System capable of floating and diving, diving equipment, control method and computer readable storage medium
By designing water and air storage tanks and combining them with control methods for driving water pumps and control valves, the problem of low surfacing and diving efficiency of pool robots has been solved, enabling a fast and low-cost surfacing and diving process.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2026-03-12
- Publication Date
- 2026-04-14
AI Technical Summary
Existing pool robots need to crawl along the side wall of the pool when surfacing and diving, which affects their operational efficiency.
The system uses a water storage tank and an air storage tank connected by a first channel. It utilizes a drive pump and control valve to achieve the alternating flow of gas and water. Combined with an air valve and a water level detection device, it controls the ascent and descent process of the submersible equipment.
It enables submersible equipment to quickly ascend and descend, reduces equipment costs, improves operational efficiency, and avoids pump leakage problems.
Smart Images
Figure CN121853828A_ABST
Abstract
Description
Technical Field
[0001] This application belongs to the field of submersible equipment technology, and particularly relates to a system, submersible equipment, control method, and computer-readable storage medium capable of surfacing and diving. Background Technology
[0002] Pool robots typically refer to intelligent devices used for automatic cleaning of swimming pools. Some existing pool robots usually require them to climb up or down along the side wall of the pool when they float or dive, which is not conducive to achieving rapid floating and diving, and thus affects the efficiency of the pool robot's operation. Summary of the Invention
[0003] The purpose of this application is to provide a system, diving equipment, control method, and computer-readable storage medium capable of surfacing and diving, in order to solve the technical problem that some existing pool robots need to climb up or down along the side wall of the pool to achieve surfacing or diving.
[0004] To achieve the above objectives, the technical solution adopted in this application is as follows: This application provides a system capable of surfacing and diving, used on submersible equipment. The system capable of surfacing and diving includes: Water storage tank; The gas storage tank is connected to the top of the water storage tank via a first channel, and a first control valve is installed on the first channel. Drive the water pump, which is connected to the water storage tank; When the water pump is driven to inject water into the water storage tank, the first control valve is opened to allow the gas in the water storage tank to flow to the gas storage tank. When the water level in the storage tank reaches the set amount, the first control valve is closed. When the water pump is driven to operate to draw water from the water storage tank, the first control valve is opened to allow gas in the gas storage tank to flow into the water storage tank.
[0005] In some implementations, the buoyancy and submersion capability of the system also includes an air valve connected to a water tank and / or an air tank, which is used to connect the outside world to the interior of the water tank and / or air tank when the submersible device is afloat.
[0006] In some implementations, the system capable of surfacing and diving also includes a first water level detection device, which is located inside or outside the water storage tank. The first water level detection device is electrically connected to the control device of the diving equipment. The control device responds to the water level signal detected by the first water level detection device to control the air valve to close, so as to prevent water from entering the air storage tank through the air valve.
[0007] In some implementations, the system capable of both buoyancy and submersion also includes a second water level detection device, which is located inside the water storage tank and at the top of the tank, or in the first channel. The second water level detection device is electrically connected to the control device of the submersible equipment, and the control device responds to the water level signal detected by the second water level detection device to control the drive pump to stop operating.
[0008] In some implementations, the volume of the water storage tank is greater than the volume of the gas storage tank; and / or, when the water storage tank is full of water, the maximum gas pressure in the gas storage tank is not greater than 150 kPa.
[0009] In some implementations, the water storage tank includes a first water storage compartment and a second water storage compartment, and there is at least one first water storage compartment and one second water storage compartment.
[0010] In some implementations, the first water storage compartment is arranged on one side of the submersible equipment and the second water storage compartment is arranged on the other side.
[0011] In some implementations, the floating and submerging system also includes an air inlet, an air storage tank and / or a second water storage tank connected to the air inlet via a pipe, and an air valve is installed on the pipe connected to the air inlet. The air inlet is close to the second water storage tank. When the drive water pump is started to inject water into the water storage tank, the first water storage tank is filled with water before the second water storage tank.
[0012] In some implementations, there is one driving water pump, which is connected to the first water storage compartment, and the second water storage compartment is connected to the first water storage compartment; or, there are at least two driving water pumps, with the first and second water storage compartments respectively connected to their corresponding driving water pumps.
[0013] In some implementations, there is one gas storage chamber, with the first and second water storage chambers connected to the gas storage chamber via corresponding first channels; or, there is one gas storage chamber, with the first and second water storage chambers connected, and the gas storage chamber connected to the first water storage chamber, wherein when the drive water pump is started to fill the water storage chamber, the first water storage chamber is filled with water before the second water storage chamber; or, there are at least two gas storage chambers, with the first and second water storage chambers connected to their respective gas storage chambers.
[0014] This application provides a diving device, including the system described in any of the above technical solutions that can surface and dive.
[0015] This application provides a control method for surfacing and diving of a submersible device. The submersible device includes a water tank, an air tank, a drive water pump, and an air valve. The air tank is connected to the top of the water tank through a first channel. A first control valve is provided on the first channel. The drive water pump is connected to the water tank. The control method includes: Control the water pump to work and inject water into the water storage tank, and control the first control valve to open so that the submersible equipment can begin to descend. When the set amount of water is detected to have been filled into the water storage tank, the control system stops the water pump and closes the first control valve to allow the submersible equipment to be fully submerged. The system controls the water pump to pump water from the storage tank, while simultaneously opening the first control valve to allow the submersible equipment to begin surfacing.
[0016] In some implementations, the submersible device also includes an air valve connected to a water tank and / or an air tank. The air valve is used to connect the outside world to the interior of the water tank and / or air tank when the submersible device is floating on the water surface. The control method also includes: Control the water pump to fill the water tank and control the air valve to open so that the submersible equipment can begin to descend. When a submersible device is detected to have descended to a preset position, the control valve closes to prevent water from flowing into the gas storage chamber through the valve.
[0017] This application provides a submersible device, which includes a memory and a processor. The memory stores a program, and the processor executes the program to implement the control method described in the above technical solution.
[0018] This application provides a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the steps of the control method described above.
[0019] The beneficial effects of this application are as follows: The floating and submersible system provided by this application is configured with an air storage chamber connected to a water storage chamber via a first channel, and a first control valve is installed on the first channel. This allows air in the water storage chamber to flow to the air storage chamber through the first channel when the water pump is working to inject water into the water storage chamber, thus creating a certain pressure of air in the air storage chamber. When the submersible device is submerged and the first control valve is closed, it can prevent water in the water storage chamber from being affected by the high-pressure air in the air storage chamber, thus preventing leakage of the water pump. When the submersible device needs to float, the first control valve can be opened. Because the air chamber has a certain air pressure, the water in the water chamber can be discharged from the water chamber when the water pump is working, so that ordinary water pumps such as peristaltic pumps can also pump water out of the water chamber. In addition, the floating and diving system provided in this application can facilitate the rapid floating and diving of submersible equipment, so as to solve the technical problem that some existing pool robots need to climb up or down along the side wall of the pool to float or dive. At the same time, the floating and diving system provided in this application has a simple structure and low cost, which helps to reduce the cost of submersible equipment. Attached Figure Description
[0020] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.
