Control method of pool cleaning equipment and pool cleaning equipment

Abstract

The invention provides a control method of pool cleaning equipment and the pool cleaning equipment. Relates to the field of cleaning equipment control. The pool cleaning equipment comprises a shell, a filtering assembly, a first suction assembly and a buoyancy adjusting assembly are arranged in the shell, and a water inlet is formed in the bottom of the shell. The control method comprises the steps that the pool cleaning equipment is controlled to move towards the water surface along the pool wall; after the pool cleaning equipment moves until at least part of the front part of the equipment is exposed out of the water surface, the pool cleaning equipment is controlled to continuously move by a preset distance; a first suction assembly is controlled to suck a gas-liquid mixture or air through a water inlet, so that the pool cleaning equipment achieves first posture change; and in response to the situation that the duration of sucking the air-liquid mixture or the air by the first suction assembly is longer than the first preset duration and / or the posture change angle of the equipment is larger than the first preset angle, the buoyancy adjusting assembly is controlled to be started, so that the pool cleaning equipment achieves second posture change. According to the scheme, the continuity and the overall efficiency of the cleaning task are improved.

Description

Technical Field

[0001] This application relates to cleaning equipment control technology, and more particularly to a control method for a pool cleaning device and the pool cleaning device itself. Background Technology

[0002] Pool cleaning equipment (such as pool cleaning robots) is an automated cleaning device that has been widely used in home swimming pools, public pools and other scenarios to achieve comprehensive cleaning of the pool bottom, pool walls, water surface and waterline (or water level line).

[0003] To achieve the aforementioned cleaning functions, such equipment typically needs to be capable of both surfacing and submerging. Existing technologies often employ built-in buoyancy adjustment mechanisms, which change the overall buoyancy by controlling the filling / draining or venting / inflating of the float chamber, thereby driving the equipment to move between underwater and the surface.

[0004] However, in existing control methods, pool cleaning equipment typically achieves the attitude change from the pool wall to the water surface through an air inlet near the handle. That is, when part of the equipment is above the water surface, the suction component draws air through this air inlet, changing the relationship between buoyancy and gravity to trigger the first attitude change from vertical to horizontal. In this process, the coordination between buoyancy adjustment and motion attitude is poor, resulting in unstable floating, which will disrupt the cleaning continuity and reduce efficiency. In addition, the above method will cause the equipment to continue to draw air through the same air inlet during subsequent water line cleaning processes, as the front and handle are continuously above the water surface, erroneously triggering the first attitude change repeatedly, interfering with the continuity and stability of water line cleaning operations, thereby reducing the reliability of equipment operation and user experience. Summary of the Invention

[0005] This application provides a control method for a water tank cleaning device and the water tank cleaning device itself, which solves the technical problems of unstable floating of the device and easy interruption of water line cleaning operation caused by the reliance on a single air inlet to trigger attitude transformation in the prior art. By improving the stability of the device attitude transformation and the continuity of the cleaning process, the reliability of the device operation and the user experience are improved.

[0006] In a first aspect, this application provides a control method for a pool cleaning device. The pool cleaning device includes a housing, within which a filter assembly, a first suction assembly, and a buoyancy adjustment assembly are disposed. A water inlet is located at the bottom of the housing and communicates with the internal space of the filter assembly. The first suction assembly is configured to: draw external fluid from the water inlet and allow the fluid to flow through the filter assembly and then out of the pool cleaning device. The pool cleaning device has a front portion and a rear portion disposed opposite to each other along its forward direction.

[0007] The control method includes:

[0008] Control the water tank cleaning equipment to move along the tank wall toward the water surface;

[0009] After the water tank cleaning equipment moves to the point where at least part of its front part is exposed above the water surface, it is controlled to continue moving a preset distance so that the first suction component can draw in a gas-liquid mixture or air through the water inlet.

[0010] The first suction component is controlled to draw in a gas-liquid mixture or air through the water inlet, so that the water tank cleaning equipment can achieve a first posture change from a vertical posture to a horizontal posture.

[0011] In response to the first suction component continuously suctioning a gas-liquid mixture or air for a duration greater than a first preset duration, and / or in response to the attitude change angle of the device being greater than a first preset angle, the buoyancy adjustment component is controlled to open, so that the pool cleaning device can achieve a second attitude change from a vertical attitude to a horizontal attitude.

[0012] In one alternative implementation, after the water tank cleaning device continues to move a preset distance, at least a portion of the water inlet is positioned within a target area near the water surface; or,

[0013] The bottom of the housing is provided with a scraper; the scraper is U-shaped and arranged around the outer periphery of the water inlet, and the auxiliary opening end of the scraper is set towards the forward direction of the device; after the water tank cleaning device continues to move a preset distance, at least a part of the scraper is located in the target area near the water surface;

[0014] The lower limit of the target area is configured as follows: it is located below the water surface and the distance between it and the water surface is less than a first threshold.

[0015] In one alternative implementation, the first threshold is configured to be 5 cm.

[0016] In one alternative embodiment, before controlling the pool cleaning device to move along the pool wall toward the water surface, the method further includes:

[0017] In response to a water surface cleaning command, the pool cleaning equipment is controlled to determine the target pool wall at the bottom of the pool, and the pool cleaning equipment is controlled to move from the bottom of the pool to the target pool wall.

[0018] When the water cleaning equipment travels to the target pool wall, the water cleaning equipment is controlled to move along the target pool wall toward the water surface.

[0019] In one alternative embodiment, before controlling the pool cleaning device to move along the pool wall toward the water surface, the method further includes:

[0020] In response to a water surface cleaning command, the pool cleaning equipment sinks from the water surface to the bottom of the pool, controls the pool cleaning equipment to determine the target pool wall at the bottom of the pool, and controls the pool cleaning equipment to move from the bottom of the pool to the target pool wall;

[0021] When the water cleaning equipment travels to the target pool wall, the water cleaning equipment is controlled to move along the target pool wall toward the water surface.

[0022] In one alternative embodiment, controlling the pool cleaning device to determine the target pool wall at the bottom of the pool includes:

[0023] The water tank cleaning device is controlled to rotate at the bottom of the tank, and the tank wall closest to the water tank cleaning device is identified as the target tank wall.

[0024] In one alternative implementation, the control method further includes, before determining the target pool wall:

[0025] If the current position of the pool cleaning device is on the pool wall, then control the cleaning device to move along the current pool wall toward the water surface;

[0026] If the current position of the pool cleaning device is at the bottom of the pool, then control the pool cleaning device to perform the steps of determining the target pool wall and subsequent steps;

[0027] If the current position of the pool cleaning device is not on the pool wall or at the pool bottom, then control the pool cleaning device to move towards the pool bottom, and when the pool cleaning device is at the pool bottom, perform the steps of determining the target pool wall and thereafter.

[0028] In one optional embodiment, the buoyancy adjustment assembly includes a float cavity, a second suction assembly, and an air inlet disposed on the top of the housing; the second suction assembly is connected to the air inlet and the float cavity respectively.

[0029] The second suction component is configured to draw air in through the air inlet and fill the float cavity.

[0030] In one alternative embodiment, the pool cleaning device further includes a first sensor for detecting whether the air inlet is located above the water surface;

[0031] Before controlling the buoyancy adjustment group to open, the method further includes: acquiring the current detection data of the first sensor, and controlling the buoyancy adjustment component to open when the current detection data indicates that the air inlet is above the water surface.

[0032] In one alternative embodiment, the first sensor includes at least one of an inertial measurement unit, an inlet / outlet water sensor, a water pressure sensor, an ultrasonic sensor, and a vision sensor.

[0033] In one alternative embodiment, the buoyancy adjustment assembly further includes an electronic switch; the electronic switch is disposed on the communication path between the air inlet and the float cavity;

[0034] The electronic switch is configured to: open the airflow passage between the air inlet and the float cavity when the buoyancy adjustment component is turned on; and close the airflow passage when the buoyancy adjustment component is turned off.

[0035] In one alternative embodiment, the electronic switch includes any one of a solenoid valve, a motor-driven valve, or a piezoelectric valve.

[0036] In one optional implementation, the control method further includes:

[0037] When the gas volume in the buoyancy chamber exceeds a preset volume threshold, and / or when the attitude change angle of the water tank cleaning device exceeds a second preset angle, the buoyancy adjustment component is controlled to close.

[0038] In one alternative embodiment, the front of the housing is provided with at least one auxiliary opening communicating with the internal space;

[0039] The first suction component is configured to: suction a gas-liquid mixture or air through the at least one auxiliary opening, thereby driving the pool cleaning device to achieve a first posture change from a vertical posture to a horizontal posture.

[0040] In one alternative embodiment, the air inlet is in fluid communication with at least one auxiliary opening; the at least one auxiliary opening is located on the housing above the air inlet.

[0041] In one alternative implementation, when the current detection data indicates that the air inlet is above the water surface, the second suction assembly is configured to draw air through the at least one auxiliary opening and fill the float cavity.

[0042] In one alternative embodiment, the second suction component includes an air pump.

[0043] In one optional implementation, the control method further includes:

[0044] When controlling the water tank cleaning equipment to move along the tank wall toward the water surface, the first suction component is controlled to operate at a first rotational speed.

[0045] In one optional implementation, the control method further includes:

[0046] While controlling the water tank cleaning equipment to continue moving, the first suction component is controlled to operate at a second rotation speed; wherein the second rotation speed is greater than, equal to or less than the first rotation speed.

[0047] In one optional implementation, the control method further includes:

[0048] While controlling the water tank cleaning device to continue moving a preset distance, when the first suction component draws in a gas-liquid mixture or air through the water inlet, the first suction component is controlled to operate at a third speed; the third speed is greater than, equal to, or less than the second speed or the first speed.

[0049] In one optional implementation, the control method further includes:

[0050] After the buoyancy adjustment component is activated, the first suction component is controlled to operate at a fourth rotation speed; the fourth rotation speed is less than, equal to, or greater than the third rotation speed, the second rotation speed, or the first rotation speed.

[0051] In one optional embodiment, after the pool cleaning device continues to move a preset distance, the distance at which the front of the pool cleaning device protrudes above the water surface is greater than the distance at which the front of the device protrudes above the water surface when the pool cleaning device performs the waterline cleaning task.

[0052] In one alternative embodiment, the second rotational speed is greater than the fifth rotational speed, wherein the fifth rotational speed is the operating speed of the first suction component when the water tank cleaning device performs water line cleaning.

[0053] In one alternative embodiment, the pool cleaning device is further provided with a second sensor; the pool cleaning device detects changes in the device's posture through the second sensor.

[0054] In one optional embodiment, the pool cleaning device further includes a first water outlet located at the rear of the top of the housing and a second water outlet located on the rear side of the housing; the first water outlet and the second water outlet may be selectively connected to the first suction assembly.

[0055] The control method further includes:

[0056] As the water tank cleaning equipment moves along the tank wall toward the water surface until it undergoes a second posture change, the first water outlet is connected to the first suction component, and water is discharged through the first water outlet.

[0057] After the water tank cleaning device completes the second posture change, it controls the first water outlet to stop discharging water.

[0058] In one optional implementation, the control method further includes:

[0059] When controlling the water tank cleaning equipment to perform the water surface cleaning task, the second water outlet is connected to the first suction component, and water is discharged through the second water outlet.

[0060] In one alternative embodiment, the first suction assembly includes a water pump.

[0061] In one alternative embodiment, the pool cleaning device further includes a drive assembly;

[0062] When the water tank cleaning equipment is not moved to a position where the first suction component can suck up the gas-liquid mixture or air through the water inlet, the drive component is controlled to be in working state.

[0063] When the water tank cleaning device is in a position that allows the first suction component to draw in a gas-liquid mixture or air through the water inlet, the drive component is controlled to be in a non-working state.

[0064] Secondly, this application provides a pool cleaning device capable of performing the control method of the pool cleaning device described in any one of the first aspects.

