaning component 21 automatically starts rotating, generating an upward thrust to assist in overcoming the obstacle. Preferably, the rotation speed of the first cleaning component 11 can be adjusted synchronously during obstacle overcoming. By changing the rotation speed in conjunction with the assisting force of the second cleaning component 21, the success rate of obstacle overcoming can be improved.

[0107] In this embodiment, the device's operating status is monitored in real time by sensors. When abnormal resistance or tilt angle is detected, it is determined that the device may encounter an obstacle. The second cleaning component 21 is then activated to provide additional driving or supporting force, which, in conjunction with the rotational speed adjustment of the first cleaning component 11, helps the device overcome the obstacle. This reduces the device's jamming in complex wall environments, improves its passability, and allows it to adapt to pool walls with height differences or protrusions without manual intervention. This expands the device's applicability and enhances its environmental adaptability and intelligence.

[0108] In a preferred embodiment, step S32 is followed by:

[0109] Step S33: After controlling the second drive device to start working for a first preset time period, determine whether the water tank cleaning equipment 100 is operating normally based on the form resistance or the body tilt angle.

[0110] For example, the first preset time period is set to 10 seconds, and the resistance and tilt angle data are acquired again after 10 seconds.

[0111] Step S341: If yes, then control the second drive device to stop working;

[0112] Step S324: If not, control the pool cleaning device 100 to issue a prompt signal.

[0113] In this step, an alarm can be issued by a buzzer or a fault message can be sent to the terminal via a wireless module. A multi-level prompting mechanism can also be set up. After the first obstacle crossing fails, the rotation direction or speed of the first cleaning component 11 and the second cleaning component 21 can be adjusted to attempt a second obstacle crossing. If the attempt still fails, a prompt will be issued.

[0114] In this embodiment, after assisting obstacle crossing for a period of time, real-time data is used to determine whether the obstacle crossing was successful, avoiding prolonged ineffective operation of the second drive device. If obstacle crossing fails, a prompt signal is sent to notify the user to intervene. This improves the reliability of equipment operation and prevents the equipment from lingering at obstacles for extended periods, leading to energy waste or equipment damage.

[0115] like Figure 6 As shown, based on the first embodiment of the control method for the beverage preparation equipment described above, a third embodiment of the control method for the beverage preparation equipment provided by the present invention is proposed. In this embodiment, the water tank cleaning equipment 100 further includes a visual inspection device, and the step S2 is followed by:

[0116] Step S41: In the normal cleaning mode, control the pool cleaning equipment 100 to complete the first full-area cleaning according to the preset first path.

[0117] In practice, the first preset path is preferably a zigzag, bow-shaped, or loop-shaped full-coverage path to ensure cleaning without blind spots.

[0118] Step S42: Control the visual inspection device to acquire images of the cleaned area.

[0119] In this step, preferably, the visual inspection device uses a high-definition camera, in conjunction with a supplementary lighting module, to acquire clear images under different lighting conditions.

[0120] Step S43: Identify and mark the areas with residual dirt using an image recognition algorithm.

[0121] In practice, deep learning models can be used to perform semantic segmentation on images, identify stain areas, and generate coordinate points in the equipment control system.

[0122] Step S44: Control the pool cleaning device 100 to move to the dirt marking area, and control the pool cleaning device 100 to switch to the local cleaning mode to clean the dirt residue area.

[0123] In this embodiment, during routine cleaning, the controllable device first completes a comprehensive cleaning along a preset path in the normal cleaning mode, and then uses a visual detection device to check back and use algorithms to locate residual dirt for targeted local cleaning. In this embodiment, the combination of visual detection and image recognition technology realizes closed-loop control of the cleaning process, avoiding the inefficiency caused by blind cleaning. Precisely locating areas of residual dirt can improve the targeting of cleaning, reduce the area of ​​repeated cleaning, and significantly improve cleaning efficiency and quality, which is especially suitable for scenarios with high requirements for cleaning effect.

[0124] like Figure 7 As shown, based on the first embodiment of the control method for the beverage preparation equipment described above, a fourth embodiment of the control method for the beverage preparation equipment provided by the present invention is proposed. The operating mode further includes a drug dispensing mode;

[0125] Step S2 further includes:

[0126] Step S24: When the working mode is the agent dispensing mode, control the first drive device to start working, drive the first cleaning component 11 to rotate forward at a preset first speed, so as to drive the pool cleaning equipment 100 to travel along a preset second path, control the dispensing device to work, dispensing water quality conditioning agent into the pool, control the second drive device to start working, so as to drive the second cleaning component 21 to rotate in the opposite direction, so as to promote the dispensing of the agent.