[0021] Figure 1 This is a schematic diagram of the structure of a submersible device provided in some embodiments of this application; Figure 2 The principle of the floating and diving system provided in some embodiments of this application Figure 1 ; Figure 3 The principle of the floating and diving system provided in some embodiments of this application Figure 2 ; Figure 4 The principle of the floating and diving system provided in some embodiments of this application Figure 3 ; Figure 5 The principle of the floating and diving system provided in some embodiments of this application Figure 4 ; Figure 6 A schematic diagram illustrating the principle of the diving device during the descent process provided in some embodiments of this application; Figure 7 A schematic diagram illustrating the principle of a submersible device surfacing during some embodiments of this application; Figure 8 Schematic diagram of the internal structure of a submersible device 100 provided in some embodiments of this application Figure 1 ; Figure 9 The principle of the floating and diving system provided in some embodiments of this application Figure 5 ; Figure 10 Schematic diagram of the internal structure of a submersible device provided in some embodiments of this application Figure 2 ; Figure 11 A schematic diagram illustrating the water filling process of the water tank during submersion of a submersible device provided in some embodiments of this application; Figure 12 Schematic diagram of the internal structure of a submersible device provided in some embodiments of this application Figure 3 .
[0022] The following are the labeling elements in the figure: 100 - Diving equipment; 10 - A system capable of floating and diving; 20 - Support frame; 101-Water storage tank; 102-Gas storage tank; 103-Drive water pump; 104-Gas valve; 105-First channel; 106-First water pipe; 107-First control valve; 108-Gas port; 109-First water level detection device; 110-Second water level detection device; 111-First filter device; 112-Second filter device; 113-Tee; 1011 - First water storage compartment; 1012 - Second water storage compartment; 1031 - First drive water pump; 1032 - Second drive water pump; 1041 - First air valve; 1042 - Second air valve. Detailed Implementation
[0023] To make the objectives, technical solutions, and advantages of this application clearer, the embodiments of this application will be further described in detail below with reference to the accompanying drawings. The embodiments described with reference to the accompanying drawings are exemplary and intended to explain this application, and should not be construed as limiting this application.
[0024] In the description of this application, it should be understood that the terms "length", "width", "thickness", "top", "bottom", "inner", "outer", "upper", "lower", "left", "right", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, 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.
[0025] To facilitate a clear description of the technical solutions of this application, the terms "first" and "second" are used to distinguish identical or similar items with essentially the same function and effect. Those skilled in the art will understand that the terms "first" and "second" do not limit the quantity or execution order, and that the terms "first" and "second" do not necessarily imply that they are different.
[0026] In this application, unless otherwise expressly specified and limited, the terms "connected" and "linked" 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 internal communication 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 according to the specific circumstances.
[0027] In this application, "and / or" is merely a way of describing the relationship between related objects, indicating that three relationships can exist; for example, A and / or B can represent three cases: A existing alone, A and B existing simultaneously, and B existing alone. Additionally, the character " / " in this document generally indicates that the preceding and following related objects have an "or" relationship.
[0028] It should be noted that, in this application, the words "in one embodiment," "exemplarily," and "for example" are used to indicate examples, illustrations, or descriptions. Any embodiment or design described in this application as "in one embodiment," "exemplarily," or "for example" should not be construed as being more preferred or advantageous than other embodiments or designs. Specifically, the use of words such as "in one embodiment," "exemplarily," and "for example" is intended to present the relevant concepts in a specific manner.
[0029] Please see Figure 1 , Figure 1 This is a schematic diagram of the structure of a submersible device 100 provided in some embodiments of this application. For ease of description, please refer to... Figure 1 In this embodiment of the application, the width direction of the submersible device 100 is defined as the X-axis direction, the length direction of the submersible device 100 is defined as the Y-axis direction, and the height direction of the submersible device 100 is defined as the Z-axis direction, wherein the X-axis direction, the Y-axis direction and the Z-axis direction are perpendicular to each other.
[0030] It is worth noting that the qualifying terms for parallel and / or perpendicular positional relationships mentioned in this embodiment are all relative to the current technological level, and not absolute and strict definitions in a mathematical sense. Slight deviations are allowed; approximations of parallelism and perpendicularity are acceptable. Furthermore, this embodiment uses directional terms such as "up," "down," "left," "right," "front," and "rear" when describing the submersible device 100. The orientation is primarily based on the location of the submersible device 100 within the attached... Figure 1 The display orientation is described as follows: the positive direction of the X-axis is "right", the negative direction of the X-axis is "left", the positive direction of the Y-axis is "front", the negative direction of the Y-axis is "back", the positive direction of the Z-axis is "up", and the negative direction of the Z-axis is "down".
[0031] Please see Figure 1 This application provides a submersible device 100, which refers to a device capable of diving and surfacing in water. The submersible device 100 includes, but is not limited to, a pool robot, which is a device used for automatically cleaning swimming pools. The following description primarily uses a pool robot as an example to illustrate the submersible device 100 provided in this application.
[0032] The submersible device 100 provided in this application embodiment includes a system 10 capable of surfacing and submerging, which enables the submersible device 100 to rapidly descend and ascend. Additionally, please refer to... Figure 1 The submersible equipment 100 also includes a support frame 20, which is used to support the system 10 that can surface and dive. It should be noted that the support frame 20 is not limited to supporting only the system 10 that can surface and dive, but can also support other systems and devices of the submersible equipment 100.
[0033] Please see Figures 2-5 , Figures 2-5 A schematic diagram of a floating and diving system 10 provided for some embodiments of this application.
[0034] Please see Figure 2 The floating and diving system 10 provided in this application embodiment includes a water storage tank 101, an air storage tank 102, and a drive water pump 103, which is connected to the water storage tank 101.
[0035] When the water pump 103 is working, it is used to inject water into the water storage tank 101 or to pump water out of the water storage tank 101. When there is no water in the water storage tank 101, the submersible device 100 can float on the water surface. When the water in the water storage tank 101 reaches the set water volume, the submersible device 100 can sink to the bottom of the water.
[0036] Please see Figure 2 The gas storage chamber 102 is connected to the water storage chamber 101 through the first channel 105. Preferably, the gas storage chamber 102 is connected to the top of the water storage chamber 101 through the first channel 105. A first control valve 107 is provided on the first channel 105. When the first control valve 107 is in the open state, the interior of the gas storage chamber 102 is connected to the interior of the water storage chamber 101. When the first control valve 107 is in the closed state, the interior of the gas storage chamber 102 is not connected to the interior of the water storage chamber 101.
[0037] Regarding the connection between the first channel 105 and the top of the water storage tank 101, in some examples, the first channel 105 can be connected to the top surface of the water storage tank 101; or, the first channel 105 can be not connected to the top surface of the water storage tank 101, but the connection position between the first channel 105 and the water storage tank 101 needs to be close to the top surface of the water storage tank 101.