[0065] The technical solution provided in this application controls the equipment to move along the pool wall to a specific position where the inlet can draw in a gas-liquid mixture or air. A first suction component generates drawn air, initially altering the buoyancy and gravity relationship within the equipment, thus prompting the equipment to complete the first stage of attitude adjustment. When at least one condition—the duration of suction or the angle of equipment attitude change—meets a corresponding threshold, a buoyancy adjustment component is activated to further alter the buoyancy and gravity relationship within the equipment, thereby completing the second stage of horizontal attitude adjustment. This two-stage attitude adjustment solution solves the problems of unsmooth and unstable attitude transitions in existing technologies. Specifically, in the first stage, a suction component draws air through the inlet, isolating the attitude transition from waterline cleaning, preventing accidental interruptions and ensuring operational continuity. Furthermore, the second stage employs a dual triggering mechanism of time and angle, ensuring that the buoyancy adjustment component intervenes at the optimal time, balancing energy efficiency and conversion reliability, and improving equipment reliability and user experience. Attached Figure Description

[0066] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0067] Figure 1 A schematic diagram of the structure of a water tank cleaning device provided in this application embodiment. Figure 1 ;

[0068] Figure 2 A schematic diagram of the structure of a water tank cleaning device provided in this application embodiment. Figure 2 ;

[0069] Figure 3A schematic diagram of the structure of the large wheel in a pool cleaning device provided in this application embodiment. Figure 1 ;

[0070] Figure 4 A schematic diagram of the structure of a water tank cleaning device provided in this application embodiment. Figure 3 ;

[0071] Figure 5 A schematic diagram of the structure of a water tank cleaning device provided in this application embodiment. Figure 4 ;

[0072] Figure 6 A schematic flowchart of a control method for a water tank cleaning device provided in this application embodiment. Figure 1 ;

[0073] Figure 7 A schematic diagram illustrating the distance between a water tank cleaning device and the water surface provided in this application embodiment. Figure 1 ;

[0074] Figure 8 A schematic diagram of the attitude change angle of a water tank cleaning device provided in this application embodiment. Figure 1 ;

[0075] Figure 9 A schematic diagram illustrating the change in distance between a water tank cleaning device and the water surface, provided in an embodiment of this application. Figure 1 ;

[0076] Figure 10 Schematic diagram of the water inlet being located at different positions on the water surface when the device provided in the embodiment of this application is in the first state. Figure 1 ;

[0077] Figure 11 This is a schematic diagram showing the inlet position at different locations on the water surface when the device provided in the embodiment of this application is in the second state. Figure 1 ;

[0078] Figure 12 Schematic diagram of the water inlet being located at different positions on the water surface when the device provided in the embodiment of this application is in the first state. Figure 2 ;

[0079] Figure 13 This is a schematic diagram showing the inlet position at different locations on the water surface when the device provided in the embodiment of this application is in the second state. Figure 2 ;

[0080] Figure 14 A schematic diagram of the structure of a water tank cleaning device provided in this application embodiment. Figure 5 ;

[0081] Figure 15Schematic diagram of the scraper blade at different positions on the water surface when the device provided in the embodiment of this application is in the first state. Figure 1 ;

[0082] Figure 16 Schematic diagram of the scraper blade at different positions on the water surface when the device provided in the embodiment of this application is in the second state. Figure 1 ;

[0083] Figure 17 Schematic diagram of the scraper blade at different positions on the water surface when the device provided in the embodiment of this application is in the first state. Figure 1 ;

[0084] Figure 18 Schematic diagram of the scraper blade at different positions on the water surface when the device provided in the embodiment of this application is in the second state. Figure 1 ;

[0085] Figure 19 This is a schematic diagram showing the device provided in the embodiments of this application in different postures after responding to a water surface cleaning command.

[0086] Explanation of reference numerals in the attached figures:

[0087] 100 - Housing; 101 - Water inlet; 102 - Drive assembly; 1021 - Transmission gear system; 1022 - Large wheel; 1023 - Track; 10221 - First transmission gear; 10222 - Second transmission gear; 103 - Air inlet; 104 - Scraper; 105 - Auxiliary opening; 106 - First water outlet; 107 - Second water outlet.

[0088] The accompanying drawings illustrate specific embodiments of this application, which will be described in more detail below. These drawings and descriptions are not intended to limit the scope of the concept in any way, but rather to illustrate the concept of this application to those skilled in the art through reference to particular embodiments. Detailed Implementation

[0089] The present application will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the application and not intended to limit it. Furthermore, it should be noted that, for ease of description, the accompanying drawings show only partial structures relevant to the present application, not the complete structure.

[0090] In the description of this application, unless otherwise expressly specified and limited, the terms "connected," "linked," and "fixed" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the connection of the internal structures of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0091] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature being directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature being directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0092] In the description of this embodiment, the terms "upper," "lower," "left," and "right," etc., refer to the orientation or positional relationship shown in the accompanying drawings. They are used only for ease of description and simplification of operation, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application. In addition, the terms "first" and "second" are used only for distinction in description and have no special meaning.

[0093] As mentioned in the background section, to achieve comprehensive cleaning of the pool bottom, walls, surface, and waterline (or water level line), pool cleaning equipment typically needs to have both buoyancy and submersion capabilities. Existing technologies often employ built-in buoyancy adjustment mechanisms, which change the overall buoyancy by controlling the filling / draining or venting / inflating of the float cavity, thereby driving the equipment to move between underwater and the surface.

[0094] For example, when a pool cleaning device is cleaning at the bottom of the water, the float chamber usually discharges the air inside to reduce the overall buoyancy of the device, allowing it to adhere to the bottom or wall of the pool. When it needs to float to the surface, air can be pumped into the float chamber using an air pump or water pump, or the liquid inside the float chamber can be discharged to allow air to enter, thereby increasing the overall buoyancy of the device and causing it to float to the surface.

[0095] However, in existing control methods, pool cleaning equipment typically achieves the attitude change from the pool wall to the water surface through an air inlet near the handle. That is, when part of the equipment is above the water surface, the suction component draws air through this air inlet, changing the relationship between buoyancy and gravity to trigger the first attitude change from vertical to horizontal. In this process, the coordination between buoyancy adjustment and motion attitude is poor, resulting in unstable floating, which will disrupt the cleaning continuity and reduce efficiency. In addition, the above method will also cause the first suction component to draw air through the same air inlet again during subsequent water line cleaning processes, as the front and handle are continuously above the water surface, erroneously triggering the first attitude change repeatedly, interfering with the continuity and stability of water line cleaning operations, thereby reducing the reliability of equipment operation and user experience.

[0096] To address the aforementioned technical problems, this application provides a control method for a water tank cleaning device. The device is controlled to move along the tank wall to a specific position where the inlet can draw in a gas-liquid mixture or air. The air drawn in by the first suction component initially alters the buoyancy and gravity relationship within the device, thus prompting the device to complete the first stage of attitude adjustment. When at least one condition—the duration of suction or the angle of device attitude change—meets a corresponding threshold, the buoyancy adjustment component is activated to further alter the buoyancy and gravity relationship within the device, thereby completing the second stage of attitude adjustment. This two-stage attitude adjustment control method solves the problems of unsmooth and unstable device attitude transitions in the prior art. Specifically, in the first stage, a suction component draws air through the inlet, isolating the attitude transition from waterline cleaning, preventing accidental interruption of waterline cleaning, and ensuring operational continuity. Furthermore, the second stage employs a specific triggering mechanism to ensure that the buoyancy adjustment component intervenes at the optimal time, ensuring that the air inlet of the buoyancy adjustment component is in the air, balancing energy efficiency and conversion reliability, and improving the reliability of the device and the user experience.

[0097] To better explain the control method of the pool cleaning equipment provided in this embodiment, the structure of the pool cleaning equipment will be described in detail below.

[0098] This application provides a pool cleaning device, including but not limited to pool cleaning robots, underwater cleaning devices, and swimming pool cleaning machines, capable of cleaning pools, swimming pools, spa pools, and water storage tanks. This application does not limit the specific form of the pool cleaning device, as long as it achieves the principles of this application. In the following description, unless otherwise specified, a pool cleaning robot will be used as an example to illustrate the cleaning of a pool.

[0099] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings.

[0100] The pool cleaning equipment provided in this application embodiment has the function of performing multiple cleaning tasks such as underwater cleaning, waterline cleaning, and water surface cleaning. When performing different cleaning tasks, the pool cleaning equipment is in different states; for example, the cleaning equipment has at least three states: pool bottom state, pool wall state, and water surface state.

[0101] Reference Figures 1 to 5 As shown, the water tank cleaning equipment provided in this application embodiment includes a housing 100. A water inlet 101 is provided at the bottom of the housing 100. A filter assembly and a first suction assembly are provided inside the housing 100. The first suction assembly can be a module consisting of a motor as the power core, along with impellers, pipes, and other components to form a complete suction circuit, such as a water pump or a vacuum pump. Based on this, the first suction assembly is configured to: draw external fluid from the water inlet 101, and allow the fluid to flow through the filter assembly for filtration before being discharged outside the equipment.

[0102] The cleaning equipment also includes a buoyancy adjustment component, which enables the cleaning equipment to float and submerge, allowing the pool cleaning equipment to switch between the pool wall state and the water surface state or between the pool bottom state and the water surface state.

[0103] Specifically, when the pool cleaning equipment performs an underwater cleaning task, that is, when it is at the bottom of the pool or on the pool wall, the inlet 101 in the equipment can serve as an inlet for the liquid medium to enter the equipment. At this time, the first suction component sucks up the pool water containing dirt through the inlet 101. The sucked pool water is filtered by the filter component, and the filtered pool water is discharged through the outlet provided on the shell.

[0104] When the pool cleaning equipment switches from underwater cleaning to surface cleaning, it typically first transitions to a pool wall state (e.g., it can climb from the bottom of the pool to the pool wall), and then changes from the pool wall state to the surface state. During the transition from the pool wall state to the surface state, when the cleaning equipment moves along the pool wall to the vicinity of the water surface, the inlet 101 of the pool cleaning equipment acts as an inlet for drawing in gas-liquid mixtures or air, allowing the first suction component to draw in the gas-liquid mixture or air, thus achieving a change in the first posture of the equipment. Subsequently, based on specific conditions, the buoyancy adjustment component is activated to perform a second posture change, thereby converting the equipment to the surface state.

[0105] When the water tank cleaning equipment cleans the water surface, the inlet 101 resumes its function as an inlet for a single liquid medium, and at this time the inlet 101 is below the water surface and faces the bottom of the water tank.

[0106] Based on the above embodiments, the housing 100 of the pool cleaning equipment provided in this embodiment also includes a drive assembly 102. The drive assembly includes components such as a drive motor, a transmission gear system 1021, large wheels 1022, and tracks 1023.

[0107] Specifically, the drive motor serves as the power source, transmitting torque to the large wheel 1022 via the transmission gear system 1021; the large wheel 1022, as the drive wheel, drives the track 1023 to rotate cyclically, thereby providing the equipment with the power to move and achieve stable movement on the bottom or wall of the pool.

[0108] The large wheel 1022 has two coaxially arranged transmission teeth. Specifically, the first transmission tooth 10221 located on its inner side meshes with the transmission gear system 1021 to receive the torque transmitted by the drive motor; the second transmission tooth 10222 located on its outer side meshes with the track 1023, thereby ultimately transmitting power to the track 1023 to drive the equipment to move.

[0109] When the equipment is located on the pool wall or bottom, it can convert power into driving force through the contact and friction between the large wheels 1022 or the tracks 1023 and the pool surface, thereby enabling the equipment to move stably and forward on the pool wall or bottom surface.

[0110] As the pool cleaning equipment moves from the pool wall to the water surface, before it has moved to a position where the inlet 101 can draw in a gas-liquid mixture or air, the control module will keep the drive component 102 in working state. That is, the control module controls the drive component 102 to output in a preset direction, driving the equipment to move continuously until it is determined that the equipment has reached the target position.

[0111] Furthermore, once the equipment is in the aforementioned target position, the control module can immediately control the drive component 102 to switch to a non-working state, such as stopping power output and locking the tracks 1023.

[0112] At this point, the equipment does not need to continue moving. Stopping the drive component 102 can prevent the equipment from deviating from the target position due to malfunction, ensuring that the first suction component can stably suck up the gas-liquid mixture or air through the inlet 101. At the same time, stopping the drive component 102 can reduce the interference of the equipment's own vibration on the attitude stability. In this way, when the equipment makes the first attitude change, it can also avoid the vibration affecting the adjustment of the buoyancy and gravity relationship, ensuring the stability of the attitude change process.