[0127] In this step, the preset second path is preferably a spiral path to ensure that the agent covers the entire area. The reverse rotation speed of the second cleaning component 21 can be adjusted according to the type of agent, creating agitation opposite to the water flow direction to accelerate agent diffusion. A flow sensor can also be installed in the agent dispensing device to automatically adjust the agent dosage based on the equipment's travel speed, maintaining uniform concentration. Thus, in agent dispensing mode, the equipment travels at a specific speed and dispenses the agent, while the reverse-rotating second cleaning component 21 agitates the water flow, promoting mixing between the agent and the water. The combination of agent dispensing and equipment travel achieves automated water quality maintenance, reducing the tedious operation of manual dosing. The reverse rotation of the second cleaning component 21 effectively breaks the concentration gradient after agent dispensing, accelerates agent diffusion, ensures uniform water quality adjustment in the pool, and improves the comprehensiveness of agent coverage.

[0128] Preferably, step S23 further includes:

[0129] When the working mode is local cleaning mode, the second driving device is driven to start working, and the second cleaning component 21 is driven to rotate forward at a preset second speed to clean the surface to be cleaned. The first driving device is controlled to remain in a stopped state, and the dispensing device is controlled to work to dispensing cleaning auxiliary agent into the water tank, wherein the second speed is greater than the first speed.

[0130] In this step, the first rotation speed can be preset to 100 rpm, and the second rotation speed to 180 rpm. The cleaning aid is a special cleaner for limescale or algae, and the dispensing device dispenses a fixed amount based on the area of ​​the localized area. A pulse dispensing mode can also be set, intermittently dispensing the cleaner in conjunction with the high-speed rotation of the second cleaning component 21 to enhance the reaction between the cleaner and the stains. In this embodiment, the pool cleaning equipment 100 remains stationary in a localized area, while the high-speed rotating second cleaning component 21, in conjunction with the cleaning agent, focuses on treating stubborn stains. Thus, by combining high-speed cleaning with cleaner dispensing, a composite cleaning mode of "mechanical friction + chemical action" is formed, significantly improving the ability to remove stubborn stains. The quantitative dispensing and pulse dispensing methods allow for adjustment of the cleaner dosage according to the type of stain, ensuring cleaning effectiveness while avoiding waste and improving cleaning efficiency and economy.

[0131] Preferably, before step S2, the method further includes:

[0132] Step S01: Control the visual detection device to acquire images of the cleaned area, determine the dirt status of the pool based on the images, and control the water quality detection sensor to acquire the water quality of the pool.

[0133] In practice, the visual inspection device uses image recognition to determine the level of dirtiness (light, moderate, or heavy), while the water quality sensor detects indicators such as pH value and residual chlorine content.

[0134] Step S02: Based on the dirt level of the water tank and the water quality of the water tank, control the water tank cleaning equipment 100 to match the corresponding working mode.

[0135] Specifically, when the dirt level of the pool exceeds the preset first level, the pool cleaning equipment 100 is controlled to enter the normal cleaning mode;

[0136] When the dirt level of the pool exceeds the preset second level, the pool cleaning equipment 100 is controlled to switch to the deep cleaning mode;

[0137] When the dirt level of the pool is within the preset first level and the water quality of the pool exceeds the preset standard, the pool cleaning equipment 100 is controlled to switch to the agent dosing mode.

[0138] In this embodiment, multi-sensor data fusion is used to comprehensively assess the cleaning needs and water quality of the pool, and the most suitable working mode is matched based on preset rules or intelligent algorithms. This avoids the subjectivity of human judgment, dynamically adjusts the working mode according to the actual situation, improves the rationality and efficiency of equipment use, and machine learning optimization allows the equipment to gradually adapt to the characteristics of different pools, improving the overall cleaning and maintenance effect and reducing the cost of manual intervention.

[0139] The present invention also provides a water tank cleaning device, such as... Figure 8 As shown, the pool cleaning device includes at least one processor 701; and a memory 702 communicatively connected to the at least one processor 701; wherein the memory 702 stores instructions executable by the at least one processor 701, the instructions being executed by the at least one processor 701 to enable the at least one processor 701 to perform the control method of the pool cleaning device described above.