[0038] Regarding the first control valve 107 provided on the first channel 105, in some examples, the two ends of the first channel 105 can be connected to the gas storage chamber 102 and the water storage chamber 101 respectively, and the first control valve 107 can be provided at a position other than the end of the first channel 105; or, in other examples, the first control valve 107 can be provided at one end of the first channel 105. For example, the first control valve 107 can be provided on the gas storage chamber 102, with one end of the first channel 105 connected to the first control valve 107 and the other end of the first channel 105 connected to the water storage chamber 101; or, the first control valve 107 can be provided on the water storage chamber 101, with one end of the first channel 105 connected to the first control valve 107 and the other end of the first channel 105 connected to the gas storage chamber 102.
[0039] See some examples. Figures 2-5 The system 10, which can float and dive, also includes an air valve 104, which is connected to a water tank 101 and / or an air tank 102. The air valve 104 is used to connect the outside world with the air tank 102 and / or the interior of the air tank 102 when the submersible device 100 is floating on the water surface.
[0040] Regarding the connection of valve 104 to water tank 101 and / or air tank 102, for example, in some examples, please refer to Figure 2 The gas valve 104 is connected to the gas storage chamber 102. For details, please refer to [link to relevant documentation]. Figure 1 The submersible system 10 includes an air inlet 108. An air valve 104 is installed on the pipeline connecting the air storage chamber 102 and the air inlet 108. When the submersible device 100 floats on the water surface and the air valve 104 is open, the interior of the air storage chamber 102 is connected to the outside atmosphere. If the first control valve 107 is opened at this time, the water storage chamber 101 is connected to the air storage chamber 102, thereby enabling the water storage chamber 101 to also be connected to the outside atmosphere. When the submersible device 100 is submerged in water, the air valve 104 needs to be closed to prevent water from flowing into the interior of the air storage chamber 102 through the air inlet 108.
[0041] Regarding the connection of valve 104 to water tank 101 and / or air tank 102, for example, in some examples, please refer to Figure 3 The air valve 104 is connected to the water storage tank 101. For details, please refer to [link / reference]. Figure 1The submersible system 10 includes an air inlet 108. An air valve 104 is installed on the pipeline connecting the water storage tank 101 and the air inlet 108. When the submersible device 100 floats on the water surface and the air valve 104 is open, the interior of the water storage tank 101 is connected to the outside atmosphere. If the first control valve 107 is opened at this time, the water storage tank 101 is connected to the air storage tank 102, thereby enabling the air storage tank 102 to also be connected to the outside atmosphere. When the submersible device 100 is submerged in water, the air valve 104 needs to be closed to prevent water from flowing into the interior of the water storage tank 101 through the air inlet 108.
[0042] Regarding the connection of valve 104 to water tank 101 and / or air tank 102, for example, in some examples, please refer to Figure 4 There are two air valves 104. For ease of description, one air valve 104 is referred to as the first air valve 1041 and the other air valve 104 is referred to as the second air valve 1042. The first air valve 1041 is installed on the pipeline connecting the air storage chamber 102 and the air port 108, and the second air valve 1042 is installed on the pipeline connecting the water storage chamber 101 and the air port 108. The pipeline connected to the first air valve 1041 and the pipeline connected to the second air valve 104 can be connected to the same air port 108, or the pipeline connected to the first air valve 1041 and the pipeline connected to the second air valve 1042 can be connected to different air ports 108.
[0043] Regarding the connection of valve 104 to water tank 101 and / or air tank 102, for example, in some examples, please refer to Figure 5 The water storage tank 101 and the air storage tank 102 are connected to the same air valve 104. Specifically, one end of the air valve 104 is connected to the air port 108 through a pipe, and the water storage tank 101 and the air storage tank 102 are connected to the other end of the air valve 104 through a pipe. When the air valve 104 is open and the submersible device 100 floats on the water surface, the interior of the water storage tank 101 and the air storage tank 102 are connected to the outside atmosphere.
[0044] Please see Figure 6 , Figure 6 This is a schematic diagram illustrating the principle of the diving device 100 during its descent, as provided in some embodiments of this application. It should be noted that... Figure 6 The illustration shows an example of a gas valve 104 installed on a pipeline connecting the gas storage chamber 102 and the gas outlet 108.
[0045] Please see Figure 6 In (a), there is no water in the water storage tank 101, and the submersible equipment 100 floats on the water surface. At this time, the first control valve 107 and the air valve 104 are in the open state, and the interior of the water storage tank 101 and the interior of the air storage tank 102 are connected to the outside atmosphere.
[0046] When the submersible device 100 needs to descend, the drive water pump 103 is activated. The drive water pump 103 pumps water into the water storage tank 101, causing the submersible device 100 to gradually sink. Please refer to [link to relevant documentation]. Figure 6 In (b), when the liquid level is close to the gas inlet 108, the gas valve 104 can be closed to prevent water from entering the gas storage chamber 102 through the gas inlet 108.
[0047] It should be noted that when valve 104 is closed, please refer to [the relevant documentation / reference]. Figure 6 In (b), the water in the water storage tank 101 is not yet full. The water pump 103 continues to work to pump water into the water storage tank 101. As the water in the water storage tank 101 increases, it will compress the gas in the water storage tank 101, causing the gas to flow into the gas storage tank 102 through the first channel 105.
[0048] It should be noted that, for ease of description, [the following will be used] Figure 6 The state of the submersible equipment 100 shown in (a) is called the first state. Figure 6 The state of the submersible device 100 shown in (b) is called the second state. During the transition from the first state to the second state, the air valve 104 is in the open state. At this time, when water enters the water storage tank 101, some of the air in the water storage tank 101 can flow through the air storage tank 102 to the air port 108. That is, by setting the air valve 104 to be in the open state during the transition from the first state to the second state, it is convenient to drive the water pump 103 to work and pump water into the water storage tank 101. In other words, assuming that the first control valve 107 and the air valve 104 are closed during the transition from the first state to the second state, when the water pump 103 is driven to work and pump water into the water storage tank 101, the air in the water storage tank 101 is compressed. That is, the water entering the water storage tank 101 will be subjected to the pressure of the compressed air, which is not conducive to driving the water pump 103 to pump water into the water storage tank 101.
[0049] Please see Figure 6 (c) in the figure shows that the submersible device 100 is submerged in water. When the water storage tank 101 is full, the drive water pump 103 and the first control valve 107 can be turned off. Since some of the gas in the water storage tank 101 enters the gas storage tank 102, the gas storage tank 102 is sealed with gas at a certain pressure.
[0050] It should be noted that when the water storage tank 101 is full, not only is the drive water pump 103 turned off, but the first control valve 107 is also turned off. This is to prevent the air pressure in the air storage tank 102 from squeezing the water in the water storage tank 101. If the first control valve 107 is not turned off so that the air pressure in the air storage tank 102 squeezes the water in the water storage tank 101, the water in the water storage tank 101 may leak through the drive water pump 103, which is not conducive to the stable operation of the submersible equipment 100.
[0051] Please see Figure 7 , Figure 7 This is a schematic diagram illustrating the principle of the submersible device 100 during its ascent process, as provided in some embodiments of this application.
[0052] Please see Figure 7 In (a), the water storage tank 101 is filled with water and the submersible equipment 100 sinks to the bottom of the water. At this time, the first control valve 107 and the air valve 104 are in the closed state.
