Automatic pool cleaning device and control method thereof

Abstract

The invention provides an automatic pool cleaning device and a control method thereof.The automatic pool cleaning device has an underwater cleaning mode and a water surface cleaning mode, and when the automatic pool cleaning device is in the underwater cleaning mode, the automatic pool cleaning device cleans the bottom or the side wall of a pool; and when the automatic pool cleaning device is in the water surface cleaning mode, the automatic pool cleaning device cleans the water surface of the pool. The control method comprises the steps that the current cleaning mode of the automatic pool cleaning device is detected; in response to the current cleaning mode being a water surface cleaning mode, driving a rolling brush assembly of the automatic pool cleaning device to rotate so as to enable the automatic pool cleaning device to advance on the water surface under the counter-acting force of water flow; the rolling brush assembly is used for cleaning the surface of a water pool in an underwater cleaning mode. In this way, the rolling brush assembly can be reused.

Description

Technical Field

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

[0002] With the increasing popularity of swimming pools and the significant advancements in robotics technology, more and more consumers are opting for pool cleaning robots (automatic pool cleaning devices) to perform pool cleaning tasks. For a robot capable of cleaning the pool bottom, walls, and surface, one drive mechanism is needed to propel it across the water, and another is needed to propel it across the pool bottom and walls. The need for two different drive mechanisms for movement across these surfaces leads to a complex robot structure. Summary of the Invention

[0003] In view of the above-mentioned deficiencies in the prior art, this application provides an automatic water tank cleaning device and its control method, aiming to solve the technical problem of the complex structure of existing automatic water tank cleaning devices.

[0004] This application provides a control method for an automatic pool cleaning device. The automatic pool cleaning device has an underwater cleaning mode and a surface cleaning mode. When the automatic pool cleaning device is in underwater cleaning mode, it cleans the bottom or sidewalls of the pool; when the automatic pool cleaning device is in surface cleaning mode, it cleans the surface of the pool. The control method includes: detecting the current cleaning mode of the automatic pool cleaning device; and in response to the current cleaning mode being surface cleaning mode, driving the roller brush assembly of the automatic pool cleaning device to rotate, so that the automatic pool cleaning device moves on the water surface under the reaction force of the water flow. The roller brush assembly is used to clean the surface of the pool in underwater cleaning mode.

[0005] The roller brush assembly includes a first roller brush assembly disposed at the front of the automatic pool cleaning device; in response to the current cleaning mode being the water surface cleaning mode, driving the roller brush assembly of the automatic pool cleaning device to rotate includes: in response to the current cleaning mode being the water surface cleaning mode and receiving a forward command, driving the first roller brush assembly to rotate in a first direction; or, in response to the current cleaning mode being the water surface cleaning mode and receiving a backward command, driving the first roller brush assembly to rotate in a second direction, wherein the first direction and the second direction are opposite.

[0006] The roller brush assembly includes a first roller brush assembly located at the front of the automatic pool cleaning device. The first roller brush assembly includes a first roller brush and a second roller brush, with the first roller brush located on the left and the second roller brush located on the right. In response to the current cleaning mode being the water surface cleaning mode, the roller brush assembly of the automatic pool cleaning device is driven to rotate. This includes: in response to the current cleaning mode being the water surface cleaning mode and receiving a turning command, a U-turn command, or a rotation command, driving one of the first roller brushes to rotate at a speed greater than the other, so that the automatic pool cleaning device turns, U-turns, or rotates on the water surface.

[0007] The roller brush assembly includes a first roller brush assembly located at the front of the automatic pool cleaning device. The first roller brush assembly includes a first roller brush and a second roller brush, with the first roller brush located on the left and the second roller brush located on the right. In response to the current cleaning mode being the water surface cleaning mode, the roller brush assembly of the automatic pool cleaning device is driven to rotate, including: in response to the current cleaning mode being the water surface cleaning mode and receiving a turning command, a turning command, or a rotation command, the first roller brush and the second roller brush are driven to rotate in different directions, so that the automatic pool cleaning device turns on the water surface, turns around on the water surface, or rotates on the water surface.

[0008] The process of driving the roller brush assembly of the automatic pool cleaning device to rotate in response to the current cleaning mode being water surface cleaning mode includes: responding to the current cleaning mode being water surface cleaning mode and identifying the object to be cleaned, obtaining the type of the object to be cleaned; determining the rotation speed of the roller brush assembly according to the cleaning priority corresponding to the type; the rotation speed is positively correlated with the cleaning priority; and driving the roller brush assembly to rotate according to the rotation speed so that the automatic pool cleaning device can move to the object to be cleaned for cleaning.

[0009] The roller brush assembly includes a first roller brush assembly located at the front of the automatic pool cleaning device and a second roller brush assembly located at the rear of the automatic pool cleaning device; the rotation speed of the roller brush assembly is determined according to the cleaning priority corresponding to the type, including: determining the rotation speed of the first roller brush assembly and / or the second roller brush assembly according to the cleaning priority corresponding to the type.

[0010] The process of determining the rotational speed of the first roller brush assembly and / or the second roller brush assembly according to the cleaning priority corresponding to the type includes: determining the required rotational speed according to the cleaning priority corresponding to the type; determining that the first roller brush assembly and the second roller brush assembly need to rotate simultaneously in response to the required rotational speed being greater than the maximum rotational speed of a single roller brush assembly; and determining the first rotational speed of the first roller brush assembly and the second rotational speed of the second roller brush assembly.

[0011] The first and second roller brush assemblies move in conjunction with or independently.

[0012] The automatic pool cleaning device does not include a propeller for propelling the automatic pool cleaning device across the water surface. The propeller includes at least a propeller-type propeller, a turbine-type propeller, or a jet propeller.