[0140] The memory 702 and processor 701 are connected via a bus, which can include any number of interconnecting buses and bridges. The bus connects various circuits of one or more processors 701 and memory 702 together. The bus can also connect various other circuits, such as peripheral devices, voltage regulators, and power management circuits, which are well known in the art and therefore will not be described further herein. A bus interface provides an interface between the bus and the transceiver. The transceiver can be a single element or multiple elements, such as multiple receivers and transmitters, providing a unit for communicating with various other devices over a transmission medium. Data processed by processor 701 is transmitted over a wireless medium via an antenna, which further receives data and transmits it to processor 701.

[0141] Processor 701 is responsible for managing the bus and general processing, and can also provide various functions, including timing, peripheral interfaces, voltage regulation, power management, and other control functions. Memory 702 can be used to store data used by processor 701 during operation.

[0142] To achieve the above objectives, the present invention provides a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the above-described water tank cleaning device method.

[0143] That is, those skilled in the art will understand that all or part of the steps in the methods of the above embodiments can be implemented by a program instructing related hardware. This program is stored in a storage medium and includes several instructions to cause a device (which may be a microcontroller, chip, etc.) or processor to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as a USB flash drive, a portable hard drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

[0144] Obviously, the embodiments described above are merely some, not all, embodiments of the present invention. Based on the embodiments of the present invention, those skilled in the art can make other variations or modifications without creative effort, and all such variations or modifications should fall within the scope of protection of the present invention.

Claims

1. A water tank cleaning device, characterized in that, include: Base; The first cleaning component includes a first driving device and a first cleaning component. The first driving device is disposed in the base, and the first cleaning component is rotatably mounted on the base. The first driving device is used to drive the pool cleaning equipment to move and is connected to the first cleaning component in a transmission connection to drive the first cleaning component to rotate. as well as, The second cleaning component includes a second driving device and a second cleaning element. The second driving device is disposed in the base, and the second cleaning element is movably mounted on the base. The second driving device is drivenly connected to the second cleaning element to drive the second cleaning element to move relative to the base.

2. The water tank cleaning equipment as described in claim 1, characterized in that, The water tank cleaning equipment also includes a track. At least two first cleaning components are provided. A second cleaning component is provided between the at least two first cleaning components in a first direction. The track is sleeved on the outer periphery of the at least two first cleaning components. Two tracks are provided, and the two tracks are distributed on both sides of the base in a second direction.

3. The water tank cleaning equipment as described in claim 2, characterized in that, The base is provided with a suction port, and the water tank cleaning equipment also includes a water pump and a slag box installed in the base. The water pump is used to drive water to flow into the base through the suction port and through the slag box. The second cleaning component is disposed in front of and / or behind the suction port in the first direction.

4. The water tank cleaning equipment as described in claim 3, characterized in that, The second cleaning component is disposed in front of the suction port in the first direction. The pool cleaning device further includes a guide component protruding from the bottom side of the base. The guide component has a gap extending through both sides in the first direction. The guide component includes: The first guide section is located behind the suction port in the first direction and is arranged side by side with the suction port; Two second guide sections, each second guide section extending obliquely from both ends of the first guide section in a first direction from back to front in a direction away from the first guide section, and the rear end of each second guide section in the first direction extends at least to the front end of the second cleaning component.

5. The water tank cleaning equipment as described in claim 4, characterized in that, The flow guide is composed of multiple bristles.

6. The water tank cleaning equipment as described in claim 5, characterized in that, The multiple bristles are arranged in multiple groups, and the multiple bristles in each group are arranged in a way that is inclined outward from the middle of the machine base in the first direction and in the second direction.

7. The water tank cleaning equipment as described in any one of claims 1 to 6, characterized in that, The second cleaning component is rotatably mounted on the base and is arranged side by side with the first cleaning component.

8. The water tank cleaning equipment as described in claim 7, characterized in that, The second cleaning assembly also includes a mounting base and a third drive unit, wherein the second drive unit and the second cleaning component are mounted on the mounting base; Wherein, the mounting base is movably mounted on the machine base along a first direction, and the third driving device is drivenly connected to the mounting base to drive the mounting base to reciprocate along the first direction; and / or, The mounting base is movably mounted on the base along the second direction, and the third driving device is driven to connect with the mounting base to drive the mounting base to reciprocate along the second direction.

9. The water tank cleaning equipment as described in claim 7, characterized in that, The water tank cleaning equipment also includes a chemical dispensing device in the base. The bottom of the base has a dispensing channel, which is located in front of the second cleaning component in the first direction. The dispensing device is connected to the dispensing channel.

10. A control method for a water tank cleaning device, characterized in that, The water tank cleaning equipment is the water tank cleaning equipment as described in claim 7, and the control method includes: Obtain the working mode; The first drive unit and / or the second cleaning unit are controlled to operate according to the working mode.