[0053] When the submersible equipment 100 needs to surface, the drive water pump 103 is activated to pump out the water from the water storage tank 101. Simultaneously, the first control valve 107 is opened. As the water in the water storage tank 101 is gradually discharged, gas from the gas storage tank 102 enters the water storage tank 101 through the first channel 105. (See also...) Figure 7 (b) in the diagram illustrates a state in which the submersible device 100 is in an ascending state.
[0054] Please see Figure 7 In (c), when the air inlet 108 just emerges from the water surface, the control air valve 104 opens, so that the interior of the water storage tank 101 and the air storage tank 102 are connected to the outside atmosphere, so as to facilitate the operation of the water pump 103 to discharge the water in the water storage tank 101.
[0055] Please see Figure 7 In step (d), there is no water in the water storage tank 101 at this time, the drive water pump 103 can be turned off, and the submersible equipment 100 can float on the water surface.
[0056] It should be noted that when the submersible device 100 needs to rise from the bottom of the water, not only is the drive pump 103 started, but the first control valve 107 is also opened. This allows for the discharge of water from the water storage tank 101 due to the air pressure within the air storage tank 102. In other words, if the first control valve 107 is not opened, and the drive pump 103 pumps water from the water-filled water storage tank 101, a vacuum will form in the empty space within the tank. Therefore, it will be difficult to completely pump the water out of the water storage tank 101 using a regular pump. If the drive pump 103 is a peristaltic pump (a peristaltic pump is a positive displacement pump that transports fluid by periodically squeezing an elastic hose), and the first control valve 107 is not open while pumping water from the water-filled tank 101, the peristaltic pump will have an upper limit to its self-priming capacity, making it difficult to continuously pump water from the tank 101.
[0057] It should be noted that the above text is combined with Figure 6 and Figure 7 In the given scenario, the water storage tank 101 is filled with water when the submersible device 100 is submerged. In other scenarios, the water storage tank 101 is not necessarily completely filled with water when the submersible device 100 is submerged. For example, the water volume in the water storage tank 101 may not be completely filled, but it is preferred to be close to full.
[0058] It should be noted that when the submersible device 100 is submerged in water, it is preferable that the water storage tank 101 is filled with water. If the water storage tank 101 is not filled with water, when the submersible device 100 moves on the bottom of the pool, the water in the water storage tank 101 may slosh around, which is not conducive to the stable operation of the submersible device 100 on the bottom of the pool.
[0059] In summary, in this embodiment, the air storage chamber 102 is connected to the top of the water storage chamber 101 via a first channel 105, and a first control valve 107 is provided on the first channel 105. This allows air in the water storage chamber 101 to flow through the first channel 105 to the air storage chamber 102 when the water pump 103 is working to inject water into the water storage chamber 101 and the air valve 104 is closed, thus creating a certain pressure of air in the air storage chamber 102. When the submersible device 100 is submerged and the first control valve 107 is closed, the water in the water storage chamber 101 is prevented from being affected by the high-pressure air in the air storage chamber 102. This can cause leakage in the drive water pump 103. When the submersible device 100 needs to surface, the first control valve 107 can be opened. Since there is a certain air pressure in the air storage chamber 102, the water in the water storage chamber 101 can be discharged from the water storage chamber 101 under the operation of the drive water pump 103. This allows ordinary drive water pumps 103, such as peristaltic pumps, to pump water out of the water storage chamber 101. In other words, the requirements for the drive water pump 103 of the floating and submerging system provided in this application embodiment are relatively low, which allows a wider variety of pumps to be used in the floating and submerging system provided in this application embodiment.
[0060] In addition, the floating and diving system 10 provided in this application embodiment can not only facilitate the rapid floating and diving of the diving equipment 100, thus solving the technical problem that some existing pool robots need to climb up or down along the side wall of the pool to achieve floating or diving, but also the floating and diving system 10 provided in this application embodiment has a simple structure and low cost, thereby helping to reduce the cost of the diving equipment 100.
[0061] It should be noted that, please refer to Figure 4 The first air valve 1041 and the second air valve 1042 are respectively connected to the air storage tank 102 and the water storage tank 101. When the submersible equipment 100... Figure 6 When the submersible device 100 floats on the water surface as shown in (a), the first air valve 1041, the second air valve 1042, and the first control valve 107 can all be in the open state; alternatively, the first air valve 1041 and the second air valve 1042 can be in the open state, and the first control valve 107 can be in the closed state. When the submersible device 100 sinks to the surface of the water, the first air valve 1041 and the second air valve 1042 can all be in the open state, and the first control valve 107 can be in the closed state. Figure 6 When the state shown in (b) is reached, the first air valve 1041 and the second air valve 1042 are controlled to be closed, and the first control valve 107 is controlled to be opened.
[0062] It should be noted that, please refer to Figure 5 The water storage tank 101 and the air storage tank 102 are connected to the same air valve 104. When the submersible equipment 100... Figure 6When the submersible device 100 floats on the water surface as shown in (a), both the air valve 104 and the first control valve 107 can be set to the open state; alternatively, the air valve 104 can be set to the open state and the first control valve 107 to the closed state. When the submersible device 100 sinks to the surface, it can be set to the open state. Figure 6 When the state shown in (b) is reached, the control valve 104 is closed and the control valve 107 is opened.
[0063] In some embodiments, see Figures 2-5 The system 10, which can float and dive, also includes a first water level detection device 109. The first water level detection device 109 is installed in the water storage tank 101. The first water level detection device 109 is electrically connected to the control device of the diving equipment 100. The control device responds to the water level signal detected by the first water level detection device 109 to control the air valve 104 to close, so as to prevent water from entering the air storage tank 102 through the air valve 104.
[0064] In some scenarios, when the first water level detection device 109 detects the water level in the water storage tank 101, the liquid level is as follows: Figure 6 (b) shows the area near the air inlet 108.
[0065] Regarding the first water level detection device 109, in some examples, the first water level detection device 109 can be configured as a contact water level detection device, such as an electrode-type water level sensor; or, the first water level detection device 109 can be configured as a non-contact water level detection device, such as a capacitive liquid level sensor or an ultrasonic liquid level sensor.
[0066] Specifically, when the first water level detection device 109 detects a water level signal, the first water level detection device 109 transmits the water level signal to the control device, and the control device controls the air valve 104 to close after receiving the water level signal; when the first water level detection device 109 does not detect a water level signal, the control device controls the air valve 104 to open.
[0067] In this embodiment of the application, the system 10, which can float and dive, also includes a first water level detection device 109 to achieve accurate monitoring and automatic control of the water level and prevent water from flowing back into the air storage chamber 102 when the submersible equipment 100 dives.
[0068] It should be noted that some embodiments described above show that the first water level detection device 109 is installed inside the water storage tank 101. In other embodiments, the first water level detection device 109 may also be installed outside the water storage tank 101. For example, the first water level detection device 109 may be installed on the support frame 20 of the submersible equipment 100.
[0069] When the first water level detection device 109 is installed outside the water storage tank 101, in some scenarios, when the first water level detection device 109 detects the water level inside the water storage tank 101, the liquid level is as follows: Figure 6 (b) shows the area near the air inlet 108.