[0113] Based on the above embodiments, the buoyancy adjustment assembly may include a float cavity, a second suction assembly, and an air inlet 103.

[0114] In this embodiment, the air inlet 103 can be configured as one or more, all of which are located on the top of the housing. Optionally, it can be located on the handle of the device, so that the device can draw gas into the floating cavity when performing a second attitude transition.

[0115] In this embodiment, the float cavity is used to contain the gas drawn in through the air inlet 103. Optionally, the float cavity may be arranged around the first filter assembly; in some embodiments, there are three float cavities, one on each of the three sides except for the side of the first filter assembly closest to the water inlet 101. In other embodiments, the float cavity is arranged around the second receiving cavity; in some embodiments, two float cavities are provided at the front end of the filter assembly, and the two float cavities are arranged symmetrically from left to right; a float cavity is provided at the rear end of the filter assembly, and the volume of the rear float cavity after inflation is larger than the volume of a single front float cavity after inflation.

[0116] In some embodiments, the buoyancy cavity can be made of a flexible material, and the overall buoyancy of the cleaning equipment can be adjusted by controlling the volume of the internal space of the flexible material, thereby achieving the function of floating and diving.

[0117] In this embodiment, the second suction component is connected to the air inlet 103 and the float cavity respectively. Air is drawn into the float cavity through the air inlet 103 to adjust the volume of gas or liquid in the float cavity. Its core component is an air pump.

[0118] Optionally, the air pump is connected to the float cavity via a pipeline. During operation, if it is necessary to control the equipment to submerge, the air pump extracts gas from the float cavity along the pipeline. As the amount of gas in the cavity decreases, the volume of the float cavity shrinks due to the pressure of the external water body. At this time, the reduced internal space of the float cavity is occupied by the external water body. During this process, the overall density of the equipment increases with the increase of the proportion of water in the float cavity, and the total weight increases accordingly. At the same time, the shrinking volume of the float cavity leads to a decrease in the volume of water displaced by the equipment, and the total buoyancy decreases accordingly, so that the total weight of the equipment is greater than the total buoyancy, achieving submersion. If it is necessary to control the equipment to float, the air pump pumps air into the float cavity. After the amount of gas in the cavity increases, the volume expands. The expanded gas compresses the float cavity wall and displaces the water body that was originally occupied in the cavity, increasing the volume of water displaced by the equipment and increasing the total buoyancy. At the same time, the water body in the float cavity is discharged, reducing the overall equivalent density of the equipment, and the total weight decreases accordingly, so that the total buoyancy of the equipment is greater than the total weight, achieving floating.

[0119] For ease of explanation, this embodiment defines the walking direction of the pool cleaning robot as the forward direction. Along the forward direction of the pool cleaning robot, the housing 100 has a front part and a rear part of the device arranged opposite to each other. The terms front and back, left and right, and up and down in this application are only used to describe positions and do not constitute a specific limitation on the components. They may also be given other names in other embodiments.

[0120] In this application, the pool cleaning equipment also includes a control module for implementing the control method of the pool cleaning equipment provided in the embodiments of this application.

[0121] The control method for the water tank cleaning equipment will now be described in detail with reference to the following figures and specific embodiments.

[0122] Figure 6 A schematic flowchart of a control method for a water tank cleaning device provided in this application embodiment. Figure 1 .like Figure 6 As shown, the control method includes the following steps:

[0123] S601. Control the movement of the pool cleaning equipment along the pool wall toward the water surface.

[0124] Users can generate control commands through various operating methods to drive the pool cleaning equipment from the pool wall state to the water surface state. For example, they can trigger a water surface cleaning operation or a water surface return operation on the dedicated application (APP) of the terminal device; or they can directly operate the corresponding controls on the pool cleaning equipment itself. The control commands generated by the above two methods can be specifically water surface cleaning commands, equipment return commands, etc., which can all enable the equipment to perform the conversion action from the pool wall state to the water surface state.

[0125] When the pool cleaning equipment receives a control command while cleaning the bottom of the pool, it needs to determine the target pool wall and move along the path from its current position to the target wall. After reaching the target wall, the equipment moves upwards along it. The target pool wall can be the closest wall to the equipment or a wall corresponding to the direction of movement; this embodiment does not limit the specific method of selecting the target pool wall.

[0126] When the pool cleaning equipment receives a control command on the shore, it first sinks from the water surface into the bottom of the pool, and then locates the target pool wall at the bottom.

[0127] When the pool cleaning equipment receives the above control command while cleaning the pool wall, the pool cleaning equipment moves from the pool wall being cleaned to the water surface.

[0128] It should be understood that the equipment is currently in an underwater environment. The first suction component draws liquid into the equipment through the inlet 101. At the same time, the first suction component continuously discharges the liquid filtered by the internal filtration component. As the liquid continues to be discharged, a negative pressure environment is formed inside the equipment, thereby generating an adsorption force between the inlet and the pool wall, pressing the equipment against the pool wall. In addition, since the drain outlet of the cleaning equipment is located at the top of the housing, when the first suction component is working, the water filtered by the filtration component is discharged from the drain outlet, thereby generating a pressure on the cleaning equipment towards the pool wall. Thus, under the drive of the drive component 102, the equipment can be controlled to move along the pool wall towards the water surface.

[0129] S602. After the water tank cleaning equipment moves to the point where at least part of the front of the equipment is exposed above the water surface, it is controlled to continue moving a preset distance so that the first suction component can draw in a gas-liquid mixture or air through the water inlet.

[0130] In this embodiment, after the control module responds to the received control command, it drives the device to move along the pool wall toward the water surface. During this period, the relative position of the front end and the water surface can be monitored in real time by the sensor or sensor group at the front of the device.

[0131] Reference Figure 7 As shown, when at least a part of the front of the device, such as the edge of the front opening or the upper edge of the front end of the housing 100, is detected to be exposed above the water surface, it indicates that the water inlet 101 is close to the water surface. At this time, the control module controls the device to continue moving in the current direction.

[0132] As the equipment continues to move along the pool wall toward the water surface, the control module can determine whether the front of the pool cleaning equipment is at least partially exposed above the water surface by using a pressure sensor or inlet / outlet water detection sensor located at the front of the equipment, or by the difference between the water surface position and the distance it has moved.

[0133] After at least part of the front of the pool cleaning equipment is exposed above the water surface, when the pool cleaning equipment continues to move a preset distance along the pool wall toward the water surface, the following two situations may occur: First, the equipment moves directly upward to the water inlet 101 and reaches above the water surface. At this time, the water inlet 101 is partially or completely exposed to the air. Second, the equipment moves upward to the water inlet 101 and reaches below the water surface, but after the first suction component continuously suctions the liquid for a period of time, the liquid level in the pool drops. At this time, the water inlet 101 can also be partially or completely exposed to the air.

[0134] Furthermore, as the inlet 101 is gradually exposed to the air, the proportion of liquid drawn into the equipment decreases, and the adsorption force between the equipment and the pool wall weakens accordingly. This means that the decrease in liquid and increase in gas inside the equipment reduces its weight, generating an upward force that alters its posture and further weakens the adsorption force between the equipment and the pool wall. If the equipment continues to move upwards at this point, the adsorption force will be insufficient to maintain its adherence to the pool wall, causing the equipment to detach from the wall and fall back into the water, thus interrupting the cleaning process. Therefore, to reduce the risk of tipping over and ensure smooth posture changes, when sensor data or distance data detects that the equipment has reached the aforementioned position—that is, when the first suction component can draw in a gas-liquid mixture or air through the inlet 101—its movement along the pool wall is stopped.

[0135] S603. Control the first suction component to draw in a gas-liquid mixture or air through the water inlet, so that the water tank cleaning equipment can achieve the first posture change from vertical to horizontal.

[0136] In this embodiment, after the water tank cleaning device continues to move a preset distance, the position of its water inlet 101 can be completely below the water surface or completely above the water surface, or the water inlet 101 can be partially below the water surface and partially above the water surface.

[0137] Optionally, if the inlet 101 is completely below the water surface, after the first suction component continuously suctions the liquid for a period of time, the local liquid level near the inlet 101 can drop during the suction process; when the liquid level drops to the point where at least part of the inlet 101 is exposed to the air, the first suction component can suction the gas-liquid mixture; if the liquid level continues to drop until the inlet 101 is completely exposed, air can be directly suctioned.

[0138] Optionally, if the inlet 101 is partially below and partially above the water surface, the first suction component does not need to wait for a change in liquid level and can directly suction the gas-liquid mixture through the inlet 101 exposed to air. After continuous suction for a period of time, it can directly suction air.

[0139] Alternatively, if the inlet 101 is completely above the water surface, the first suction component can directly draw in air.

[0140] Based on the above, the first suction component continuously maintains a suction state, which can draw gas-liquid mixtures and even air from the environment into the device; at the same time, the filter component inside the device filters the liquid in the suction medium, and the filtered liquid is discharged through the outlet of the device, while the suction gas is retained inside the device, providing conditions for subsequent attitude adjustment.

[0141] During this process, the first suction component continuously draws in air, gradually increasing the proportion of gas inside the equipment. This leads to a decrease in the overall density and total weight of the equipment. Simultaneously, the accumulation of gas inside the equipment indirectly increases the volume of water displaced, causing the total buoyancy to gradually exceed the total weight. As the proportion of air drawn into the equipment gradually increases, a torque is generated that lifts the rear of the equipment. Driven by this torque, the rear end of the equipment gradually tilts upwards, achieving the first posture change from a vertical to a horizontal position.

[0142] It should be understood that the first attitude change is the initial adjustment process in which the buoyancy and gravity inside the equipment change due to the continuous suction of the first suction component to the gas-liquid mixture or air, thereby causing the equipment to transition from a vertical attitude to a horizontal attitude. During the first attitude change stage, the attitude of the equipment gradually tilts from vertical to horizontal as the suction action of the first suction component continues, but has not yet reached the threshold for triggering the intervention of the buoyancy adjustment component. That is, the initial attitude transition is completed solely by the change in the relationship between buoyancy and gravity inside the equipment caused by the suction of the first suction component.

[0143] S604. In response to the first suction component suctioning the gas-liquid mixture or air for a duration longer than a first preset duration, and / or the attitude change angle of the device being greater than a first preset angle, control the buoyancy adjustment component to open, so that the pool cleaning device can achieve a second attitude change from a vertical attitude to a horizontal attitude.

[0144] In this embodiment, the attitude change of the equipment is monitored during the process of controlling the first suction component to draw in a gas-liquid mixture or air through the inlet. During this process, the duration of continuous suction of the gas-liquid mixture or air by the first suction component can also be recorded.

[0145] When the suction duration of the first suction component is detected to be longer than the first preset duration, or the overall attitude change angle of the device is greater than the first preset angle, the control module generates a control command to activate the buoyancy adjustment component, which allows the buoyancy adjustment component to inject air into the floating cavity, further increasing the buoyancy inside the device. This drives the device to achieve a second attitude change from a vertical to a horizontal attitude, until the device can float on the water surface to perform cleaning tasks or be easily retrieved by the user.

[0146] It should be understood that the second attitude change can be the process by which the equipment, driven by the buoyancy adjustment component, completes the second stage adjustment from the transitional attitude after the first attitude change to the horizontal attitude. In the second attitude change stage, the equipment attitude further changes the buoyancy and gravity relationship inside the equipment under the intervention of the buoyancy adjustment component. When the threshold for triggering the intervention of the buoyancy adjustment component is reached, the buoyancy of the equipment is further increased by the buoyancy adjustment component, thereby further changing the buoyancy and gravity relationship inside the equipment, making up for the limitations of relying solely on the first suction component to drive the equipment, and stabilizing the equipment in a horizontal attitude that can perform water surface cleaning tasks or facilitate salvage.

[0147] like Figure 8 As shown, when the pool cleaning equipment is not undergoing a posture change, it is in a state of contact with the pool wall. As the first suction component continuously draws in a gas-liquid mixture or air through the inlet 101, the equipment begins to change its posture. At this time, the equipment adjusts the suction and discharge of internal water, changing the balance between its own weight and buoyancy, thereby gradually adjusting its posture from the initial state of contact with the pool wall towards the water surface.