[0013] This application also provides an automatic pool cleaning device, which has an underwater cleaning mode and a surface cleaning mode; the automatic pool cleaning device includes: a main body; a roller brush assembly rotatably mounted on the main body, with the roller brush assembly partially exposed outside the main body; a memory disposed on the main body for storing a computer program; and a processor disposed on the main body and connected to the memory for executing the computer program to implement the method provided above.

[0014] The main body includes a surface inlet and an underwater inlet. The automatic water tank cleaning device also includes a filter assembly, which includes a filter body, a surface inlet, and an underwater inlet. In the surface cleaning mode, water can enter the filter body from the surface inlet and the surface inlet. In the underwater cleaning mode, water can enter the filter body from the underwater inlet and the underwater inlet.

[0015] The automatic water tank cleaning device also includes a water pump assembly. In the surface cleaning mode, the water pump assembly is in a non-working state. In the underwater cleaning mode, the water pump assembly guides the water flow from the underwater inlet and the underwater outlet into the filter body.

[0016] In this application's technical solution, the automatic pool cleaning device has an underwater cleaning mode and a surface cleaning mode. In underwater cleaning mode, the device cleans the bottom or sidewalls of the pool; in surface cleaning mode, it cleans the surface of the pool. When the device detects that the current cleaning mode is surface cleaning, it utilizes the roller brush assembly originally used for cleaning the pool surface in underwater cleaning mode as the driving structure in surface cleaning mode. This drives the roller brush assembly to rotate, allowing the device to move on the water surface under the reaction force of the water flow. This reuse of the roller brush assembly allows it to have more functions and appropriately reduces the need for other driving structures in the device, thus solving the problem of complex structures in existing automatic pool cleaning devices. Attached Figure Description

[0017] To more clearly illustrate the solution of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0018] Figure 1 This is a schematic flowchart of the control method of an automatic water tank cleaning device according to an embodiment of this application.

[0019] Figure 2 for Figure 1 A flowchart of an embodiment of step 202.

[0020] Figure 3 This is a schematic diagram of the structure of an automatic water tank cleaning device according to an embodiment of this application.

[0021] Figure 4 for Figure 3 The diagram shows another angle of the automatic cleaning device for the water tank.

[0022] Figure 5 for Figure 3 The diagram shows another angle of the automatic cleaning device for the water tank.

[0023] Figure 6 for Figure 3 A partial structural schematic diagram of the automatic cleaning device for the water tank shown.

[0024] Figure 7 for Figure 3 The diagram shows a cross-sectional view of the automatic cleaning device for the water tank.

[0025] Figure 8 for Figure 3 An exploded view of the automatic cleaning device for the water tank shown.

[0026] Figure 9 for Figure 3 An exploded view of part of the structure of the automatic cleaning device for the water tank shown.

[0027] Figure 10 for Figure 3 Another exploded view of part of the structure of the automatic cleaning device for the water tank shown.

[0028] Figure 11 for Figure 3 The diagram shows the structure of the first wheel assembly.

[0029] Figure 12 for Figure 3 The diagram shows another angle of the automatic water tank cleaning device, in which the one-way valve at the rear is in the open state.

[0030] Figure 13 for Figure 3 The diagram shows another angle of the automatic water tank cleaning device, in which the one-way valve on the side is in the open state.

[0031] The realization of the purpose, functional features and advantages of this application will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0032] The technical solutions in this application will be clearly and completely described below. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of the embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of this application. It should be noted that, unless otherwise specified, the embodiments and features in the embodiments of this application can be combined with each other.

[0033] See Figure 1 , Figure 1 This is a schematic flowchart illustrating the control method of an automatic water tank cleaning device 100 according to an embodiment of this application. The structure of the automatic water tank cleaning device 100 can be found in [reference needed]. Figures 3 to 13 The automatic pool cleaning device 100 has at least an underwater cleaning mode and a surface cleaning mode. In underwater cleaning mode, the automatic pool cleaning device 100 cleans the bottom or side walls of the pool; in surface cleaning mode, the automatic pool cleaning device 100 cleans the surface of the pool. The control method includes: Step 201: Detect the current cleaning mode of the automatic pool cleaning device 100.

[0034] The pool mentioned in this application can be a swimming pool or a water storage pool, etc.

[0035] Step 202: In response to the current cleaning mode being the water surface cleaning mode, drive the roller brush assembly 20 of the automatic pool cleaning device 100 to rotate, so that the automatic pool cleaning device 100 moves on the water surface under the reaction force of the water flow.

[0036] In some embodiments, in the surface cleaning mode, the automatic pool cleaning device 100 is partially above the water surface. Specifically, part of the automatic pool cleaning device 100 is exposed above the water surface, while part is submerged. Based on this, the rotation of the roller brush assembly 20 of the automatic pool cleaning device 100 can drive the water flow, thereby causing the automatic pool cleaning device 100 to move on the water surface under the reaction force of the water flow. When the automatic pool cleaning device 100 is in the surface cleaning mode, the roller brush assembly 20 is submerged.

[0037] In some embodiments, the automatic pool cleaning device 100 may only have a roller brush assembly 20, without a propeller (not shown) for moving the automatic pool cleaning device 100 on the water surface. In response to the current cleaning mode being surface cleaning mode, the automatic pool cleaning device 100 drives the roller brush assembly 20 to rotate. In response to the current cleaning mode being underwater cleaning mode, the automatic pool cleaning device 100 is underwater, and drives the roller brush assembly 20 to rotate, so that the roller brush assembly 20 cleans the surface of the pool, such as the pool bottom or pool walls, in underwater cleaning mode.

[0038] In some embodiments, the underwater cleaning mode includes at least a pool wall cleaning mode and a pool bottom cleaning mode. In response to the current cleaning mode being the pool wall cleaning mode, the roller brush assembly 20 of the automatic pool cleaning device 100 is driven to rotate, so that the roller brush assembly 20 cleans the pool walls in the pool wall cleaning mode. In response to the current cleaning mode being the pool bottom cleaning mode, the roller brush assembly 20 of the automatic pool cleaning device 100 is driven to rotate, so that the roller brush assembly 20 cleans the pool bottom in the pool bottom cleaning mode.