[0070] In some embodiments, see Figures 2-5 The system 10, which can float and dive, also includes a second water level detection device 110. The second water level detection device 110 is electrically connected to the control device of the diving equipment 100. The control device responds to the water level signal detected by the second water level detection device 110 to control the drive pump 103 to stop operating.
[0071] Please see Figure 2 The second water level detection device 110 can be located inside the water storage tank 101 and at the top of the water storage tank 101; or, please refer to Figure 3 Alternatively, the second water level detection device 110 can be located in the first channel 105; or, the second water level detection device 110 can be located inside the gas storage chamber 102 and near the position where the gas storage chamber 102 connects to the first channel 105.
[0072] Regarding the second water level detection device 110, in some examples, the second water level detection device 110 can be configured as a contact water level detection device, such as an electrode-type water level sensor.
[0073] When the water pump 103 is working to inject water into the water storage tank 101, if the second water level detection device 110 detects a water level signal, the second water level detection device 110 will transmit the water level signal to the control device. After receiving the water level signal, the control device will control the water pump 103 to stop working and at the same time control the first control valve 107 to close.
[0074] In this embodiment, the system 10, which can float and submerge, also includes a second water level detection device 110 to achieve accurate monitoring and automatic control of the water level. This allows for timely control of the drive pump 103 to stop working and the first control valve 107 to close when a certain amount of water is injected into the water storage tank 101. In addition, by setting the second water level detection device 110 on the top of the water storage tank 101 or in the first channel 105, the drive pump 103 is only controlled to close when the water storage tank 101 is full of water.
[0075] It should be noted that when a second water level detection device 110 is installed in the first channel 105, in some embodiments, the second water level detection device 110 may be positioned closer to the water storage tank 101 than the first control valve 107; or, in other embodiments, the first control valve 107 may be positioned closer to the water storage tank 101 than the second water level detection device 110.
[0076] It should be noted that, in some embodiments, the height of the gas storage chamber 102 can be set to be greater than the height of the water storage chamber 101. When a small amount of water in the water storage chamber 101 flows into the gas storage chamber 102, the water in the gas storage chamber 102 can be discharged into the water storage chamber 101 through the first channel 105. Alternatively, in other embodiments, a third water level detection device can be installed in the gas storage chamber 102. The third water level detection device is used to detect the water level in the gas storage chamber 102. If the third water level detection device detects that the water level in the gas storage chamber 102 has reached a preset water level, the control device can control the prompting device to issue a prompt, so as to remind the user to clean the water in the gas storage chamber 102 in time.
[0077] In some embodiments, the volume of the water storage tank 101 is greater than the volume of the gas storage tank 102.
[0078] For example, in some examples, the volume of the water storage tank 101 may be set to be no less than twice the volume of the gas storage tank 102.
[0079] In this embodiment of the application, by setting the volume of the water storage tank 101 to be greater than the volume of the gas storage tank 102, it is possible to store gas at a certain pressure in the gas storage tank 102 while minimizing the volume of the submersible device 100.
[0080] In some embodiments, the maximum gas pressure inside the gas storage chamber 102 is no greater than 150 kPa.
[0081] When the air valve 104 is closed and the water in the water storage tank 101 reaches the set water volume so that the submersible device 100 sinks to the bottom of the water, the air pressure in the air storage tank 102 is at its maximum value.
[0082] It should be noted that, while ensuring the air pressure within the air storage chamber 102 is sufficient to facilitate the discharge of water from the water storage chamber 101 when the water pump 103 is activated, the air pressure within the air storage chamber 102 should be designed to be as low as possible. Higher pressure resistance chambers have higher manufacturing costs, and higher air pressure within the water storage chamber 101 also poses greater safety hazards. Therefore, in this embodiment, by limiting the maximum air pressure within the air storage chamber 102 to no more than 150 kPa, the manufacturing cost of the water storage chamber 101 can be reduced while ensuring the water pressure within the air storage chamber 102 is sufficient to facilitate the discharge of water from the water storage chamber 101 when the water pump 103 is activated, thus improving safety.
[0083] Please see Figures 8-9 , Figure 8 This is a schematic diagram of the internal structure of a submersible device 100 provided in some embodiments of this application. Figure 9 A schematic diagram of a floating and diving system 10 provided for some embodiments of this application.
[0084] In some embodiments, see Figure 10 The water storage tank 101 includes a first water storage tank 1011 and a second water storage tank 1012, and there is at least one first water storage tank 1011 and one second water storage tank 1012.
[0085] In this embodiment of the application, the water storage tank 101 is configured to include a first water storage compartment 1011 and a second water storage compartment 1012, so as to reasonably arrange the positions of the first water storage compartment 1011 and the second water storage compartment 1012 according to the internal space of the submersible device 100.
[0086] In some embodiments, there is one driving water pump 103, which is connected to the first water storage compartment 1011 and the second water storage compartment 1012 is connected to the first water storage compartment 1011.
[0087] For example, in some examples, there is one first water storage compartment 1011 and one second water storage compartment 1012. The driving water pump 103 is connected to the first water storage compartment 1011 and the second water storage compartment 1012 is connected to the first water storage compartment 1011. When the driving water pump 103 is working, it can first fill the driving water pump 103 with water, and then flow through the first water storage compartment 1011 to the second water storage compartment 1012 so that the second water storage compartment 1012 is also filled with water.
[0088] For example, in some examples, there is one first water storage compartment 1011 and more than one second water storage compartment 1012. The driving water pump 103 is connected to the first water storage compartment 1011. Each second water storage compartment 1012 can be connected to the first water storage compartment 1011 respectively. Alternatively, each second water storage compartment 1012 can be connected in series and one of the second water storage compartments 1012 can be connected to the first water storage compartment 1011.
[0089] For example, in some examples, the number of first water storage compartments 1011 is greater than one. The first water storage compartments 1011 can be connected in series and one of the first water storage compartments 1011 can be connected to the drive water pump 103.
[0090] In this embodiment of the application, by setting the number of driving water pumps 103 to one, the structure of the submersible device 100 can be simplified, and the cost and weight of the submersible device 100 can be reduced.
[0091] It should be noted that some embodiments described above describe a single drive water pump 103, while in other embodiments, there are at least two drive water pumps 103, with the first water storage compartment 1011 and the second water storage compartment 1012 respectively connected to the corresponding drive water pump 103.
[0092] For example, see some examples. Figure 9The system can be configured with two drive pumps 103, one of which works in conjunction with the first water storage compartment 1011, and the other works in conjunction with the second water storage compartment 1012. For ease of description, the drive pump 103 working with the first water storage compartment 1011 is referred to as the first drive pump 1031, and the drive pump 103 working with the second water storage compartment 1012 is referred to as the second drive pump 1032. Please refer to [link / reference]. Figure 9 The first water storage compartment 1011 and the second water storage compartment 1012 are each one, and the first water storage compartment 1011 and the second water storage compartment 1012 are respectively connected to the first driving water pump 1031 and the second driving water pump 1032; or, the number of first water storage compartments 1011 may be more than one, and each first water storage compartment 1011 is filled with water or pumped out of each first water storage compartment 1011 by the same first driving water pump 1031; or, the number of second water storage compartments 1012 may be more than one, and each second water storage compartment 1012 is filled with water or pumped out of each second water storage compartment 1012 by the same second driving water pump 1032.