[0148] During the equipment attitude adjustment process, when the angle between the equipment and the pool wall is less than the first preset angle, the equipment is in the first attitude change stage. The movement trajectory of the equipment in this stage corresponds to the "first attitude change stage" in the figure, that is, the first attitude transition process of the equipment from near the pool wall to the water surface.

[0149] Furthermore, when the device's attitude change angle exceeds the first preset threshold, or when the duration of continuous suction by the first suction component exceeds the first preset duration, the device enters the second attitude change stage. The device's trajectory during this stage corresponds to the "second attitude change stage" in the diagram, which is the transition process of the device from near the pool wall towards the water surface. During this stage, the device activates the buoyancy adjustment component, which draws air into the float chamber through the air inlet, further adjusting the balance between buoyancy and gravity within the device, causing it to further adjust towards the water surface.

[0150] It should be noted that during the equipment's attitude adjustment process, the decrease in water intake while the constant discharge will cause the internal water storage to gradually empty, thus disrupting the original gravity and buoyancy balance until a new gravity and buoyancy balance is established. Once this new balance is established, the equipment will temporarily stabilize. At this point, by inflating the float cavity within the buoyancy adjustment component, the buoyancy is further increased, thereby changing the internal gravity and buoyancy relationship again and propelling the equipment to continue adjusting towards a horizontal attitude.

[0151] Alternatively, in one scenario: the moment when the device reaches a temporary stable state occurs between the first attitude change phase and the second attitude change phase (i.e., within...) Figure 8 The first preset angle is selected as the moment of temporary stability, i.e., the change in the pitch angle of the cleaning equipment when the first preset angle is selected as the temporary stable state. In another case, the moment when the equipment reaches a temporary stable state is during the second attitude change phase, i.e., the first preset angle is selected as less than the change in the pitch angle of the cleaning equipment when the temporary stable state is reached.

[0152] It should also be noted that the horizontal attitude mentioned in this disclosure is not limited to an absolutely horizontal attitude, but can also cover an approximately horizontal attitude. That is, when the device is in this attitude, there may be a small angle between its body and the water surface within a certain range, such as -15° to 15°. As long as it can meet the functional requirements of the device floating stably on the water surface, performing cleaning tasks normally, or facilitating retrieval, this embodiment does not strictly limit the specific value of the angle.

[0153] Optionally, after the device completes the second attitude change, the control module can send attitude change completion status feedback information to the user terminal or to the device body so that the user can know the device status in real time.

[0154] During this period, the control module can synchronously control the first suction component to maintain its current operating state and continue suctioning to perform surface cleaning tasks or facilitate equipment retrieval. Simultaneously, it continuously monitors the suction duration and attitude angle in real time to ensure the equipment remains in an appropriate posture, stably performing cleaning operations or facilitating user retrieval.

[0155] In the above technical solution, by controlling the equipment to move along the pool wall to a specific position at the inlet where a gas-liquid mixture or air can be drawn in, the first suction component generates drawn air, initially changing the buoyancy and gravity relationship inside the equipment, thereby prompting the equipment to complete the first stage of attitude adjustment. When at least one of the conditions, namely the duration of suction and the angle of equipment attitude change, meets the corresponding threshold, the buoyancy adjustment component is activated to further change the buoyancy and gravity relationship inside the equipment, thereby completing the second stage of horizontal attitude adjustment. The above solution solves the problem of unsmooth and unstable equipment attitude transitions in the prior art by controlling attitude adjustment in two stages. Specifically, in the first stage, a suction component draws air through the inlet, which isolates the attitude transition from waterline cleaning, preventing accidental interruption of waterline cleaning and ensuring the continuity of operation. In addition, the second stage adopts a dual triggering mechanism of time and angle to ensure that the buoyancy adjustment component intervenes at the optimal time, taking into account both energy efficiency and conversion reliability, and improving the reliability of equipment operation and user experience.

[0156] Next, based on the specific structure of the pool cleaning equipment provided in this application, a detailed description will be given of the process by which the control module responds to control commands to control the equipment to float and change its attitude.

[0157] In one alternative embodiment, before controlling the pool cleaning equipment to move along the pool wall toward the water surface, the technical solution of this embodiment may include: in response to a water surface cleaning command, controlling the pool cleaning equipment to determine a target pool wall at the bottom of the pool, and controlling the pool cleaning equipment to move toward the target pool wall; when the pool cleaning equipment moves to the target pool wall, controlling the pool cleaning equipment to move along the target pool wall toward the water surface.

[0158] Specifically, after receiving a control command (such as a water surface cleaning command, a one-key return command, etc.) that causes the pool cleaning equipment to perform a conversion action from the pool wall state to the water surface state, the equipment can activate the sensors pre-configured in the equipment. These sensors include, but are not limited to, at least one of the following: a panoramic camera on the top, an infrared boundary sensor on the bottom, and an ultrasonic ranging sensor on the side.

[0159] Optionally, a panoramic camera can be used to capture images of the entire pool area, and an image recognition algorithm can be used to identify the boundary contours of the pool and distinguish between the water surface, the bottom of the pool, and the pool wall areas; or, an infrared boundary sensor can be used to emit infrared signals, and the position of the pool wall can be determined by the difference in the reflection intensity of the received signals and the principle that the reflection intensity of the infrared signals by the pool wall is higher than that of the water surface; or, an ultrasonic ranging sensor can be used to emit ranging signals around the device at a preset angle to obtain the distance data between the device and obstacles in all directions, and filter out the obstacles that are closest and continuously linearly distributed to distinguish the pool wall from other debris on the pool bottom.

[0160] Based on this, the control module can analyze data from any sensor or perform fusion analysis of data from multiple sensors, and determine the target pool wall from the identified pool walls in combination with the water surface cleaning requirements.

[0161] After determining the target pool wall, the control module plans the target path based on the orientation relationship between the current position of the equipment and the target pool wall, and drives the equipment's drive components, such as the tracked wheels.

[0162] Optionally, if an obstacle is detected in the driving path during the driving process, the control module can activate the automatic obstacle avoidance logic to temporarily adjust the driving direction, and return to the original path after bypassing the obstacle to avoid collision.

[0163] Of course, once the target pool wall is determined, the cleaning equipment can be controlled to drive directly to the target pool wall without prior path planning. This embodiment does not limit this approach.

[0164] Once the device reaches the vicinity of the target pool wall, the control module initiates the control logic for moving along the target pool wall toward the water surface, driving the device to float upwards along the target pool wall, preparing for the subsequent first attitude change.

[0165] The above implementation method, by first planning the path and driving the equipment to the target pool wall, and then controlling its movement along the wall towards the water surface, ensures that the path of the equipment's ascent process is controllable and the actions are continuous, laying a reliable foundation for the subsequent smooth attitude transition.

[0166] In another alternative embodiment, before controlling the pool cleaning equipment to move along the pool wall toward the water surface, the technical solution of this embodiment may further include: in response to the water surface cleaning command, the pool cleaning equipment sinks from the water surface to the bottom of the pool, controls the pool cleaning equipment to determine the target pool wall at the bottom of the pool, and controls the pool cleaning equipment to move from the bottom of the pool toward the target pool wall; when the pool cleaning equipment moves to the target pool wall, controls the pool cleaning equipment to move along the target pool wall toward the water surface.

[0167] In some application scenarios, the pool cleaning equipment may receive a water surface cleaning command while it is on the shore. In this case, the pool cleaning equipment responds to the command by first moving itself from the shore to the bank, and then entering the pool from the bank. After entering the pool, the equipment adjusts the balance between its buoyancy and gravity to achieve a smooth descent from the water surface to the bottom of the pool.

[0168] Optionally, during the descent process, the equipment can also monitor the depth and attitude in real time, and ensure a smooth descent and accurate positioning by dynamically fine-tuning buoyancy and gravity.

[0169] Upon reaching the bottom of the pool, the equipment performs a target pool wall determination operation and moves towards the water surface along the determined target pool wall. Building on this, the equipment further ascends to the water surface and performs a first attitude change and a second attitude change, ultimately achieving the task of cleaning the water surface.

[0170] In the above method, when the pool responds to the command on the shore, it first controls the equipment to sink to the bottom of the pool and then moves along the pool wall to the water surface. This can effectively utilize the bottom of the pool as a reliable navigation reference, avoid the interference of water surface fluctuations or obstacles on attitude changes and path planning, thereby improving the positioning accuracy and movement reliability of the equipment from the starting position to the cleaning work surface.

[0171] Based on the above implementation method, an optional implementation method in the process of determining the target pool wall may include: when the pool cleaning equipment is located at the bottom of the pool, controlling the pool cleaning equipment to rotate at the bottom of the pool in order to determine the target pool wall.

[0172] To ensure that the water tank cleaning equipment accurately locates the target pool wall at the bottom of the pool, this optional implementation method controls the equipment to rotate and scan the environment at the bottom of the pool to collect environmental information, thereby determining the target pool wall.

[0173] Specifically, after confirming that the equipment is stably positioned at the bottom of the pool, the cleaning equipment is controlled to rotate. In this embodiment, the specific path of the rotating cleaning equipment is not limited; for example, the equipment can rotate in place or revolve around a preset center and radius. Simultaneously, multiple sensors are activated and continuously collect environmental information at a preset frequency. The control module then performs multi-dimensional fusion analysis on the collected environmental information to complete the identification and positioning of the target pool wall.

[0174] Through the above-mentioned in-situ rotational scanning and multi-dimensional environmental information analysis, the equipment can eliminate the interference of debris in the pool bottom environment, accurately identify and determine the target pool wall and float along it, thereby improving the overall efficiency of equipment floating and attitude change.

[0175] In the above process, one optional implementation of determining the target pool wall based on environmental information may include: when the environmental information includes pool wall sensing information, determining the pool wall closest to the device as the target pool wall based on the pool wall sensing information; when the environmental information does not include pool wall sensing information, determining the pool wall in the current direction of the device's movement as the target pool wall.

[0176] Specifically, the control module analyzes the multi-dimensional environmental information acquired by the rotational scanning, such as ultrasonic ranging data, infrared reflection intensity data, and image contour feature data, and extracts the pool wall perception information, that is, extracts the data that conforms to the pool wall characteristics.

[0177] For example, data with stable distances within continuous angular intervals and less than a preset threshold are extracted from ultrasonic ranging data; signals with reflectivity greater than a preset threshold and continuous without interruption are extracted from infrared reflection intensity data; and regions exhibiting continuous, regular linear contours are extracted from image feature data.

[0178] Optionally, if any of the data in any of the above dimensions contains data that matches the characteristics of the pool wall, then the environmental information is determined to include pool wall perception information; conversely, if no data matching the characteristics of the pool wall appears in any of the data, then it is determined that the data does not include pool wall perception information.

[0179] Furthermore, if the environmental information includes pool wall sensing information, the control module extracts the distance data between each candidate pool wall and the device from the pool wall sensing information in any dimension, performs numerical comparison, filters out the pool wall corresponding to the minimum distance, and directly determines the pool wall with the closest distance as the target pool wall. At the same time, it determines the orientation angle to ensure that the subsequent device can move directly to the target pool wall, reduce invalid travel paths, and improve travel efficiency.

[0180] Optionally, if the environmental information does not include pool wall sensing information, the control module calls the current attitude parameters of the device, determines the area corresponding to the current forward direction of the device as the direction where the target pool wall is located, and drives directly in that direction, and determines the pool wall reached by the device as the target pool wall.

[0181] In some scenarios, as the device moves forward, it can be controlled to move according to preset pool wall detection rules and continuously detect the pool wall until the pool wall perception information is obtained, and finally the target pool wall is confirmed and updated.

[0182] In this way, when there is pool wall sensing information, the equipment prioritizes the nearest pool wall as the target, improving movement efficiency; when there is no pool wall sensing information, it relies on the current direction of movement to ensure a clear target direction, avoiding the equipment from stopping in place. Thus, the target pool wall can always be identified in the pool environment, ensuring the smooth execution of the subsequent wall-moving process.

[0183] After determining the target pool wall based on the above implementation method, the control module controls the pool cleaning equipment to move along the target pool wall toward the water surface until the inlet 101 reaches the water surface boundary environment, that is, when the first suction component can suck up the gas-liquid mixture or air through the inlet 101, it stops moving, thereby realizing the change of buoyancy and gravity in the equipment, so that the equipment performs the first attitude change.