[0039] In some embodiments, the automatic pool cleaning device 100 may be provided with both a roller brush assembly 20 and a propeller for propelling the automatic pool cleaning device 100 across the water surface. However, the propeller is not used in the surface cleaning mode.

[0040] In some embodiments, the roller brush in the roller brush assembly 20 is provided with rubber blades. These blades can slap the surface of the pool during bottom cleaning, removing debris from the surface and sucking it into the dust box. In surface cleaning mode, the roller brush and the conveyor belt are completely immersed in water. Because of the blade structure on the roller brush rubber, this blade structure can also agitate the water flow. Therefore, the rotation of the roller brush, with the roller brush partially enclosed in the main body 10 and partially exposed, can provide a unidirectional reaction force to the automatic pool cleaning device 100. Thus, the forward and reverse rotation of the left and right roller brushes can control the forward, backward, and turning movements of the automatic pool cleaning device 100.

[0041] In this embodiment, when the automatic pool cleaning device 100 detects that the current cleaning mode is the surface cleaning mode, it uses the roller brush assembly 20, which is originally used to clean the surface of the pool in the underwater cleaning mode, as the driving structure of the automatic pool cleaning device 100 in the surface cleaning mode. The roller brush assembly 20 is driven to rotate, so that the automatic pool cleaning device 100 moves on the water surface under the reaction force of the water flow. The roller brush assembly 20 can be reused, giving it more functions. This can appropriately reduce the number of other driving structures in the automatic pool cleaning device 100, thereby solving the technical problem of the complex structure of the existing automatic pool cleaning device 100.

[0042] In some embodiments, the roller brush assembly 20 includes a first roller brush assembly 20a disposed at the front portion 11 of the automatic pool cleaning device 100. Step 202 described above can be the following process: In response to the current cleaning mode being water surface cleaning mode and receiving a forward command, the first roller brush assembly 20a is driven to rotate in the first direction.

[0043] In response to the current cleaning mode being water surface cleaning mode and receiving a reverse command, the first roller brush assembly 20a is driven to rotate in the second direction, which is opposite to the first direction.

[0044] In some embodiments, the first direction can be counterclockwise and the second direction can be clockwise.

[0045] In some embodiments, the roller brush assembly 20 includes a first roller brush assembly 20a disposed at the front portion 11 of the automatic pool cleaning device 100. The first roller brush assembly 20a includes a first roller brush 21a and a second roller brush 22a, with the first roller brush 21a disposed on the left side and the second roller brush 22a disposed on the right side. Step 202 described above can be the following process: In response to the current cleaning mode being water surface cleaning mode, and upon receiving a turning command, a U-turn command, or a rotation command, the automatic cleaning device 100 of the pool is driven to rotate at a speed greater than that of the first roller brush 21a and the second roller brush 22a, so that the automatic cleaning device 100 of the pool turns, turns around, or rotates on the water surface.

[0046] For example, in response to the current cleaning mode being the water surface cleaning mode and receiving a right turn command, the second roller brush 22a is driven to rotate at a speed greater than that of the first roller brush 21a, causing the automatic water tank cleaning device 100 to turn right on the water surface.

[0047] For example, in response to the current cleaning mode being water surface cleaning mode and receiving a left turn command, the rotation speed of the first roller brush 21a is driven to be greater than the rotation speed of the second roller brush 22a, so that the automatic water tank cleaning device 100 turns left on the water surface.

[0048] For example, in response to the current cleaning mode being water surface cleaning mode and receiving a right turn command, the rotation speed of the second roller brush 22a is driven to be greater than the rotation speed of the first roller brush 21a, so that the automatic water tank cleaning device 100 turns around from the right side on the water surface.

[0049] For example, in response to the current cleaning mode being water surface cleaning mode and receiving a left turn command, the rotation speed of the first roller brush 21a is driven to be greater than the rotation speed of the second roller brush 22a, so that the automatic water tank cleaning device 100 turns around from the left side on the water surface.

[0050] For example, in response to the current cleaning mode being the water surface cleaning mode and receiving a clockwise rotation command, the second roller brush 22a is driven to rotate at a speed greater than that of the first roller brush 21a, causing the automatic water tank cleaning device 100 to rotate clockwise on the water surface.

[0051] For example, in response to the current cleaning mode being water surface cleaning mode and receiving a counterclockwise rotation command, the rotation speed of the first roller brush 21a is driven to be greater than the rotation speed of the second roller brush 22a, so that the automatic water tank cleaning device 100 rotates counterclockwise on the water surface.

[0052] In the above manner, the automatic water tank cleaning device 100 can use the first roller brush 21a and the second roller brush 22a to turn on the water surface, turn around on the water surface, or rotate on the water surface, thereby increasing the functionality of the roller brush assembly in the water surface cleaning mode.

[0053] In some embodiments, the roller brush assembly 20 includes a first roller brush assembly 20a disposed at the front portion 11 of the automatic pool cleaning device 100. The first roller brush assembly 20a includes a first roller brush 21a and a second roller brush 22a, with the first roller brush 21a disposed on the left side and the second roller brush 22a disposed on the right side. Step 202 described above can also be the following process: In response to the current cleaning mode being water surface cleaning mode, and upon receiving a turning command, a U-turn command, or a rotation command, the first roller brush 21a and the second roller brush 22a are driven to rotate in different directions, causing the automatic pool cleaning device 100 to turn, turn around, or rotate on the water surface.

[0054] For example, in response to the current cleaning mode being the water surface cleaning mode and receiving a right turn command, the first roller brush 21a and the second roller brush 22a are driven to rotate in different directions, causing the automatic pool cleaning device 100 to turn right on the water surface. For example, the second roller brush 22a rotates clockwise, and the first roller brush 21a rotates counterclockwise relative to the second roller brush 22a.