11. The control method as described in claim 10, characterized in that, The working modes include a regular cleaning mode, a deep cleaning mode, and a local cleaning mode. The step of controlling the operation of the first drive device and / or the second cleaning device according to the working mode includes: When the working mode is the normal cleaning mode, the first drive device is controlled to start working, driving the first cleaning component to rotate in the forward direction to clean the surface to be cleaned, and driving the water tank cleaning equipment to move, while the second drive device is controlled to remain in the stopped state. When the working mode is deep cleaning mode, the first drive device and the second drive device are controlled to start working simultaneously, driving the first cleaning component and the second cleaning component to rotate in the forward direction to clean the surface to be cleaned. When the working mode is local cleaning mode, the second driving device is driven to start working, driving the second cleaning component to rotate in the forward direction to clean the surface to be cleaned, and the first driving device is controlled to remain in a stopped state.

12. The control method as described in claim 11, characterized in that, After the step of controlling the operation of the first drive device and / or the second cleaning device according to the working mode, the following steps are included: In the normal cleaning mode, the driving resistance or body tilt angle of the pool cleaning equipment is obtained; When the driving resistance exceeds a preset resistance threshold, or the body tilt angle exceeds a preset angle threshold, the second drive device is controlled to start working, driving the second cleaning component to rotate forward to assist the pool cleaning equipment in overcoming obstacles.

13. The control method as described in claim 12, characterized in that, After the step of controlling the second drive device to start working and drive the second cleaning component to rotate forward to assist the pool cleaning equipment in overcoming obstacles when the driving resistance exceeds a preset resistance threshold or the body tilt angle exceeds a preset angle threshold, the following steps are included: After the second drive device starts working and a first preset time period has elapsed, the water tank cleaning equipment is judged to be operating normally based on the form resistance or the body tilt angle. If so, then control the second drive device to stop working; If not, the water tank cleaning equipment will issue a prompt signal.

14. The control method as described in claim 11, characterized in that, The pool cleaning equipment also includes a vision inspection device mounted on the base. After the step of controlling the first drive device and / or the second cleaning device according to the working mode, the following steps are included: In the normal cleaning mode, the water tank cleaning equipment is controlled to complete the first full-area cleaning according to the preset first path; The visual inspection device is controlled to acquire images of the cleaned area; The image recognition algorithm identifies and marks areas with residual dirt. Control the pool cleaning equipment to move to the dirt-marked area, and control the pool cleaning equipment to switch to the local cleaning mode to clean the area with residual dirt.

15. The control method as described in claim 11, characterized in that, The water tank cleaning equipment also includes a chemical dispensing device disposed in the base. The bottom of the base has a dispensing channel, which is located in front of the second cleaning component in the first direction. The dispensing device is connected to the dispensing channel. The working mode also includes a chemical dispensing mode. The step of controlling the operation of the first drive device and / or the second cleaning device according to the working mode includes: When the working mode is the agent dispensing mode, the first drive device is controlled to start working, driving the first cleaning component to rotate forward at a preset first speed, so as to drive the water tank cleaning equipment to travel along a preset second path. The dispensing device is controlled to work, dispensing water quality conditioning agent into the water tank. The second drive device is controlled to start working, driving the second cleaning component to rotate in the opposite direction, so as to promote the dispensing of the agent.

16. The control method as described in claim 15, characterized in that, The step of controlling the operation of the first drive device and / or the second cleaning device according to the working mode further includes: When the working mode is local cleaning mode, the second driving device is driven to start working, and the second cleaning component is driven to rotate forward at a preset second speed to clean the surface to be cleaned. The first driving device is controlled to remain in a stopped state, and the dispensing device is controlled to work to dispensing cleaning auxiliary agent into the water tank, wherein the second speed is greater than the first speed.

17. The control method as described in claim 15, characterized in that, The water tank cleaning equipment also includes a visual inspection device and a water quality detection sensor mounted on the base, and the step of obtaining the working mode includes the following prior to: The visual inspection device is controlled to acquire images of the cleaned area, and the water quality detection sensor is controlled to acquire the water quality of the pool. The working mode of the water tank cleaning equipment is matched according to the dirt level of the water tank and the water quality of the water tank.

18. A water tank cleaning device, characterized in that, include: At least one processor; as well as, A memory that is communicatively connected to the at least one processor; The memory stores instructions, and when the instructions are executed, the processor controls the pool cleaning device to perform the control method of the pool cleaning device as described in any one of claims 10 to 17.

19. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by the processor, it implements the control method for the water tank cleaning equipment as described in any one of claims 10 to 17.

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