[0184] In this embodiment, as the pool cleaning device moves to the point where at least a portion of the front of the device is exposed above the water surface, and continues to move, the technical solution provided in this embodiment further includes: controlling the pool cleaning device to continue moving a preset distance so that at least a portion of the water inlet 101 is located in a target area near the water surface; wherein, the lower limit of the target area is configured as: located below the water surface, and the distance between the target area and the water surface is less than a first threshold.

[0185] Optionally, as the control device continues to move, a target area near the water surface can be used as a constraint, allowing the device to continue moving a preset distance until it reaches a target position capable of pumping gas-liquid mixtures or air.

[0186] In this embodiment, the target area is located above a preset lower limit. This lower limit represents the shortest distance required for the cleaning device to continue moving. By setting this lower limit, when the device moves to this position, although the inlet 101 is completely below the water surface, the distance between the highest point of the inlet 101 and the water surface is less than a first threshold. This ensures that after the device continues to move upwards and sucks up a section of liquid, its inlet 101 is at least partially exposed to the air. This allows the first suction component to transition from sucking up liquid to sucking up a gas-liquid mixture, and ultimately, to sucking up air.

[0187] Furthermore, the control module can pre-select a random endpoint position based on the target area, and control the device to move based on the selected endpoint position, stopping the device after moving a preset distance, thereby ensuring that at least a portion of the inlet 101 is located within the target area near the water surface; alternatively, the control module can also directly control the device to continue moving after at least a portion of the front of the device emerges from the water surface, and monitor the device's position in real time; when it is detected that the device has exceeded a preset lower limit value, i.e., is within the target area, the control module stops the device from moving. Subsequently, the control device performs a first attitude change.

[0188] For example, the change in distance between the front end of the device and the water surface during the movement of the device towards the water surface is as follows: Figure 9 As shown. Figure 9 The first distance (L1) shown in a) represents the distance between the front end of the device and the water surface when the device moves to the point where at least part of it is exposed above the water surface. In the waterline cleaning scenario, this distance can also be the distance between the device and the water surface during waterline cleaning. Figure 9 The second distance (L2) shown in b) represents the distance between the front end of the device and the water surface when the device moves to the end position, i.e., when the inlet is near the water surface.

[0189] Optionally, the pool cleaning equipment is in a dynamic initial state immediately after stopping. At this time, due to the buoyancy change not yet being stable, the entire equipment may be tilted (e.g., Figure 10 , 12As shown in Figures 15 and 17 (with the equipment in the first state), the position of the inlet 101 relative to the water surface and target area may vary depending on the destination location, including but not limited to:

[0190] like Figure 10 As shown in a) and b), the inlet 101 is completely below the water surface, and the distance between any vertex of its upper edge and the water surface is greater than zero;

[0191] like Figure 10 As shown in c) and d), the inlet 101 is completely below the water surface, and any vertex of its upper edge is aligned with the water surface;

[0192] like Figure 10 As shown in e) to j), the inlet 101 is partially submerged in water, with its upper edge protruding above the water surface and its lower edge remaining below the water surface;

[0193] like Figure 10 As shown in k) and l), the inlet 101 is completely above the water surface, and any vertex of its lower edge is aligned with the water surface;

[0194] like Figure 10 As shown in m) and n), the inlet 101 is completely above the water surface, and the distance between any vertex of its lower edge and the water surface is greater than zero.

[0195] Optionally, once the device reaches a static stable state, its front end can be restored to a horizontal orientation (e.g., Figure 11 , 13 As shown in Figures 16 and 18, the device is in the second state. Depending on the first position and the first duration, the position of the inlet 101 relative to the water surface and the target area may vary, including but not limited to:

[0196] like Figure 11 As shown in a), the inlet 101 is completely below the water surface, and the position of its upper edge relative to the water surface is greater than zero;

[0197] like Figure 11 As shown in b), the inlet 101 is completely below the water surface, and its upper edge is aligned with the water surface;

[0198] like Figure 11 As shown in c), the inlet 101 is partially submerged in water, with its upper edge protruding above the water surface and its lower edge remaining below the water surface;

[0199] like Figure 11 As shown in d), the inlet 101 is completely above the water surface, and its lower edge is aligned with the water surface;

[0200] like Figure 11As shown in e), the inlet 101 is completely above the water surface, and the position of its lower edge relative to the water surface is greater than zero.

[0201] In some scenarios, an upper limit is set for the target area. Specifically, the upper limit of the target area is configured as follows: it must be located above the water surface, and the distance between it and the water surface must be less than a second threshold.

[0202] Explained, the upper limit of the target area can represent the maximum distance that the device can move during the movement. By setting this upper limit, when the device moves to this position, although the inlet 101 is completely above the water surface, the distance between the lowest point of the inlet 101 and the water surface is less than the second threshold. This ensures that while the device is drawing in air to increase internal buoyancy, the adsorption force between it and the pool wall is sufficient to keep it attached to the wall, avoiding the risk of the device detaching from the pool wall and allowing the device to smoothly perform the first attitude change.

[0203] Based on this, after the pool cleaning equipment continues to move a preset distance, its position relative to the water surface and the target area can be as follows: Figure 12 and Figure 13 As shown. Specifically, Figure 12 The position of the water inlet 101 when the entire water tank cleaning equipment is tilted; Figure 13 The position of the inlet 101 when the water tank cleaning equipment is stable.

[0204] See also Figure 1 The bottom of the housing 100 of the water tank cleaning device provided in this application embodiment is provided with a scraper 104; the scraper 104 is U-shaped and is arranged around the outer periphery of the water inlet 101, and the auxiliary opening end of the scraper 104 is arranged facing the forward direction of the device.

[0205] Specifically, the distance between the inner ring contour of the U-shaped scraper 104 and the outer ring edge of the water inlet 101 can be controlled within a preset range. This ensures that the suction area of ​​the water inlet 101 is not blocked, and that the dirt scraped by the scraper 104 can fall directly into the suction range of the water inlet 101.

[0206] In addition, the top of the scraper 104 can be slightly higher than the upper edge of the inlet 101, and the bottom can be slightly lower than the lower edge of the inlet 101. In this way, when the equipment moves along the pool wall or the water surface, the scraper 104 can contact the cleaning surface before the inlet 101, scraping the moss attached to the pool wall, fallen leaves floating on the water surface, or oil film and other dirt into the U-shaped auxiliary opening. Then, the dirt is sucked into the equipment by the suction action of the inlet 101 to achieve the cleaning purpose.

[0207] Reference Figure 14As shown, when the equipment moves along the pool wall toward the water surface, the scraper 104 and the pool wall can enclose a small space. When the equipment moves to the water inlet 101 and approaches the water surface, the first suction component can draw the liquid level in the small space below the water inlet, so that the water inlet 101 is at least partially exposed above the water surface. Thus, the first suction component can draw gas-liquid mixture or air through the water inlet 101.

[0208] Furthermore, since the auxiliary opening end of the scraper 104 faces the direction of equipment movement, dirt on the cleaning surface can naturally enter the U-shaped auxiliary opening area during the equipment's forward movement. At the same time, the two sides of the U-shaped structure form guide channels, which can prevent dirt from scattering from both sides, ensuring that it is concentrated and guided to the inlet 101, thereby improving dirt collection efficiency.

[0209] In some application scenarios, the top height of the scraper 104 can also be set to align with the upper edge of the water inlet 101, and the bottom end to align with the lower edge of the water inlet 101. This application does not limit the specific height positional relationship between the scraper 104 and the water inlet 101, and it can be adapted and adjusted according to actual cleaning needs.

[0210] Accordingly, another alternative implementation for controlling the device to stop moving may include: controlling the pool cleaning device to continue moving a preset distance, so that at least a portion of the scraper 104 is located within a target area near the water surface. The lower limit of the target area is configured as follows: located below the water surface, and the distance between the target area and the water surface is less than a first threshold.

[0211] In this embodiment, the relative positional relationship between the scraper 104 and the water inlet 101 can also be used to constrain the target area near the water surface, so that after the device continues to move a preset distance, it can reach the target area where it can pump gas-liquid mixture or air.

[0212] Similarly, by setting this lower limit, when the device moves to this position, although the scraper 104 is completely below the water surface, the distance between the highest point of the scraper 104 and the water surface is less than the first threshold. This ensures that after the device continues to move upward and sucks up a section of liquid, its semi-enclosed inlet 101 can be at least partially exposed to the air, thereby enabling the first suction component to transition from sucking up liquid to sucking up gas-liquid mixtures, and finally to sucking up air.

[0213] Based on this, the control module can pre-select a random endpoint position according to the target area, and control the device to move based on the selected endpoint position, stopping the device after moving a preset distance, thereby ensuring that at least part of the inlet 101 is located in the target area near the water surface; alternatively, the control module can also directly control the device to continue moving after at least part of the front of the device emerges from the water surface, and monitor the device's position in real time; when it is detected that the device has exceeded a preset lower limit value, i.e., is located in the target area, the control module stops the device from moving. Subsequently, the control device performs a first attitude change.

[0214] Optionally, when the pool cleaning equipment has just stopped moving, it is in a dynamic initial state. At this time, due to the buoyancy change not yet being stable, its front end is tilted. Depending on the endpoint, the position of the scraper 104 relative to the water surface and the target area may vary, including but not limited to:

[0215] like Figure 15 As shown in a) and b), the scraper 104 is completely below the water surface, and the position of any vertex of its upper edge relative to the water surface is greater than zero;

[0216] like Figure 15 As shown in c) and d), the scraper 104 is completely below the water surface, and any vertex of its upper edge is aligned with the water surface;

[0217] like Figure 15 As shown in e) to j), the scraper 104 is partially submerged in water, with its upper edge protruding above the water surface and its lower edge remaining below the water surface;

[0218] like Figure 15 As shown in k) and l), the scraper 104 is completely above the water surface, and any vertex of its lower edge is aligned with the water surface;

[0219] like Figure 15 As shown in m) and n), the scraper 104 is completely above the water surface, and the position of any vertex of its lower edge relative to the water surface is greater than zero.

[0220] For example, once the device reaches a static stable state, its front end can return to a horizontal position. Depending on the first position and the first duration, the position of the scraper 104 relative to the water surface may vary, including but not limited to:

[0221] like Figure 16 As shown in a), the scraper 104 is completely below the water surface, and the position of its upper edge relative to the water surface is greater than zero;

[0222] like Figure 16 As shown in b), the scraper 104 is completely below the water surface, and its upper edge is aligned with the water surface;

[0223] like Figure 16 As shown in c), the scraper 104 is partially submerged in water, with its upper edge protruding above the water surface and its lower edge remaining below the water surface;

[0224] like Figure 16 As shown in d), the scraper 104 is completely above the water surface, and its lower edge is aligned with the water surface;

[0225] like Figure 16 As shown in e), the scraper 104 is completely above the water surface, and the position of its lower edge relative to the water surface is greater than zero.

[0226] Similarly, an upper limit is set for the target area. The upper limit of the target area is configured as follows: it must be located above the water surface and the distance between it and the water surface must be less than a second threshold.

[0227] Explained by the fact that the upper limit of the target area allows the device to move to that position so that, although the lowest point of the scraper 104 is completely above the water surface, the distance between the lowest point of the semi-enclosed inlet 101 and the water surface is less than the second threshold. This ensures that while the device draws in air to increase internal buoyancy, the adsorption force between it and the pool wall is sufficient to keep it attached to the wall, avoiding the risk of the device detaching from the pool wall and allowing the device to smoothly perform the first attitude change.

[0228] Based on this, after the pool cleaning equipment continues to move a preset distance, its position relative to the water surface and the target area can be as follows: Figure 17 and Figure 18 As shown. Specifically, Figure 17 The position of scraper 104 when the entire water tank cleaning equipment is tilted; Figure 18 The position of the scraper 104 when the water tank cleaning equipment is stable.