[0055] For example, in response to the current cleaning mode being the water surface cleaning mode and receiving a left turn command, the first roller brush 21a and the second roller brush 22a are driven to rotate in different directions, causing the automatic pool cleaning device 100 to turn left on the water surface. For example, the second roller brush 22a rotates counterclockwise, and the first roller brush 21a rotates clockwise relative to the second roller brush 22a.

[0056] For example, in response to the current cleaning mode being the water surface cleaning mode and receiving a right-turn command, the first roller brush 21a and the second roller brush 22a are driven to rotate in different directions, causing the automatic pool cleaning device 100 to turn around to the right on the water surface. For example, the second roller brush 22a rotates clockwise, and the first roller brush 21a rotates counterclockwise relative to the second roller brush 22a.

[0057] For example, in response to the current cleaning mode being the water surface cleaning mode and receiving a left turn command, the first roller brush 21a and the second roller brush 22a are driven to rotate in different directions, causing the automatic pool cleaning device 100 to turn around from the left side on the water surface. For example, the second roller brush 22a rotates counterclockwise, and the first roller brush 21a rotates clockwise relative to the second roller brush 22a.

[0058] For example, in response to the current cleaning mode being the water surface cleaning mode and receiving a clockwise rotation command, the first roller brush 21a and the second roller brush 22a are driven to rotate in different directions, causing the automatic pool cleaning device 100 to rotate clockwise on the water surface. For example, the second roller brush 22a rotates clockwise, and the first roller brush 21a rotates counterclockwise relative to the second roller brush 22a.

[0059] For example, in response to the current cleaning mode being the water surface cleaning mode and receiving a counterclockwise rotation command, the first roller brush 21a and the second roller brush 22a are driven to rotate in different directions, causing the automatic pool cleaning device 100 to rotate counterclockwise on the water surface. For example, when the second roller brush 22a rotates counterclockwise, the first roller brush 21a rotates clockwise relative to the second roller brush 22a.

[0060] In the above manner, the automatic water tank cleaning device 100 can use the first roller brush 21a and the second roller brush 22a to turn on the water surface, turn around on the water surface, or rotate on the water surface, thereby increasing the functionality of the roller brush assembly 20 in the water surface cleaning mode.

[0061] In some embodiments, see Figure 2 Step 202 above can also be the following process: Step 2021: In response to the current cleaning mode being water surface cleaning mode and the object to be cleaned being identified, obtain the type of the object to be cleaned.

[0062] In some embodiments, the water surface cleaning mode primarily utilizes the automatic pool cleaning device 100 to clean objects on the water surface (such as floating objects, leaves, plastic bags, foam, oil stains, and other items that can float on the water). Based on this, the automatic pool cleaning device 100 can acquire images of the water surface and then identify whether there are objects to be cleaned from the images. If an object to be cleaned is identified, the type of the object to be cleaned is obtained.

[0063] Step 2022: Determine the rotation speed of the roller brush assembly 20 according to the cleaning priority corresponding to the type; the rotation speed is positively correlated with the cleaning priority.

[0064] In some embodiments, different types of objects to be cleaned correspond to different cleaning priorities. The higher the cleaning priority of an object, the faster it needs to be cleaned. Therefore, the automatic sink cleaning device 100 needs to reach the object as quickly as possible to clean it. Thus, the rotational speed can be correlated with the cleaning priority, with different cleaning priorities corresponding to different rotational speeds, making the rotational speed positively correlated with the cleaning priority. The higher the cleaning priority, the higher the rotational speed, and the faster the roller brush assembly drives the automatic sink cleaning device 100.

[0065] For example, the cleaning priority for oil stains is higher than that for leaves. The cleaning priority for oil stains is higher than that for plastic bags. The cleaning priority for oil stains is higher than that for foam. The cleaning priority for plastic bags is higher than that for leaves. The cleaning priority for foam is higher than that for plastic bags. In other words, the rotation speed of the roller brush assembly 20 decreases sequentially for oil stains, foam, plastic bags, and leaves.

[0066] Step 2023: Drive the roller brush assembly 20 to rotate according to the rotation speed so that the automatic pool cleaning device 100 can move to the object to be cleaned for cleaning.

[0067] In some embodiments, the roller brush assembly 20 includes a first roller brush assembly 20a disposed at the front 11 of the automatic pool cleaning device 100 and a second roller brush assembly 20b disposed at the rear 12 of the automatic pool cleaning device 100; the above-mentioned step 2022 may specifically be to determine the rotation speed of the first roller brush assembly 20a and / or the second roller brush assembly 20b according to the cleaning priority corresponding to the type.

[0068] In some embodiments, the required rotation speed is determined according to the cleaning priority corresponding to the type; in response to the required rotation speed being greater than the maximum rotation speed of a single roller brush assembly 20, it is determined that the first roller brush assembly 20a and the second roller brush assembly 20b need to rotate simultaneously, and a first rotation speed of the first roller brush assembly 20a and a second rotation speed of the second roller brush assembly 20b are determined.

[0069] In some embodiments, a higher cleaning priority requires a higher rotational speed. That is, rotational speed is positively correlated with cleaning priority. Based on this, when the required rotational speed exceeds the maximum rotational speed of a single roller brush assembly 20, the first roller brush assembly 20a and the second roller brush assembly 20b need to rotate simultaneously. The required rotational speed is met by utilizing the combined movement of the first roller brush assembly 20a and the second roller brush assembly 20b. Specifically, the rotational speed distribution can be as follows: For example, if the first rotational speed of the first roller brush assembly 20a is the maximum rotational speed, then the second rotational speed of the second roller brush assembly 20b is the difference between the required rotational speed and the first rotational speed.

[0070] For example, the second rotational speed of the second roller brush assembly 20b is the maximum rotational speed, and the first rotational speed of the first roller brush assembly 20a is the difference between the required rotational speed and the second rotational speed.