[0093] For example, in some examples, the number of driving water pumps 103 can be set to be greater than two, and the number of driving water pumps 103 can be set to be equal to the sum of the total number of the first water storage compartment 1011 and the second water storage compartment 1012, that is, each first water storage compartment 1011 and each second water storage compartment 1012 corresponds to one driving water pump 103.
[0094] In this embodiment, the number of drive water pumps 103 is at least two, which helps to improve the efficiency of water injection and drainage into the water storage tank 101.
[0095] In some embodiments, the floating and diving system 10 further includes a first filter device 111, with one end of the driving water pump 103 connected to the water storage tank 101 and the other end connected to the first filter device 111.
[0096] In this embodiment of the application, the system 10, which is capable of floating and diving, also includes a first filter device 111 for filtering water entering the drive pump 103.
[0097] When the number of drive water pumps 103 is greater than one, each drive water pump 103 can be connected to the same first filter device 111; or, the number of first filter devices 111 can be the same as the number of drive water pumps 103, and each drive water pump 103 can be connected to the corresponding first filter device 111.
[0098] The following is in conjunction with the appendix Figure 8 and attached Figure 9 Further description of gas storage 102.
[0099] Regarding the gas storage chamber 102, in some embodiments, the number of gas storage chambers 102 may be one, and each first water storage chamber 1011 and each second water storage chamber 1012 is provided with a first channel 105 between itself and the gas storage chamber 102, and each first channel 105 is provided with a first control valve 107.
[0100] Regarding the gas storage chamber 102, in some embodiments, the number of gas storage chambers 102 may be one, and the gas storage chamber 102 may be connected to one of the first water storage chambers 1011 or one of the second water storage chambers 1012. In this case, the first water storage chamber 1011 and the second water storage chamber 1012 need to be connected. For example, when there is one first water storage compartment 1011 and the gas storage compartment 102 is connected to the first water storage compartment 1011, water can be injected into the second water storage compartment 1012 first, and the air in the second water storage compartment 1012 can flow to the gas storage compartment 102 through the first water storage compartment 1011. After the second water storage compartment 1012 is full of water, water can be injected into the first water storage compartment 1011, and the air in the first water storage compartment 1011 can flow to the gas storage compartment 102. Alternatively, for example, when there is more than one first water storage compartment 1011 and the gas storage compartment 102 is connected to one of the first water storage compartments 1011, water can be injected into the second water storage compartment 1012 and the first water storage compartment 1011 that is not directly connected to the gas storage compartment 102 first, and then water can be injected into the first water storage compartment 1011 that is directly connected to the gas storage compartment 102.
[0101] Regarding the gas storage chamber 102, please refer to some embodiments. Figure 9 The gas storage chamber 102 can be configured to have two chambers, which are respectively connected to the first water storage chamber 1011 and the second water storage chamber 1012. Alternatively, the first water storage chamber 1011 and the second water storage chamber 1012 can each be configured as one, with the two gas storage chambers 102 connected to the first water storage chamber 1011 and the second water storage chamber 1012 respectively through corresponding first channels 105.
[0102] Regarding the gas storage chamber 102, in some embodiments, the number of gas storage chambers 102 may be greater than two, and the number of gas storage chambers 102 is equal to the sum of the total number of the first water storage chamber 1011 and the second water storage chamber 1012, that is, each first water storage chamber 1011 and each second water storage chamber 1012 corresponds to one gas storage chamber 102 connected to it.
[0103] It should be noted that when the number of gas storage chambers 102 is greater than one, each gas storage chamber 102 can be connected to the same gas valve 104; or, each gas storage chamber 102 can be connected to different gas valves 104 respectively.
[0104] In some embodiments, the floating and diving system 10 further includes a second filter device 112, one end of the air valve 104 is connected to the air storage tank 102 and / or the water storage tank 101 via a pipe, and the other end is connected to the second filter device 112.
[0105] In this embodiment of the application, the system 10, which is capable of floating and diving, also includes a second filtration device 112 for filtering the air entering the air storage tank 102 and / or the water storage tank 101.
[0106] It should be noted that in some examples, an air outlet 108 may be formed on the second filter device 112.
[0107] Please see Figure 10 , Figure 10 This is a schematic diagram of the internal structure of a submersible device 100 provided in some embodiments of this application.
[0108] In some embodiments, see Figure 10 The water storage tank 101 includes a first water storage tank 1011 and a second water storage tank 1012. There is at least one first water storage tank 1011 and one second water storage tank 1012. The first water storage tank 1011 and the second water storage tank 1012 are arranged on opposite sides of the submersible device 100.
[0109] See some examples. Figure 10 The first water storage compartment 1011 and the second water storage compartment 1012 are along the length of the support frame 20, i.e. Figure 10 The Y-axis direction is set relative to the center.
[0110] In this embodiment of the application, by setting the first water storage compartment 1011 and the second water storage compartment 1012 on opposite sides of the submersible device 100, the center of gravity of the submersible device 100 is approximately located in the middle of the submersible device 100 after the water storage compartment 101 is filled with water, thus preventing the other end of the submersible device 100 from tilting up when it sinks to the bottom due to the large weight at one end.
[0111] Please see Figure 11 , Figure 11 This is a schematic diagram illustrating the process of filling the water tank 101 with water when the submersible device 100 is submerged, as provided in some embodiments of this application.
[0112] In some embodiments, see Figure 11 The floating and submerging system 10 includes an air inlet 108, which is close to the second water storage compartment 1012. When the drive pump 103 is started to inject water into the water storage compartment 101, the first water storage compartment 1011 is filled with water before the second water storage compartment 1012.
[0113] It should be noted that, except that the air vent 108 is close to the second water storage compartment 1012, it is best to set the air vent 108 close to or at the top of the submersible equipment 100.
[0114] Please see Figure 11 In (a), there is no water in the first water storage compartment 1011 and the second water storage compartment 1012. At this time, the submersible device 100 floats on the water surface, the air valve 104 and the first control valve 107 are opened, and the interior of the first water storage compartment 1011, the interior of the second water storage compartment 1012 and the interior of the air storage compartment 102 are connected to the outside atmosphere.
[0115] When the water pump 103 is working, water is first injected into the first water storage compartment 1011. Please refer to [link / reference]. Figure 11 (b) illustrates the state when the first water storage compartment 1011 is filled with water. At this time, the submersible device 100 is set to sink on one side of the first water storage compartment 1011, and the submersible device 100 is in an inclined state. The air vent 108 can still be located above the water surface, which increases the time that the water storage compartment 101 and the air storage compartment 102 are connected to the atmosphere, which is beneficial for driving the water pump 103 to inject water into the first water storage compartment 1011.
[0116] When the drive water pump 103 continues to operate, it injects water into the second water storage compartment 1012. Air inside the second water storage compartment 1012 is discharged through the air storage compartment 102 and the air port 108. (See also...) Figure 11 In (c), when some water is injected into the second water storage compartment 1012 and the air port 108 is close to the liquid surface, the control air valve 104 is closed to prevent water from flowing into the air storage compartment 102 through the air port 108.