[0229] In the above implementation process, the first threshold can be set to 5cm. Specifically, when the inlet 101 is completely submerged, the distance between its highest point and the water surface should be less than 5cm (e.g., 4cm, 3cm, or 1.5cm). This distance setting allows the inlet 101 to draw in a gas-liquid mixture or air after the first suction assembly has been suctioning for a period of time, thereby increasing internal buoyancy. Correspondingly, when the scraper 104 is completely submerged, the distance between its upper edge and the water surface must also meet this requirement (i.e., <5cm) to ensure that the space formed by the scraper and the pool wall can meet the above-mentioned air intake conditions.

[0230] Furthermore, the second threshold can be set to 8cm. Specifically, when the inlet 101 is completely above the water surface, the distance between its lowest point and the water surface should be less than 8cm (e.g., 7cm, 5cm, or 2cm). This distance requirement also applies to the position of the lowest point of the scraper 104 when it is completely above the water. This increases the buoyancy inside the equipment while ensuring sufficient adhesion between it and the pool wall to prevent it from falling off.

[0231] Based on the above embodiments, the front of the housing 100 of the water tank cleaning device provided in this embodiment is provided with at least one auxiliary opening communicating with the internal space; on this basis, the first suction component is configured to: suction gas-liquid mixture or air through at least one auxiliary opening, thereby realizing the first posture change of the entire drive device from a vertical posture to a horizontal posture.

[0232] In this embodiment, in addition to the water inlet 101 at the bottom of the housing 100, at least one auxiliary opening is added to the front of the housing 100 to optimize the suction performance. These openings are connected to the water inlet 101 at the bottom through internal flow channels, forming a fluid suction path, thereby improving the suction efficiency of the first suction assembly.

[0233] Based on this structure, as the equipment rises along the pool wall, the first suction component simultaneously draws liquid through the openings and the inlet 101, increasing the adsorption force between the equipment and the pool wall, allowing it to float stably. When the equipment rises to the inlet 101 and reaches the water surface boundary, the first suction component can simultaneously draw in the gas-liquid mixture and even air through the various openings and the inlet 101, thus increasing the buoyancy and speed of the equipment's internal acceleration, thereby driving the equipment to complete the first attitude change more quickly.

[0234] Based on this, the water tank cleaning equipment provided in this embodiment is also equipped with a second sensor. Accordingly, the technical solution of this embodiment also includes: based on the second sensor, detecting the first posture change of the equipment to a horizontal posture.

[0235] In this embodiment, the second sensor may include, but is not limited to, a gyroscope, an accelerometer, a tilt sensor, or a combination thereof. This sensor can be mounted on the control board inside the device and establish a data connection with the control module to continuously collect and report the device's attitude data.

[0236] Specifically, after the device triggers the first attitude change due to air suction, the control module monitors the change in the device's attitude angle through the second sensor, that is, obtains the change in the device's pitch angle or the change in the angle between the device and the horizontal plane; at the same time, the control module also times the duration of suction in this state. Subsequently, based on the change in attitude angle or the accumulated suction duration, it can be determined whether the conditions for triggering the second attitude change are met.

[0237] Furthermore, when the control module detects that the duration of the first suction component's suction of the gas-liquid mixture or air is longer than the first preset duration, or that the device's attitude change angle is greater than the first preset angle, it controls the buoyancy adjustment component to open, so that the device can achieve a second attitude change from a vertical attitude to a horizontal attitude.

[0238] In this embodiment, when the buoyancy adjustment component includes an air inlet 103, the pool cleaning device is also equipped with a first sensor. This first sensor is located around the air inlet 103 to detect whether the air inlet 103 is exposed to air during changes in the device's attitude, thereby triggering a second attitude change in the device.

[0239] Optionally, the first sensor includes at least one of an inertial measurement unit, an inlet / outlet water sensor, a water pressure sensor, an ultrasonic sensor, and a vision sensor.

[0240] Understandably, in this embodiment, after the water tank cleaning device completes its first posture change, the device as a whole is in a backward tilted posture. Based on the design of the opening position of the air inlet 103 on the device, the air inlet is basically at the highest position of the overall structure of the device at this time. In this state, triggering the device to perform a second posture change, that is, controlling the activation of the buoyancy adjustment component, allows the air inlet 103 to only contact air during subsequent buoyancy adjustment, thereby effectively preventing liquid from entering the air inlet and ensuring the normal operation of the buoyancy adjustment component and the safety of the device.

[0241] Based on this, an optional implementation of triggering the device to perform a second attitude change may include: in response to the duration of suction by the first suction component being greater than a first preset time, or the device attitude change angle being greater than a first preset angle, acquiring the current detection data of the first sensor; and controlling the buoyancy adjustment component to open when the current detection data indicates that the air inlet 103 is above the water surface.

[0242] Specifically, when the control module detects that the duration of the first suction component's suction of the gas-liquid mixture or air exceeds the first preset time, or when the second sensor detects that the device's attitude change angle exceeds the first preset angle, it immediately sends a data acquisition command to the first sensor for data collection.

[0243] The first sensor responds to the data acquisition command and collects detection data. Specifically, it can detect whether the air inlet 103 is in contact with the water surface using water sensors, such as infrared liquid level sensors.

[0244] Optionally, the water pressure value at the air inlet 103, the equipment attitude data output by the inertial measurement unit, the signal reflection dataset output by the ultrasonic sensor, and the image data output by the visual sensor can also be collected by the water pressure sensor.

[0245] Furthermore, the control module receives the aforementioned multi-dimensional sensor data and, through any of the sensor data or by fusing and analyzing the aforementioned multi-dimensional sensor data, determines whether the air inlet is located above the water surface, i.e., exposed to the air.

[0246] Optionally, once it is confirmed that the air inlet 103 is exposed to air, the control module sends an opening command to the buoyancy adjustment component to open the buoyancy adjustment component. That is, the second suction component draws air through the air inlet 103 and stores it into the float cavity, thereby increasing the buoyancy inside the device and realizing the second attitude change.

[0247] In the above embodiment, the buoyancy adjustment component is activated only after the first sensor confirms that the air inlet 103 is completely above the water surface, ensuring that the buoyancy adjustment process can efficiently utilize air to enhance buoyancy and avoid liquid intake when the air inlet 103 is still underwater, which would cause adjustment failure.

[0248] Based on the above embodiments, the buoyancy adjustment assembly also includes an electronic switch; the electronic switch is disposed on the communication path between the air inlet 103 and the float cavity; optionally, the electronic switch includes any one of a solenoid valve, a motor-driven valve or a piezoelectric valve.

[0249] The electronic switch is configured to: open the airflow passage between the air inlet 103 and the float cavity when the buoyancy adjustment component is turned on; and close the airflow passage when the buoyancy adjustment component is turned off.

[0250] After the buoyancy adjustment component receives the opening command, the controller drives the second suction component and the electronic switch to open, and uses the second suction component to draw outside air into the float cavity of the device through the air inlet 103 and the opened airflow passage.

[0251] As air is continuously injected, the liquid in the floating cavity is gradually discharged, the volume of gas in the cavity increases, resulting in a decrease in the overall density of the equipment and an increase in buoyancy, which causes a change in the relationship between the buoyancy and gravity of the equipment.

[0252] During this buoyancy change process, the equipment is subjected to an upward net buoyancy force. This buoyancy force, together with the torque on the front or other parts of the equipment, forms a rotational torque, thereby driving the equipment to complete the second stage of attitude reversal by moving it further towards a horizontal attitude.

[0253] Through the above attitude adjustment, the autonomous adjustment of the equipment attitude based on the changing relationship between buoyancy and gravity is realized, which ensures the smooth transition of the equipment between different working modes.

[0254] Optionally, the second sensor monitors the change in the rear angle in real time until the attitude angle after the second attitude change of the device is greater than the second preset angle, that is, the target horizontal attitude is reached, or when the gas in the floating cavity is detected to be greater than the preset volume, the buoyancy adjustment component is controlled to close.

[0255] Specifically, when the buoyancy adjustment component activates to drive the device to change to the second attitude, the control module simultaneously starts dual monitoring. That is, it collects the pitch angle of the device at a preset frequency through the second sensor and determines whether it is greater than the second preset angle, i.e. whether the target horizontal attitude has been reached. At the same time, the control module also detects the gas volume in the floating cavity through the pressure conversion module and ultrasonic level gauge built into the floating cavity and compares it with the preset volume threshold.

[0256] When the second sensor detects that the device's angle has entered the target range, or when the gas detection unit reports that the gas volume is greater than the preset volume threshold, the control module immediately sends a shutdown command, which shuts down the second suction component and the electronic switch.

[0257] In some scenarios, the control module also activates the float cavity pressure maintenance device to ensure stable pressure inside the float cavity and avoid subsequent attitude fluctuations that could affect the effectiveness of the surface cleaning task.

[0258] Based on the above implementation, in this embodiment, the air inlet 103 is in fluid communication with at least one auxiliary opening, and each auxiliary opening is provided in fluid communication between the handle air inlet 103 and at least one auxiliary opening; the position of at least one auxiliary opening on the housing 100 is higher than that of the air inlet 103.

[0259] See also Figure 1 Each auxiliary opening 105 can be specifically located at the handle structure of the device, such as the side or top of the handle, and is staggered from the gripping area of ​​the handle to avoid obstruction. Furthermore, its installation position on the housing 100 is higher than that of the air inlet 103; for example, the air inlet 103 is located in the lower-middle part of the rear end of the housing 100, and the auxiliary opening 105 is located in the area of ​​the handle near the top of the housing 100, forming a vertical drop of 10-15 cm along the height direction of the housing 100. In addition, the air inlet 103 and at least one auxiliary opening 105 of the pool cleaning device can also achieve fluid communication through a connecting channel inside the housing 100.

[0260] Based on this, when the current detection data indicates that the air inlet 103 is completely above the water surface, the second suction assembly is configured to: draw air in and fill the float cavity through at least one auxiliary opening 105.

[0261] Specifically, when the pool cleaning equipment triggers a second attitude change and further flips towards a horizontal attitude, the air inlet 103 on its housing 100 is gradually exposed from the underwater or surface-level environment. During this change, since at least one auxiliary opening 105 is positioned higher than the air inlet 103 on the housing 100, the auxiliary opening 105 will completely detach from the water surface and stabilize in the air environment before the air inlet 103. At this time, external air can enter the connected flow channel through both the auxiliary opening 105 and the air inlet 103, forming a redundant dual-path air intake structure. This avoids interruption of air intake due to a single air inlet 103 being momentarily submerged by the water surface during the critical stage of attitude change, thus ensuring the continuity and reliability of the buoyancy adjustment process.

[0262] When the device attitude is further rotated, so that the air inlet 103 is also stably exposed to the air, the auxiliary opening 105 serves as a supplementary air intake channel, working together with the air inlet 103 to increase the air intake speed, thereby increasing the inflation rate of the floating cavity and accelerating the second attitude change process.

[0263] The above-described embodiment, by setting the auxiliary opening 105 at the handle and keeping its position higher than the air inlet 103 during the second attitude change, not only ensures that the auxiliary opening 105 has priority contact with air during attitude change by utilizing the high position of the handle, but also achieves redundant setting of the air intake path through fluid communication relationship, thereby improving the air intake reliability and efficiency of the buoyancy adjustment component during the second attitude change and ensuring the stability of the device when adjusting to a horizontal attitude.

[0264] See also Figure 5 Based on the above embodiments, the water outlet of the pool cleaning equipment includes a first water outlet 106 and a second water outlet 107 connected to the first suction assembly. The first water outlet 106 is located at the rear of the top of the housing 100, and the second water outlet 107 is located on the rear side of the housing 100.

[0265] Specifically, the number of the first outlet (106) and the second outlet (107) in the device is set to at least one, and both can be independently selected to be in fluid communication with the first suction component.

[0266] Based on this, the control scheme provided in this embodiment is as follows: when the water cleaning equipment moves along the pool wall toward the water surface until it undergoes a second posture change, the first water outlet 106 is controlled to discharge water; after the water cleaning equipment completes the second posture change, the first water outlet 106 is controlled to stop discharging water.

[0267] Specifically, during the process of controlling the device to move along the pool wall toward the water surface and completing the first posture change, the first suction component always maintains fluid communication with the first outlet 106; the control module controls the first suction component to continuously discharge the filtered liquid from the first outlet 106 after filtration by the filter component.