[0071] For example, if the first rotational speed of the first roller brush assembly 20a is half of the required rotational speed, then the second rotational speed of the second roller brush assembly 20b is half of the required rotational speed.

[0072] In some embodiments, different weights can be pre-set for the first roller brush assembly 20a and the second roller brush assembly 20b. When the required rotational speed is greater than the maximum rotational speed of a single roller brush assembly 20, the first rotational speed of the first roller brush assembly 20a is obtained by multiplying the required rotational speed by the weight of the first roller brush assembly 20a. And the second rotational speed of the second roller brush assembly 20b is obtained by multiplying the required rotational speed by the weight of the second roller brush assembly 20b.

[0073] In some embodiments, the required rotation speed is determined based on the cleaning priority corresponding to the type; and the distance between the object to be cleaned and the automatic sink cleaning device 100 is obtained; in response to the required rotation speed being less than or equal to the maximum rotation speed of a single roller brush assembly 20, and the distance being less than or equal to a preset distance, the rotation speed of the first roller brush assembly 20a or the second roller brush assembly 20b is determined as the required rotation speed. It can be understood that when the required rotation speed is less than or equal to the maximum rotation speed of a single roller brush assembly 20, and the distance is less than or equal to a preset distance, the rotation speed of the first roller brush assembly 20a or the second roller brush assembly 20b is selected as the required rotation speed. By controlling the corresponding roller brush assembly 20 according to the required rotation speed, the automatic sink cleaning device 100 can move to the position of the object to be cleaned.

[0074] In some embodiments, the required rotation speed is determined according to the cleaning priority corresponding to the type; and the distance between the object to be cleaned and the automatic sink cleaning device 100 is obtained; in response to the required rotation speed being less than or equal to the maximum rotation speed of a single roller brush assembly 20 and the distance being greater than a preset distance, it is determined that the first roller brush assembly 20a and the second roller brush assembly 20b need to rotate simultaneously, and a first rotation speed of the first roller brush assembly 20a and a second rotation speed of the second roller brush assembly 20b are determined. Although the required rotation speed is less than or equal to the maximum rotation speed of a single roller brush assembly 20, due to the greater distance, a faster rotation speed is required to move the automatic sink cleaning device 100 to the position of the object to be cleaned. Based on this, it is determined that the first roller brush assembly 20a and the second roller brush assembly 20b need to rotate simultaneously, and a first rotation speed of the first roller brush assembly 20a and a second rotation speed of the second roller brush assembly 20b are determined. The sum of the rotation speeds of the first roller brush assembly 20a and the second roller brush assembly 20b is greater than the maximum rotation speed of a single roller brush assembly 20.

[0075] In some embodiments, the first roller brush assembly 20a and the second roller brush assembly 20b can be controlled to move in conjunction or independently according to the cleaning priority corresponding to the type.

[0076] In some embodiments, the automatic pool cleaning device 100 does not include a propeller for propelling the automatic pool cleaning device 100 across the water surface. The propeller includes at least a propeller-type propeller, a turbine-type propeller, or a jet propeller. Based on this, in surface cleaning mode, the automatic pool cleaning device 100 does not require an additional drive system; the roller brush assembly 20 is reused to achieve forward, backward, and turning movements. Furthermore, the omission of a propeller for propelling the automatic pool cleaning device 100 across the water surface reduces the cost, volume, and weight of the automatic pool cleaning device 100.

[0077] In some embodiments, the automatic pool cleaning device 100 has at least an underwater cleaning mode and a surface cleaning mode. The automatic pool cleaning device 100 includes: a main body 10, a roller brush assembly 20, a memory 110, and a processor 120 (see...). Figure 7 ).

[0078] The roller brush assembly 20 is rotatably mounted on the main body 10, and a portion of the roller brush assembly 20 protrudes outside the main body 10. A memory 110 is disposed on the main body 10 for storing computer programs. A processor 120 is disposed on the main body 10, connected to the memory 110, and is used to execute the computer programs to implement the methods provided in any embodiment of this application.

[0079] For further information, please refer to [link / reference]. Figures 3-13The automatic water tank cleaning device 100 includes a main body 10, a roller brush assembly 20, a wheel assembly 30, a drive assembly 40, a filter assembly 50, a one-way valve 60, a water pump assembly 70, a door assembly 80, and a flow guiding assembly 90. It can be understood that the wheel assembly 30 can be divided into a left wheel assembly and a right wheel assembly.

[0080] The main body 10 includes a surface water inlet 101, an underwater water inlet 102, a first drain outlet 103, a front part 11, a rear part 12, a base 13, and a side part 14.

[0081] The front part 11 is provided with a front mounting area 111. The front mounting area 111 can be used to mount the first roller brush 21a and the second roller brush 22a in the first roller brush assembly 20a.

[0082] The rear part 12 is provided with a rear mounting area 121. The rear mounting area 121 can be used to install the third roller brush 21b and the fourth roller brush 22b in the second roller brush assembly 20b.

[0083] The base 13 is provided with a first mounting area 131, a first mounting part 132, and a second mounting part 133. The first mounting part 132 and the second mounting part 133 are disposed in the first mounting area 131.

[0084] The side portion 14 is provided with a second mounting area 141. The second mounting area 141 can be equipped with a one-way valve 60 and a first drain port 103. When the one-way valve 60 is opened, the first drain port 103 is opened, and water can be discharged from the first drain port 103.

[0085] The roller brush assembly 20 includes a first roller brush assembly 20a and a second roller brush assembly 20b. The first roller brush assembly 20a includes a first roller brush 21a and a second roller brush 22a. The second roller brush assembly 20b includes a third roller brush 21b and a fourth roller brush 22b.

[0086] The first roller brush 21a includes a first actuating element 23a. The third roller brush 21b includes a second actuating element 23b. Similarly, the remaining roller brushes all include corresponding actuating elements.