[0117] Please see Figure 11 (d) in the figure indicates that the first water storage compartment 1011 and the second water storage compartment 1012 are filled with water, at which point the submersible device 100 is submerged at the bottom of the water.
[0118] In this embodiment, by limiting the air vent 108 to be close to the second water storage compartment 1012 and by setting the first water storage compartment 1011 to be filled with water before the second water storage compartment 1012 when the driving water pump 103 is started to inject water into the water storage compartment 101, the time for the air storage compartment 102 to be connected to the outside through the air vent 108 can be increased when the driving water pump 103 injects water into the water storage compartment 101, thereby facilitating the operation of the driving water pump 103 to inject water into the water storage compartment 101.
[0119] It should be noted that the above text is combined with Figure 11The description describes a situation where the air vent 108 approaches the liquid surface when some water is injected into the second water storage compartment 1012. In other scenarios, this situation may occur when the first water storage compartment 1011 is almost full of water. In this case, it is necessary to control the air valve 104 to close.
[0120] It should be noted that when the first water storage compartment 1011 and the second water storage compartment 1012 are respectively matched with two different drive water pumps 103, for example, the drive water pump 103 connected to the first water storage compartment 1011 is called the first drive water pump 1031, and the drive water pump 103 connected to the second water storage compartment 1012 is called the second drive water pump 1032, when the submersible device 100 submerges, it is necessary to first control the first drive water pump 1031 to work, after the first water storage compartment 1011 is full of water, control the first drive water pump 103 to stop working, and then control the second drive water pump 1032 to work.
[0121] Please see Figure 12 , Figure 12 This is a schematic diagram of the internal structure of a submersible device 100 provided in some embodiments of this application.
[0122] In some embodiments, the number of first water storage compartments 1011 is one, and the number of second water storage compartments 1012 is two. The two second water storage compartments 1012 are distributed alternately along a distribution direction perpendicular to the distribution direction of the first water storage compartments 1011 and the second water storage compartments 1012, that is, the first water storage compartments 1011 and the second water storage compartments 1012 are distributed alternately along a distribution direction perpendicular to the distribution direction of the first water storage compartments 1011 and the second water storage compartments 1012. Figure 12 The two second water storage compartments 1012 are spaced apart along the Y-axis. Figure 12 The interval setting is set along the X-axis.
[0123] Please see Figure 12 There is one driving water pump 103, which is located below the first water storage compartment 1011 and connected to the first water storage compartment 1011.
[0124] Please see Figure 12 The first water storage compartment 1011 is connected to one of the second water storage compartments 1012 via a first water pipe 106. The first water pipe 106 is connected to the top of the first water storage compartment 1011, so that when the driving water pump 103 is working, water can be injected into the first water storage compartment 1011 first. When the first water storage compartment 1011 is full of water and the driving water pump 103 continues to work, the water in the first water storage compartment 1011 can flow along the first water pipe 106 to the second water storage compartment 1012.
[0125] In some examples, two second water storage compartments 1012 may be connected to the top of the first water storage compartment 1011 via corresponding first water pipes 106; or, in other examples, one of the second water storage compartments 1012 may be connected to the top of the first water storage compartment 1011 via a first water pipe 106, and the two second water storage compartments 1012 may be connected via pipes.
[0126] In this embodiment of the application, by limiting the connection between the first water storage compartment 1011 and one of the second water storage compartments 1012 through the first water pipe 106, the first water storage compartment 1011 is filled with water before the second water storage compartment 1012 when the water pump 103 is started to inject water into the water storage compartment 101.
[0127] In some embodiments, see Figure 12 There is one gas storage chamber 102, which is stacked on top of the first water storage chamber 1011. The gas storage chamber 102 is connected to the top of one of the second water storage chambers 1012 through the first channel 105.
[0128] In this embodiment, the gas storage chamber 102 is stacked on top of the first water storage chamber 1011 to make full use of the internal space of the submersible device 100, resulting in a compact structure.
[0129] It should be noted that in some examples, the height of the gas storage chamber 102 is higher than the height of the second water storage chamber 1012, so that the water in the gas storage chamber 102 can flow into the second water storage chamber 1012 through the first channel 105.
[0130] This application provides a control method for the ascent and descent of a submersible device 100. The submersible device 100 includes an ascent and descent system 10, which includes a water storage tank 101, an air storage tank 102, and a drive water pump 103. The air storage tank 102 is connected to the water storage tank 101 through a first channel 105, and a first control valve 107 is provided on the first channel 105. The drive water pump 103 is connected to the water storage tank 101. The control method includes the following: The control pump 103 is operated to inject water into the water storage tank 101, and the control valve 104 and the first control valve 107 are opened to allow the submersible device 100 to begin its descent. When the submersible device 100 is detected to have descended to a preset position, the control valve 104 is closed to prevent water from flowing to the air storage chamber 102 through the valve 104. When the set amount of water is detected to be filled into the water storage tank 101, the control pump 103 stops working and the first control valve 107 is closed, so that the submersible device 100 is fully submerged. The system controls the operation of the water pump 103 to pump water from the storage tank 101, and simultaneously controls the opening of the first control valve 107 to allow the submersible equipment 100 to begin to rise.
[0131] In some embodiments, the floating and diving system 10 further includes an air valve 104, which is connected to a water tank 101 and / or an air tank 102. The air valve 104 is used to connect the outside world with the interior of the water tank 101 and / or the air tank 102 when the submersible device 100 is floating on the water surface. The control method further includes the following: The control pump 103 is operated to inject water into the water storage tank 101, and the control valve 104 is opened to allow the submersible device 100 to begin its descent. When the submersible device 100 is detected to have descended to a preset position, the control valve 104 is closed to prevent water from flowing through the valve 104 to the gas storage chamber 102.
[0132] For details on the descent process of the submersible equipment 100, please refer to [link / reference]. Figure 6 The details are as follows: Please see Figure 6 In (a), there is no water in the water storage tank 101, and the submersible equipment 100 floats on the water surface. At this time, the first control valve 107 and the air valve 104 are in the open state, and the interior of the water storage tank 101 and the air storage tank 102 are connected to the outside atmosphere.
[0133] When the submersible device 100 needs to descend, the drive water pump 103 is activated. The drive water pump 103 pumps water into the water storage tank 101, causing the submersible device 100 to gradually sink. Please refer to [link to relevant documentation]. Figure 6 In (b), when the liquid level approaches the air inlet 108 and the diving equipment 100 descends to the preset position, the air valve 104 can be closed to prevent the air inlet 108 from entering the air storage chamber 102.
[0134] Please see Figure 6 In (c), when the water storage tank 101 is full, the drive water pump 103 and the first control valve 107 can be turned off. Since some of the gas in the water storage tank 101 enters the gas storage tank 102, the gas storage tank 102 is sealed with gas at a certain pressure.