[0268] In the above scheme, drainage is carried out through the first drain outlet 106, which can adjust the overall weight of the equipment. Specifically, if the equipment continuously sucks up liquid without discharging it, the liquid will accumulate inside, increasing the overall weight of the equipment. This will cause the gravity to exceed the buoyancy, posing a risk of the equipment sinking to the bottom. Conversely, if the liquid is discharged through the first drain outlet 106 simultaneously during the liquid suction process, the liquid balance inside the equipment can be maintained, allowing it to maintain its original stable posture in the water and preventing it from sinking to the bottom.

[0269] Furthermore, when the control module detects through the second sensor that the angle is greater than the second preset angle, it determines that the water tank cleaning device has completed the second posture change, that is, it is close to a horizontal posture. At this time, the control module can cut off the fluid connection between the first suction component and the first drain outlet 106, so that the first drain outlet stops discharging water. This can avoid the reaction force of continuous water discharge causing the device to overturn.

[0270] In some scenarios, the control module can enable fluid communication between the first suction component and the second drainage interface 107, thereby achieving drainage through the second outlet 107, ensuring that the device maintains force balance in the final stage of the second attitude change and stably transitions to a horizontal attitude.

[0271] In the above method, by controlling the on / off state of the first outlet 106, not only is it possible to use the force of the water outlet to assist in attitude stabilization, but it is also possible to avoid attitude instability by stopping in a timely manner, thereby improving the reliability of the equipment attitude change process.

[0272] During the above implementation process, when the equipment undergoes its first attitude change, the first suction component can draw in a gas-liquid mixture or air through the inlet 101 and at least one auxiliary opening 105. During this process, the medium discharged from the first outlet 106 is also a gas-liquid mixture. In other words, after the first suction component draws the gas-liquid mixture into the filter component inside the equipment, the filter component performs preliminary separation during filtration. The remaining unseparated mixture is then transported to the first outlet 106 through a pipeline connected to the filter component.

[0273] During the discharge of the gas-liquid mixture, since the first outlet 106 is located at the rear top of the shell 100, the discharged gas-liquid mixture will generate a backward jet force. This not only balances the forward pull generated by the suction at the front of the equipment through the reaction force, thus helping to maintain the stability of the equipment's posture, but also reduces the accumulation of media inside the equipment, avoiding a decrease in suction efficiency due to untimely gas-liquid separation. At the same time, by continuously discharging the mixture, the gas-liquid ratio inside the equipment is dynamically adjusted, providing an auxiliary function for buoyancy adjustment during the first posture change process.

[0274] Through the above implementation process, it is ensured that the equipment can not only efficiently process the medium during the gas-liquid mixture or air extraction stage, but also stably maintain the force balance required for attitude changes, thus optimizing the energy utilization and operational stability of the equipment.

[0275] Based on the above implementation, the technical solution provided in this embodiment also includes: controlling the second outlet 107 to discharge water when the water tank cleaning equipment is performing the water surface cleaning task.

[0276] In this embodiment, when the pool cleaning device performs the water surface cleaning task, that is, after the device completes the movement towards the water surface, the first posture change and the second posture change, the device is in a horizontal posture. At this time, in response to the control command to perform the water surface cleaning task, the first suction component can continuously suck up the gas-liquid mixture or air to perform the cleaning operation. At this time, the control module controls the first suction component to maintain fluid communication with the second outlet 107 to ensure that it can continuously drain water.

[0277] Specifically, the second outlet 107 is connected to the first suction component and the filter component through an internal pipeline. After the liquid sucked in by the first suction component is filtered by the filter component, most of the clean liquid is discharged through the second outlet 107.

[0278] During the drainage process at the second outlet 107, since the second outlet 107 is located at the rear of the housing 100 and its water outlet direction is opposite to the forward direction of the equipment, the discharged water flow can generate a forward reaction force, which can help drive the equipment to move smoothly along the water surface and reduce the energy consumption of the drive components. At the same time, continuous water discharge can promptly discharge the filtered liquid, avoiding excessive liquid accumulation inside the equipment that could cause the center of gravity to shift backward or the buoyancy to become unbalanced, and ensuring that the equipment maintains a stable horizontal working posture throughout the water surface cleaning process.

[0279] In the above embodiments, by controlling the second outlet 107 to continuously drain water during the water surface cleaning task execution phase, the filtered liquid is circulated and discharged, and the reaction force of the water flow is used to assist the movement of the equipment, thereby further optimizing the energy utilization and operational stability of the equipment.

[0280] In the above implementation process, the control module can divide the movement of the pool cleaning equipment along the pool wall toward the water surface into two stages.

[0281] In the first stage, while controlling the water tank cleaning equipment to move along the tank wall toward the water surface, the first suction component is controlled to operate at a first rotation speed.

[0282] The first speed is configured to be lower than the normal speed when the equipment performs cleaning operations. For example, if the normal speed of the pool cleaning equipment when it is running underwater is 2500-3000 rpm, then the first speed is set to 2500-3000 rpm to adapt to the functional requirements of the equipment moving from the pool wall to the water surface.

[0283] In this way, at this speed, the first suction component generates a moderate negative pressure through the water inlet 101, which can initially suck up a small amount of water or shallow impurities on the surface of the pool wall to avoid dirt residue during movement, and will not suck up too much liquid or air due to excessive speed, thereby preventing the internal medium of the equipment from changing drastically and affecting the stability of movement.

[0284] In the above-described implementation process, after at least part of the front of the device is exposed above the water surface, while controlling the water tank cleaning device to continue floating and moving, the first suction component is controlled to operate at a second rotation speed.

[0285] The second speed is greater than, equal to, or less than the first speed. For example, if the first speed is 2500-3000 rpm, the second speed can be set to 2000-3500 rpm.

[0286] Specifically, at this stage, the inlet 101 is close to the water surface, and the first suction component running at the second speed can generate a stronger negative pressure, which can enhance the suction effect on the liquid in the pool, enabling the equipment to quickly reach the target area where the inlet is near the water surface, accelerating the overall efficiency of the equipment's attitude change; in addition, the high speed can also enhance the suction effect on the pool wall dirt, which can prevent the spread of dirt caused by the equipment moving on the pool wall.

[0287] During this period, the portion of the equipment protruding above the water surface gradually increases, and its overall buoyancy also increases, causing the adhesion between the equipment and the pool wall to weaken. At this time, the stronger suction provided by the second rotation speed can compensate for the loss of adhesion due to the decreased fit, thereby maintaining or even enhancing the adhesion between the equipment and the clean surface, preventing the equipment from detaching from the pool wall due to increased buoyancy.

[0288] In the above method, when the first rotation speed is higher than the second rotation speed, it avoids equipment instability or work interruption caused by a sudden drop in adsorption force, and can also actively adapt to changes in working conditions, ensuring the continuity and reliability of cleaning operations.

[0289] In some scenarios, the second rotational speed when the device continues to float and move can be lower than the first rotational speed when the device is running underwater. This way, operating the first suction component at a lower speed can reduce the device's energy consumption and ensure that the device still has sufficient power to support subsequent attitude changes and cleaning operations after it stops moving and completes its attitude change.

[0290] In the above-described implementation process, when the water tank cleaning equipment stops moving and the gas-liquid mixture or air is drawn through the water inlet 101, the first suction component is controlled to operate at a third rotation speed.

[0291] The third speed is greater than, equal to, or less than the second or first speed. For example, if the first speed is 2500-3000 rpm and the second speed is 2000-3500 rpm, the third speed is set to 1800-3800 rpm.

[0292] Specifically, since the equipment is already in the position where the inlet 101 can draw in gas-liquid mixtures or air at this stage, the first suction component running at the third speed can generate stronger negative pressure. This not only efficiently draws in gas-liquid mixtures or air at the air inlet, but also accelerates buoyancy by rapidly increasing the air ratio, providing sufficient power for the first attitude change of the equipment; it also enhances the ability to capture dirt around the inlet 101, especially floating objects near the water surface or residual impurities on the pool wall, completing preliminary cleaning before attitude change and reducing the burden of subsequent operations.

[0293] In some scenarios, when the water tank cleaning equipment is stopped and the gas-liquid mixture or air is drawn through the water inlet 101, the first suction component can also be controlled to operate at a speed equal to or lower than the second speed, or even equal to or lower than the first speed, thereby achieving energy saving or reducing operating noise.

[0294] In the above implementation process, after the buoyancy adjustment component is turned on, the first suction component is controlled to run at the fourth rotation speed.

[0295] The fourth speed is equal to or greater than the third speed, the second speed, or the first speed. For example, if the first speed is 2500-3000 rpm, the second speed is 2000-3500 rpm, and the third speed is 1800-3800 rpm, then the fourth speed is set to 1500-4000 rpm.

[0296] Specifically, during this stage, the control module uses the buoyancy adjustment component to control the device's attitude. At this time, the first suction component assists in maintaining suction efficiency and attitude stability. Under these conditions, the first suction component operates at the fourth rotational speed, and its suction strength is sufficient to continuously suction gas-liquid mixtures or air, preventing dirt accumulation at the inlet 101 due to medium stagnation. Simultaneously, it maintains the internal gas-liquid balance of the device, preventing attitude fluctuations when the buoyancy adjustment component operates alone.

[0297] In addition, compared to the strong suction of the third speed, the moderate reduction of the fourth speed can reduce the additional force generated by suction (such as forward pulling force), avoid conflict with the lifting force of the buoyancy adjustment component on the rear end, and ensure that the rear end can smoothly transition to the target horizontal attitude.

[0298] In other words, if the fourth rotation speed is equal to the third rotation speed, it is suitable for scenarios with rapid water flow in the pool. This way, the interference of water flow impact on the attitude can be offset by maintaining a high suction intensity. If the fourth rotation speed is less than the third rotation speed, it is suitable for calm water areas. While ensuring the basic suction function, it reduces energy consumption and achieves a balance between attitude adjustment and energy-efficient equipment, thus helping the equipment to stably complete the second attitude change.

[0299] It should also be noted that since there is no definite relationship between the third speed and the first and second speeds, the fourth speed can be greater than or less than the second speed or the first speed, and this scheme does not limit this.

[0300] The pool cleaning device provided in this embodiment also has a waterline cleaning function. Specifically, after the pool cleaning device continues to move a preset distance, the distance from which the front of the pool cleaning device protrudes above the water surface is greater than the distance from which the front of the device protrudes above the water surface when performing the waterline cleaning task.

[0301] It can be explained that when the water tank cleaning equipment provided in this embodiment performs the water line cleaning task, the maximum distance of the front of the equipment protruding above the water surface is less than the distance of the front of the equipment protruding above the water surface when the water inlet 101 can reach the position for sucking up the gas-liquid mixture or air.

[0302] In other words, during the transition of the equipment from the pool wall state to the water surface state, the distance of the front of the equipment above the water surface is greater than the distance of the front of the equipment above the water surface when performing waterline cleaning. For example, when transitioning to the water surface, the front of the equipment is exposed by 10-15cm, while during waterline cleaning, it is only exposed by 3-5cm.

[0303] The different settings of the two distance data mentioned above can simultaneously ensure cleaning efficiency and maintain equipment stability. Specifically, from the perspective of cleaning function, this position setting ensures that only part of the front of the equipment is exposed above the water surface, thus keeping the equipment mainly submerged underwater while being close to the waterline in the working area. In this way, the roller brush at the front of the equipment can physically scrape or wash away the dirt attached to the waterline on the pool wall. Subsequently, the inlet 101 can immediately suck up the dust-containing liquid that has been washed down, thereby removing the dirt from the waterline and preventing the inlet 101 from being too far from the waterline and missing key cleaning areas due to the front end being exposed too high.

[0304] Furthermore, from the perspective of equipment stability, limiting the height of the front of the equipment above the water surface can prevent the overall center of gravity of the equipment from shifting excessively upwards. That is, if the front of the equipment is exposed too high, the contact area between the equipment and the pool wall will decrease due to the tilted posture. In addition, the impact force generated by the water flow disturbance in the waterline area may weaken the adhesion between the equipment and the pool wall. Moreover, an excessively high exposure height may also trigger the first posture change, further introducing the risk of state switching.