[0087] The wheel assembly 30 includes a first wheel assembly 30a and a second wheel assembly 30b. The first wheel assembly 30a includes a first wheel 31a, a third connecting portion 311a, a gear portion 312a, a first gear 32a, and a third bearing 33a. The second wheel assembly 30b includes a second wheel 31b, a fourth connecting portion 311b, a second gear 32b, a fourth bearing 33b, and a transmission member 34.

[0088] The first roller brush 21a is connected to the first gear 32a and the third bearing 33a via the first connecting part 211a, and then to the first mounting part 132. The first mounting part 132 is connected to the first wheel 31a via the third connecting part 311a. The connection relationship between the second roller brush 22a and the wheel assembly 30 is similar and will not be described in detail here. The gear part 312a of the first wheel 31a meshes with the transmission member 34. The gear part of the second wheel 31b also meshes with the transmission member 34.

[0089] The third roller brush 21b is connected to the second gear 32b and the fourth bearing 33b via the second connecting part 211b, and then connected to the second wheel 31b via the corresponding mounting part and the fourth connecting part 311b. The connection relationship between the fourth roller brush 22b and the wheel assembly 30 is similar and will not be described in detail here.

[0090] The second roller brush 22a and the first roller brush 21a are connected by a second bearing 24b and a second connector 25b.

[0091] The third roller brush 21b and the fourth roller brush 22b are connected by a second bearing 24b and a second connector 25b.

[0092] The drive assembly 40 includes a drive member 41 and a third gear 42. The drive member 41 includes an output shaft 411. The third gear 42 is sleeved on the output shaft 411. The third gear 42 meshes with the first gear 32a, thereby driving the corresponding roller brush to rotate. There can be multiple drive assemblies 40, which can control the rotation of different roller brushes respectively.

[0093] The filter assembly 50 includes a filter body 51, a surface inlet 52, and an underwater inlet 53. The filter assembly 50 is mounted on the body 10, and the surface inlet 52 and the underwater inlet 53 are connected.

[0094] The one-way valve 60 also includes a deformable portion 61. The one-way valve 60 is movably mounted at the first drain port 103. That is, the rear part 12 of the main body 10 is provided with the first drain port 103 and the one-way valve 60.

[0095] When the automatic water cleaning device 100 performs water surface cleaning, water and debris can enter the filter body 51 from the water surface inlet 101 and water surface inlet 52. The water filtered by the filter body 51 can flow out of the body 10 through the one-way valve 60 from the first drain outlet 103. The first drain outlet 103 and the one-way valve 60 are arranged opposite to the water surface inlet 52; and / or the first drain outlet 103 and the one-way valve 60 are arranged opposite to the water surface inlet 101. The size of the one-way valve 60 is larger than the size of the first drain outlet 103, so that the opening wall of the first drain outlet 103 can prevent the one-way valve 60 from moving into the body 10.

[0096] The main body 10 has a first drain outlet 103 and a one-way valve 60 on its side 14. The main body 10 includes two oppositely arranged sides 14, each of which has a first drain outlet 103 and a one-way valve 60. When the automatic water tank cleaning device 100 is in the water surface cleaning mode, the water surface inlet 101, the water surface inlet 52, and the first drain outlet 103 are partially below the water surface.

[0097] The top 211 of the filter body 51 is not lower than the upper wall of the first drain outlet 103.

[0098] The water pump assembly 70 also includes a second drain outlet 72. The water pump assembly 70 is located at the rear 12 of the main body 10. It has multiple first drain outlets 103 and one-way valves 60, with first drain outlets 103 and one-way valves 60 located on both sides of the water pump assembly 70. In the surface cleaning mode, the water pump assembly 70 can be in a closed state; in the underwater cleaning mode, the water pump assembly 70 is in an open state, and the one-way valves 60 block the first drain outlets 103.

[0099] In the water surface cleaning mode, the roller brush assembly 20 is turned on to propel the automatic pool cleaning device 100 forward, while the water pump assembly 70 is turned off. Water flows out through the one-way valve 60, the first drain outlet 103, and / or the second drain outlet 72. This avoids interference between the driving force from the water pump assembly 70, such as the force that pushes the automatic pool cleaning device 100 downward or forward, and the driving force from the roller brush assembly 20 on the automatic pool cleaning device 100, thus allowing the automatic pool cleaning device 100 to move stably.

[0100] The flow guiding component 90 is used to guide water and debris from the water surface inlet 101 to the filter body 51.

[0101] When the automatic pool cleaning device 100 is cleaning the water surface, the door assembly 80 is in the open state; when the automatic pool cleaning device 100 is cleaning the pool bottom or the pool wall, the door assembly 80 is in the closed state.

[0102] In some embodiments, the main body 10 includes a surface inlet 101 and an underwater inlet 102. The automatic pool cleaning device 100 also includes a filter assembly 50, which includes a filter body 51, a surface inlet 52 and an underwater inlet 53. In the surface cleaning mode, water can enter the filter body 51 from the surface inlet 101 and the surface inlet 52. In the underwater cleaning mode, water can enter the filter body 51 from the underwater inlet 102 and the underwater inlet 53.

[0103] In some embodiments, the water pump assembly 70 is in a non-operating state in the surface cleaning mode, and in the underwater cleaning mode, the water pump assembly 70 guides water flow from the underwater inlet 102 and the underwater inlet 53 into the filter body 51.

[0104] In the water surface cleaning mode, the water pump assembly 70 is in a non-working state (closed state), the one-way valve 60 opens the first drain outlet 103, and the automatic pool cleaning device 100 drives the roller brush assembly 20 to rotate, so that the automatic pool cleaning device 100 moves on the water surface under the reaction force of the water flow. During the movement, water can flow out through the one-way valve 60 and the first drain outlet 103, which improves the water flow and reduces the resistance generated by the water on the automatic pool cleaning device 100 during its movement, thereby increasing the movement speed of the automatic pool cleaning device 100 under the rotation of the roller brush assembly 20.