[0135] For details regarding the descent process of the submersible equipment 100, please refer to [link / reference]. Figure 7 The details are as follows: Please see Figure 7 In (a), the water storage tank 101 is filled with water and the submersible equipment 100 sinks to the bottom of the water. At this time, the first control valve 107 and the air valve 104 are in the closed state.
[0136] When the submersible equipment 100 needs to surface, the drive water pump 103 is activated to pump out the water from the water storage tank 101. Simultaneously, the first control valve 107 is opened. As the water in the water storage tank 101 is gradually discharged, gas from the gas storage tank 102 enters the water storage tank 101 through the first channel 105. (See also...) Figure 7 (b) in the diagram illustrates a state in which the submersible device 100 is in an ascending state.
[0137] Please see Figure 7 In (c), when the air valve 104 just emerges from the water surface, the air valve 104 can be controlled to open, so that the interior of the water storage tank 101 and the air storage tank 102 are connected to the outside atmosphere, so as to facilitate the operation of the water pump 103 to discharge the water in the water storage tank 101.
[0138] Please see Figure 7 In step (d), there is no water in the water storage tank 101 at this time, and the drive water pump 103 can be turned off.
[0139] The control method provided in this application embodiment can facilitate the rapid ascent and descent of the submersible device 100, thereby solving the technical problem in the prior art where some existing pool robots need to climb up or down along the side wall of the pool to achieve ascent or descent.
[0140] This application provides a submersible device 100, which includes a memory and a processor. The memory stores a program, and the processor implements the control method described above when executing the program.
[0141] This application provides a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the steps of the control method described above.
[0142] Those skilled in the art will understand that all or part of the processes in the above embodiments can be implemented by a computer program instructing related hardware. The program can be stored in a computer-readable storage medium. When the program is executed, it can include the processes of the embodiments of the above methods. The storage medium can be a magnetic disk, optical disk, read-only memory (ROM), random access memory (RAM), flash memory, hard disk drive (HDD), or solid-state drive (SSD), etc. The storage medium can also include combinations of the above types of memory.
[0143] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application should be included within the protection scope of this application.
Claims
1. A system capable of surfacing and diving, characterized in that, For use on a submersible device (100), the system (10) capable of surfacing and diving includes: Water storage tank (101); A gas storage tank (102) is connected to a water storage tank (101) via a first channel (105), and a first control valve (107) is provided on the first channel (105). A drive water pump (103) is connected to the water storage tank (101); When the drive pump (103) operates to inject water into the water storage tank (101), the first control valve (107) is controlled to open so that the gas in the water storage tank (101) flows to the gas storage tank (102). When the water in the water storage tank (101) reaches the set water volume, the first control valve (107) is closed. When the drive pump (103) operates to draw water from the water storage tank (101), the first control valve (107) is controlled to open so that the gas in the gas storage tank (102) flows to the water storage tank (101).
2. The system capable of surfacing and diving as described in claim 1, characterized in that, The system (10) capable of buoyancy and submersion also includes an air valve (104) connected to the water tank (101) and / or the air tank (102). The air valve (104) is used to connect the outside world with the interior of the water tank (101) and / or the air tank (102) when the submersible device (100) is floating on the water surface.
3. The system capable of surfacing and diving as described in claim 2, characterized in that, The system (10) capable of surfacing and diving further includes a first water level detection device (109), which is disposed inside or outside the water storage tank (101). The first water level detection device (109) is electrically connected to the control device of the submersible equipment (100), and the control device responds to the water level signal detected by the first water level detection device (109) to control the air valve (104) to close; and / or, The system (10) capable of floating and diving also includes a second water level detection device (110). The second water level detection device (110) is disposed in the water storage tank (101) and located at the top of the water storage tank (101), or the second water level detection device (110) is disposed in the first channel (105). The second water level detection device (110) is electrically connected to the control device of the submersible equipment (100). The control device responds to the water level signal detected by the second water level detection device (110) to control the drive pump (103) to stop operating.
4. The system capable of surfacing and diving as described in any one of claims 1-3, characterized in that, The water storage tank (101) includes a first water storage tank (1011) and a second water storage tank (1012), and there is at least one first water storage tank (1011) and one second water storage tank (1012).
5. The system capable of surfacing and diving as described in claim 4, characterized in that, The floating and submerging system (10) further includes an air inlet (108). The air storage chamber (102) and / or the second water storage chamber (1012) are connected to the air inlet (108) through a pipe. An air valve (104) is provided on the pipe connected to the air inlet (108). The air inlet (108) is close to the second water storage chamber (1012). When the drive water pump (103) is started to inject water into the water storage chamber (101), the first water storage chamber (1011) is filled with water before the second water storage chamber (1012).
6. The system capable of surfacing and diving as described in claim 4, characterized in that, The number of driving water pumps (103) is one, the driving water pump (103) is connected to the first water storage compartment (1011), and the second water storage compartment (1012) is connected to the first water storage compartment (1011); or, the number of driving water pumps (103) is at least two, and the first water storage compartment (1011) and the second water storage compartment (1012) are respectively connected to the corresponding driving water pump (103); And / or, The number of gas storage chambers (102) is one, and the first water storage chamber (1011) and the second water storage chamber (1012) are respectively connected to the gas storage chamber (102) through the corresponding first channel (105); or, the number of gas storage chambers (102) is one, the first water storage chamber (1011) and the second water storage chamber (1012) are connected, and the gas storage chamber (102) is connected to the first water storage chamber (1011); or, the number of gas storage chambers (102) is at least two, and the first water storage chamber (1011) and the second water storage chamber (1012) are respectively connected to the corresponding gas storage chamber (102).
7. A diving device, characterized in that, The system (10) includes any one of claims 1-6 that is capable of surfacing and diving.
8. A control method for surfacing and submerging of a submersible device, characterized in that, The submersible device (100) includes a water storage tank (101), an air storage tank (102), and a drive water pump (103). The air storage tank (102) is connected to the water storage tank (101) through a first channel (105), and a first control valve (107) is provided on the first channel (105). The drive water pump (103) is connected to the water storage tank (101). The control method includes: Control the drive water pump (103) to operate to inject water into the water storage tank (101), and control the first control valve (107) to open so that the submersible device (100) can begin to descend; When the set amount of water is detected to be poured into the water storage tank (101), the driving water pump (103) is controlled to stop working and the first control valve (107) is controlled to close, so that the submersible device (100) is fully submerged. The drive pump (103) is controlled to operate to pump water from the water storage tank (101), while the first control valve (107) is controlled to open so that the submersible device (100) begins to float.
9. The control method as described in claim 8, characterized in that, The submersible device (100) further includes an air valve (104), which is connected to the water storage tank (101) and / or the air storage tank (102). The air valve (104) is used to connect the outside world with the interior of the water storage tank (101) and / or the air storage tank (102) when the submersible device (100) floats on the water surface. The control method further includes: Control the drive water pump (103) to operate to inject water into the water storage tank (101), and control the air valve (104) to open so that the submersible device (100) can begin to descend; When the submersible device (100) is detected to have descended to a preset position, the air valve (104) is controlled to close to prevent water from flowing to the air storage chamber (102) through the air valve (104).
10. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by the processor, it implements the steps of the control method as described in any one of claims 8-9.