[0305] In summary, by optimizing this position parameter, the equipment can accurately locate the cleaning area and improve the efficiency of dirt removal in waterline cleaning tasks, while maintaining reliable adsorption to the pool wall, thus balancing functional implementation and operational reliability.

[0306] In the above implementation process, when controlling the water tank cleaning equipment to perform the water line cleaning task, the first suction component is controlled to run at the fifth rotation speed.

[0307] The fifth speed is less than or equal to the second speed. For example, if the second speed is 2000-3500 rpm, the fifth speed is set to 1800-3000 rpm.

[0308] In this embodiment, the core of waterline cleaning is targeting the attached dirt in the waterline area. At this time, the inlet 101 is mainly underwater and close to the pool wall, and the dirty liquid collected by the scraper 104 can be captured without strong suction. The appropriate output of the fifth rotation speed can ensure effective suction of the mixed liquid at the waterline, avoiding excessive suction range and dilution of dirt concentration due to excessive rotation speed, and can also accurately match the scraping rhythm of the scraper 104 to ensure that the scraped dirt is sucked in in time, thus improving the cleaning targeting.

[0309] Furthermore, a lower fifth rotation speed reduces water flow disturbance and reaction force on the equipment during suction. Because the front of the equipment is only partially exposed above the water surface during waterline cleaning and relies on stable contact with the pool wall for adhesion, excessively high rotation speeds can cause water flow impacts that may create gaps between the equipment and the pool wall, weakening the adhesion force. A fifth rotation speed less than or equal to the second rotation speed reduces interference with the equipment's posture through gentle suction. Combined with the smaller exposed area, this further ensures reliable adhesion between the equipment and the pool wall, preventing it from detaching during cleaning.

[0310] In summary, the fifth rotation speed setting not only meets the specific suction needs of waterline cleaning, but also maintains the adsorption stability between the equipment and the pool wall by reducing power output, thus achieving a balance between cleaning effect and operational safety.

[0311] Next, combined Figure 19 The control module provided in this application describes the changes in the posture of the water tank cleaning equipment during the process of controlling the water tank cleaning equipment to change from the state of the pool wall to the state of the water surface.

[0312] exist Figure 19 Phase a) of the process: Under the action of the drive components, the equipment continues to move upward along the pool wall, gradually approaching the water surface. As the position rises, the front of the equipment begins to approach the water surface area.

[0313] exist Figure 19 In stage b), the equipment continues to float and move until it reaches a position where the first suction component can suck up the gas-liquid mixture or air through the inlet 101. Then it stops moving to prepare for the subsequent suction of the gas-liquid mixture or air by the first suction component. At this time, the equipment is still relatively vertical and maintains a state of close contact with the pool wall.

[0314] exist Figure 19 In stage c), under the action of the first suction component drawing in the gas-liquid mixture or air, the equipment begins to undergo its first attitude change; that is, affected by the change in the relationship between its own weight and buoyancy, the equipment gradually rotates from a vertical attitude to a horizontal attitude. As can be seen from the figure, the equipment has tilted significantly, with the rear end rising upwards, and the attitude change angle gradually approaching the first preset angle.

[0315] exist Figure 19 In stage d): When the duration of the first suction component's suction of the gas-liquid mixture or air exceeds the first preset duration, or when the angle of attitude change of the rear of the equipment exceeds the first preset angle, the control module instructs the buoyancy adjustment component to activate, thereby driving the equipment to undergo a second attitude change. That is, the control module controls the buoyancy adjustment component to further provide upward buoyancy or power to the rear of the equipment, so that the rear of the equipment can rotate more smoothly to a horizontal attitude. Finally, the entire equipment approaches a horizontal attitude and stabilizes near the water surface to carry out water surface cleaning operations.

[0316] Other embodiments of this application will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of this application that follow the general principles of this application and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only, and the true scope and spirit of this application are indicated by the following claims.

[0317] It should be understood that this application is not limited to the precise structure described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of this application is limited only by the appended claims.

Claims

1. A control method for a water tank cleaning device, characterized in that, The water tank cleaning device includes a housing, within which a filter assembly, a first suction assembly, and a buoyancy adjustment assembly are disposed. A water inlet is provided at the bottom of the housing, and the water inlet is connected to the internal space of the filter assembly. The first suction assembly is configured to: draw external fluid from the water inlet and allow the fluid to flow through the filter assembly and then out of the water tank cleaning device. The water tank cleaning equipment has a front part and a rear part that are arranged opposite to each other along its forward direction; The control method includes: Control the water tank cleaning equipment to move along the tank wall toward the water surface; After the water tank cleaning equipment moves to the point where at least part of its front part is exposed above the water surface, it is controlled to continue moving a preset distance so that the first suction component can draw in a gas-liquid mixture or air through the water inlet. The first suction component is controlled to draw in a gas-liquid mixture or air through the water inlet, so that the water tank cleaning equipment can achieve a first posture change from a vertical posture to a horizontal posture. In response to the first suction component continuously suctioning a gas-liquid mixture or air for a duration greater than a first preset duration, and / or in response to the attitude change angle of the device being greater than a first preset angle, the buoyancy adjustment component is controlled to open, so that the pool cleaning device can achieve a second attitude change from a vertical attitude to a horizontal attitude.

2. The control method according to claim 1, characterized in that, After the water tank cleaning equipment continues to move a preset distance, at least a portion of the water inlet is positioned within the target area near the water surface; or, The bottom of the housing is provided with a scraper; the scraper is U-shaped and arranged around the outer periphery of the water inlet, and the auxiliary opening end of the scraper is set towards the forward direction of the device; after the water tank cleaning device continues to move a preset distance, at least a part of the scraper is located in the target area near the water surface; The lower limit of the target area is configured as follows: it is located below the water surface and the distance between it and the water surface is less than a first threshold.

3. The control method according to claim 2, characterized in that, The first threshold is configured to be 5cm.

4. The control method according to claim 1, characterized in that, Before controlling the pool cleaning equipment to move along the pool wall toward the water surface, the following steps are also included: In response to a water surface cleaning command, the pool cleaning equipment is controlled to determine the target pool wall at the bottom of the pool, and the pool cleaning equipment is controlled to move from the bottom of the pool to the target pool wall. When the water cleaning equipment travels to the target pool wall, the water cleaning equipment is controlled to move along the target pool wall toward the water surface.

5. The control method according to claim 1, characterized in that, Before controlling the pool cleaning equipment to move along the pool wall toward the water surface, the following steps are also included: In response to a water surface cleaning command, the pool cleaning equipment sinks from the water surface to the bottom of the pool, controls the pool cleaning equipment to determine the target pool wall at the bottom of the pool, and controls the pool cleaning equipment to move from the bottom of the pool to the target pool wall; When the water cleaning equipment travels to the target pool wall, the water cleaning equipment is controlled to move along the target pool wall toward the water surface.

6. The control method according to claim 4 or 5, characterized in that, Controlling the pool cleaning equipment to determine the target pool wall at the bottom of the pool includes: The water tank cleaning device is controlled to rotate at the bottom of the tank, and the tank wall closest to the water tank cleaning device is identified as the target tank wall.

7. The control method according to any one of claims 1-5, characterized in that, The buoyancy adjustment assembly includes a float cavity, a second suction assembly, and an air inlet disposed at the top of the housing; the second suction assembly is connected to the air inlet and the float cavity respectively; The second suction component is configured to draw air in through the air inlet and fill the float cavity.

8. The control method according to claim 7, characterized in that, The water tank cleaning equipment also includes a first sensor, which is used to detect whether the air inlet is located above the water surface; Before controlling the buoyancy adjustment group to open, the method further includes: acquiring the current detection data of the first sensor, and controlling the buoyancy adjustment component to open when the current detection data indicates that the air inlet is above the water surface.

9. The control method according to claim 8, characterized in that, The first sensor includes at least one of an inertial measurement unit, an inlet / outlet water sensor, a water pressure sensor, an ultrasonic sensor, and a vision sensor.

10. The control method according to claim 7, characterized in that, The buoyancy adjustment assembly also includes an electronic switch; the electronic switch is disposed on the communication path between the air inlet and the float cavity; The electronic switch is configured to: open the airflow passage between the air inlet and the float cavity when the buoyancy adjustment component is turned on; and close the airflow passage when the buoyancy adjustment component is turned off.

11. The control method according to claim 10, characterized in that, The electronic switch includes any one of a solenoid valve, a motor-driven valve, or a piezoelectric valve.

12. The control method according to claim 10, characterized in that, The front of the housing is provided with at least one auxiliary opening that communicates with the internal space; The first suction component can also suction gas-liquid mixture or air through the at least one auxiliary opening, thereby driving the pool cleaning device to achieve a first posture change from a vertical posture to a horizontal posture.

13. The control method according to claim 12, characterized in that, The air inlet is in fluid communication with at least one auxiliary opening; the at least one auxiliary opening is located on the housing at a position higher than the air inlet.

14. The control method according to claim 13, characterized in that, When the current detection data indicates that the air inlet is above the water surface, the second suction assembly is configured to draw air in and fill the float cavity through the at least one auxiliary opening.

15. The control method according to claim 7, characterized in that, The second suction assembly includes an air pump.

16. The control method according to any one of claims 1-5 and 8-15, characterized in that, The control method further includes: When controlling the water tank cleaning equipment to move along the tank wall toward the water surface, the first suction component is controlled to operate at a first rotational speed.

17. The control method according to claim 16, characterized in that, The control method further includes: While controlling the water tank cleaning equipment to continue moving, the first suction component is controlled to operate at a second rotation speed; wherein the second rotation speed is greater than, equal to or less than the first rotation speed.

18. The control method according to claim 17, characterized in that, The control method further includes: While controlling the water tank cleaning device to continue moving a preset distance, when the first suction component draws in a gas-liquid mixture or air through the water inlet, the first suction component is controlled to operate at a third speed; the third speed is greater than, equal to, or less than the second speed or the first speed.

19. The control method according to claim 18, characterized in that, The control method further includes: After the buoyancy adjustment component is activated, the first suction component is controlled to operate at a fourth rotation speed; the fourth rotation speed is less than, equal to, or greater than the third rotation speed, the second rotation speed, or the first rotation speed.

20. The control method according to claim 1, characterized in that, After the water tank cleaning device continues to move a preset distance, the distance at which the front of the water tank cleaning device protrudes above the water surface is greater than the distance at which the front of the device protrudes above the water surface when the water tank cleaning device performs the waterline cleaning task.

21. The control method according to claim 17, characterized in that, The second rotational speed is greater than the fifth rotational speed, where the fifth rotational speed is the operating speed of the first suction component when the water tank cleaning equipment performs water line cleaning.

22. The control method according to any one of claims 1-5, 8-15, and 17-21, characterized in that, The water tank cleaning equipment is also equipped with a second sensor; the water tank cleaning equipment detects changes in the posture of the equipment through the second sensor.

23. The control method according to claim 22, characterized in that, The water tank cleaning equipment also includes a first water outlet located at the rear of the top of the housing and a second water outlet located on the rear side of the housing; the first water outlet and the second water outlet can be selectively connected to the first suction component; The control method further includes: As the water tank cleaning equipment moves along the tank wall toward the water surface until it undergoes a second posture change, the first water outlet is connected to the first suction component, and water is discharged through the first water outlet. After the water tank cleaning device completes the second posture change, it controls the first water outlet to stop discharging water.

24. The control method according to claim 23, characterized in that, The control method further includes: When controlling the water tank cleaning equipment to perform the water surface cleaning task, the second water outlet is connected to the first suction component, and water is discharged through the second water outlet.

25. The control method according to any one of claims 1-5, 8-15, 17-21, and 23-24, characterized in that, The first suction assembly includes a water pump.

26. The control method according to any one of claims 1-5, 8-15, 17-21, and 23-24, characterized in that, The pool cleaning equipment also includes a drive component; When the water tank cleaning equipment is not moved to a position where the first suction component can suck up the gas-liquid mixture or air through the water inlet, the drive component is controlled to be in working state. When the water tank cleaning device is in a position that allows the first suction component to draw in a gas-liquid mixture or air through the water inlet, the drive component is controlled to be in a non-working state.

27. A water tank cleaning device, characterized in that, The water tank cleaning equipment is capable of performing the control method of the water tank cleaning equipment as described in any one of claims 1-26.

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