[0105] In surface cleaning mode, if the water pump assembly 70 is in operation, it guides water flow from the second drain outlet 72 located at the top, creating a downward reaction force on the automatic pool cleaning device 100. This downward reaction force reduces the speed of the automatic pool cleaning device 100 traveling on the water surface and also causes it to shake. In surface cleaning mode, the water pump assembly 70 is turned off, and the roller brush assembly 20 drives the automatic pool cleaning device 100 to travel on the water surface. The water flow impacts the one-way valve 60 to open the first drain outlet 103, thus draining the water. This allows the automatic pool cleaning device 100 to clean the water surface stably and quickly, improving its surface cleaning efficiency.

[0106] To further improve the stability of the automatic pool cleaning device 100 as it moves on the water surface, the propeller may be omitted or turned off.

[0107] To further improve water surface cleaning efficiency, the first drain outlet 103 and the one-way valve 60 located at the rear 12 can be positioned opposite the water inlet 101, allowing the water flow path to be aligned with the direction of travel of the automatic pool cleaning device 100. In this case, both the water flow and the movement of the automatic pool cleaning device contribute to improving the filtration efficiency of the filter assembly 50. Even without activating the water pump assembly 70, good drainage efficiency and filtration effect can still be achieved. For example, both the backward-flowing water and the forward-moving automatic pool cleaning device 100 contribute to improving the filtration efficiency of the filter assembly 50.

[0108] When the water flow speed and / or the forward speed of the automatic water tank cleaning device 100 are too fast, the water flow can also flow out through the one-way valve 60 and the first drain outlet 103 located on the side 14, to prevent water from accumulating in the filter assembly 50, so that the automatic water tank cleaning device 100 can operate smoothly.

[0109] When the water flow speed and / or the forward speed of the automatic water cleaning device 100 are too slow, and the water flow is insufficient to push open the one-way valve 60 and open the first drain outlet 103, the power drive component 62 of the one-way valve 60 (see...) Figure 12 It can push the one-way valve 60 to rotate, so as to open the first drain port 103 to realize drainage.

[0110] In one embodiment, the power drive 62 may include a motor and a push rod. The motor is connected to a battery in the main body 10, and the push rod may be connected to a one-way valve 60. The motor may be started under the control of a control module (not shown). During water surface cleaning, the motor may drive the push rod to move to open or close the first drain outlet 103.

[0111] In another embodiment, the power drive 62 may include a motor and a cam. The motor is connected to a battery in the main body 10, and the cam may be connected to a one-way valve 60. The motor may be started under the control of a control module (not shown). During water surface cleaning, the motor may drive the cam to rotate to open or close the first drain outlet 103.

[0112] Understandably, this application does not limit the structure and position of the power drive component 62; the function of opening or closing the first drain port 103 can be achieved by using the check valve 60. Both the check valves 60 located at the rear 12 and the side 14 can be equipped with the power drive component 62.

[0113] At this time, the control method further includes: in response to the current cleaning mode being the water surface cleaning mode and receiving a control command to open the one-way valve 60, driving the one-way valve 60 to move to open the first drain outlet 103.

[0114] The position and / or state of the check valve 60 can be detected by a sensor (not shown), such as a position sensor, to determine whether the check valve 60 opens the first drain port 103 in the water surface cleaning mode.

[0115] The one-way valve 60 can close the first drain port 103 by gravity or by water suction. In underwater cleaning mode, when the sensor detects that the one-way valve 60 has not closed the first drain port 103, the power drive unit 62 can also drive the one-way valve 60 to move and close the first drain port 103.

[0116] At this time, the control method further includes: in response to the current cleaning mode being underwater cleaning mode and receiving a control command to close the one-way valve 60, driving the one-way valve 60 to move to close the first drain outlet 103.

[0117] In summary, in the technical solution of this application, when the automatic pool cleaning device 100 detects that the current cleaning mode is the water surface cleaning mode, it uses the roller brush assembly 20, which is originally used to clean the surface of the pool in the underwater cleaning mode, as the driving structure of the automatic pool cleaning device 100 in the water surface cleaning mode. The automatic pool cleaning device 100 drives the roller brush assembly 20 to rotate, so that the automatic pool cleaning device 100 moves on the water surface under the reaction force of the water flow. The roller brush assembly 20 can be reused, giving it more functions. This can appropriately reduce the number of other driving structures in the automatic pool cleaning device 100, thereby solving the technical problem of the complex structure of the existing automatic pool cleaning device 100.

[0118] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of those different embodiments or examples.

[0119] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "a plurality of" means two or more, unless otherwise explicitly specified.

[0120] In this application, unless otherwise stated, directional terms such as "up" and "down" are generally used in relation to the direction shown in the accompanying drawings, or in relation to the vertical, perpendicular, or gravitational direction; similarly, for ease of understanding and description, "left" and "right" are generally used in relation to the left and right shown in the accompanying drawings; "inner" and "outer" refer to the inner and outer contours of each component itself, but the above directional terms are not intended to limit this application.

[0121] The above description is merely an exemplary embodiment of this application, but the scope of protection of this application is not limited thereto. Any person skilled in the art can easily conceive of various variations or substitutions within the technical scope described in this application, and these should all be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A control method for an automatic water tank cleaning device, characterized in that, The automatic pool cleaning device (100) includes an underwater cleaning mode and a surface cleaning mode; wherein, When the automatic pool cleaning device (100) is in underwater cleaning mode, the automatic pool cleaning device (100) cleans the bottom or side walls of the pool. When the automatic water tank cleaning device (100) is in the water surface cleaning mode, the automatic water tank cleaning device (100) cleans the water surface of the water tank. The control method includes: Detect the current cleaning mode of the automatic pool cleaning device (100); In response to the current cleaning mode being the water surface cleaning mode, the roller brush assembly (20) of the automatic pool cleaning device (100) is driven to rotate so that the automatic pool cleaning device (100) moves on the water surface under the reaction force of the water flow; wherein the roller brush assembly (20) is used to clean the surface of the pool in the underwater cleaning mode.

2. The control method according to claim 1, characterized in that, The roller brush assembly (20) includes a first roller brush assembly (20a) disposed at the front (11) of the automatic pool cleaning device (100); the process of driving the roller brush assembly (20) of the automatic pool cleaning device (100) to rotate in response to the current cleaning mode being the water surface cleaning mode includes: In response to the current cleaning mode being the water surface cleaning mode and receiving a forward command, the first roller brush assembly (20a) is driven to rotate in the first direction; Alternatively, in response to the current cleaning mode being the water surface cleaning mode and receiving a back command, the first roller brush assembly (20a) is driven to rotate in a second direction, the first direction and the second direction being opposite.

3. The control method according to claim 1, characterized in that, The roller brush assembly (20) includes a first roller brush assembly (20a) disposed at the front (11) of the automatic pool cleaning device (100). The first roller brush assembly (20a) includes a first roller brush (21a) and a second roller brush (22a). The first roller brush (21a) is disposed on the left side, and the second roller brush (22a) is disposed on the right side. The step of driving the roller brush assembly (20) of the automatic pool cleaning device (100) to rotate in response to the current cleaning mode being the water surface cleaning mode includes: In response to the current cleaning mode being the water surface cleaning mode, and upon receiving a turning command, a turning command, or a rotation command, the rotation speed of one of the first roller brush (21a) and the second roller brush (22a) is driven to be greater than the rotation speed of the other, so that the automatic pool cleaning device (100) turns, turns around, or rotates on the water surface.

4. The control method according to claim 1, characterized in that, The roller brush assembly (20) includes a first roller brush assembly (20a) disposed at the front (11) of the automatic pool cleaning device (100). The first roller brush assembly (20a) includes a first roller brush (21a) and a second roller brush (22a). The first roller brush (21a) is disposed on the left side, and the second roller brush (22a) is disposed on the right side. The step of driving the roller brush assembly (20) of the automatic pool cleaning device (100) to rotate in response to the current cleaning mode being the water surface cleaning mode includes: In response to the current cleaning mode being the water surface cleaning mode, and upon receiving a turning command, a turning command, or a rotation command, the first roller brush (21a) and the second roller brush (22a) are driven to rotate in different directions, so that the automatic pool cleaning device (100) turns, turns around, or rotates on the water surface.

5. The control method according to claim 1, characterized in that, The method of driving the roller brush assembly (20) of the automatic pool cleaning device (100) to rotate in response to the current cleaning mode being the water surface cleaning mode includes: In response to the current cleaning mode being the water surface cleaning mode, and upon identifying the object to be cleaned, the type of the object to be cleaned is obtained; The rotational speed of the roller brush assembly (20) is determined according to the cleaning priority corresponding to the type; the rotational speed is positively correlated with the cleaning priority. Drive the roller brush assembly (20) to rotate at the specified rotation speed so that the automatic pool cleaning device (100) can move to the object to be cleaned for cleaning.

6. The control method according to claim 5, characterized in that, The roller brush assembly (20) includes a first roller brush assembly (20a) disposed at the front (11) of the automatic pool cleaning device (100) and a second roller brush assembly (20b) disposed at the rear (12) of the automatic pool cleaning device (100); determining the rotation speed of the roller brush assembly (20) according to the cleaning priority corresponding to the type includes: The rotational speed of the first roller brush assembly (20a) and / or the second roller brush assembly (20b) is determined according to the cleaning priority corresponding to the type.

7. The control method according to claim 6, characterized in that, Determining the rotational speed of the first roller brush assembly (20a) and / or the second roller brush assembly (20b) according to the cleaning priority corresponding to the type includes: The required rotation speed is determined based on the cleaning priority corresponding to the type. In response to the required rotational speed being greater than the maximum rotational speed of a single roller brush assembly (20), it is determined that the first roller brush assembly (20a) and the second roller brush assembly (20b) need to rotate simultaneously, and a first rotational speed of the first roller brush assembly (20a) and a second rotational speed of the second roller brush assembly (20b) are determined.

8. The control method according to claim 6, characterized in that, The first roller brush assembly (20a) and the second roller brush assembly (20b) move in conjunction or independently.

9. The control method according to claim 1, characterized in that, The automatic pool cleaning device (100) does not include a propeller for propelling the automatic pool cleaning device (100) across the water surface, the propeller being at least a propeller-type propeller, a turbine-type propeller, or a jet propeller.

10. An automatic water tank cleaning device, characterized in that, The automatic pool cleaning device (100) has an underwater cleaning mode and a surface cleaning mode; the automatic pool cleaning device (100) includes: Main body (10); A roller brush assembly (20) is rotatably mounted on the body (10), and the roller brush assembly (20) is partially exposed outside the body (10); A memory (110), disposed in the main body (10), is used to store computer programs; A processor (120), disposed in the main body (10) and connected to the memory (110), is used to execute the computer program to implement the method as described in any one of claims 1-9.

11. The automatic water tank cleaning device according to claim 10, characterized in that, The main body (10) includes a surface inlet (101) and an underwater inlet (102). The automatic pool cleaning device (100) also includes a filter assembly (50). The filter assembly (50) includes a filter body (51), a surface inlet (52), and an underwater inlet (53). In the surface cleaning mode, water can enter the filter body (51) from the surface inlet (101) and the surface inlet (52). In the underwater cleaning mode, water can enter the filter body (51) from the underwater inlet (102) and the underwater inlet (53).

12. The automatic water tank cleaning device according to claim 11, characterized in that, The automatic water tank cleaning device (100) also includes a water pump assembly (70). In the surface cleaning mode, the water pump assembly (70) is in a non-working state. In the underwater cleaning mode, the water pump assembly (70) guides water flow from the underwater inlet (102) and the underwater inlet (53) into the filter body (51).

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