A water pool cleaning apparatus automatically scattering a reagent and a control method thereof

Abstract

This invention discloses an automatic reagent-dispensing water tank cleaning device and its control method. The water tank cleaning device includes a main body, a sludge collection device, a suction device, and a reagent storage device. A flow channel connecting the main body to the outside is formed within the main body, and a suction port connecting to the flow channel is provided. The suction device is located within the flow channel, providing the negative pressure required for sludge collection, and using this negative pressure to draw the reagent from the reagent storage device to the outside of the main body, thus achieving reagent dispensing. In the technical solution provided by this invention, the water tank cleaning device can simultaneously dispense reagents during the cleaning process, resulting in good reagent dispensing uniformity and higher efficiency. Furthermore, this water tank cleaning device utilizes an existing suction device to achieve both sludge collection and reagent dispensing functions, making the equipment structure simpler and more compact, reducing production costs, and also facilitating upgrades to existing water tank cleaning equipment, reducing research and development and subsequent maintenance costs.

Description

Technical Field

[0001] This invention relates to the field of cleaning equipment technology, specifically to an automatic reagent-spreading water tank cleaning device and its control method. Background Technology

[0002] In the field of pool maintenance, ensuring that pool water quality meets standards is crucial to protecting swimmers' health. Currently, the application of pool water conditioning agents mainly relies on manual operation, with two common methods: one is to directly sprinkle the agent into the pool by hand, and the other is to sprinkle it around the pool and then use the pool circulation system to facilitate the diffusion of the agent in the water.

[0003] When reagents are manually applied directly into a swimming pool, the large pool area makes it difficult to ensure even coverage. For example, in large pools, the reagent concentration may be too high in some areas and insufficient in others, leading to significant differences in water quality control across different parts of the pool and affecting the overall water quality. Applying reagents alongside the pool and relying on a circulation system for diffusion also presents several problems. The water flow distribution in a pool's circulation system is uneven, with weaker flow in some areas, making it difficult for the reagent to diffuse quickly and sufficiently. This results in lower diffusion efficiency and often requires a longer time to achieve uniform water quality. Summary of the Invention

[0004] To address the aforementioned technical problems, the main objective of this invention is to provide a water tank cleaning device and its control method that can automatically dispense reagents, achieve high dispensing efficiency and good reagent diffusion uniformity, and save labor costs.

[0005] To achieve the above objectives, the present invention provides a water tank cleaning device, comprising:

[0006] The body has a flow channel that connects to the outside of the body, and a suction port that connects to the flow channel is provided.

[0007] A sludge collection device is installed inside the flow channel;

[0008] A suction device is provided in the flow channel. The suction device is used to drive the liquid into the flow channel through the suction port, and after flowing through the collection device, it flows to the outside of the machine body.

[0009] A reagent storage device is provided on the machine body. The reagent storage device is used to store reagents. The reagents stored in the reagent storage device flow to the outside of the machine body under the negative pressure provided by the suction device.

[0010] Optionally, the end of the flow channel forms a dispensing port that connects to the outside of the body, and the reagent in the reagent storage device flows to the outside of the body through the dispensing port under the negative pressure provided by the suction device.

[0011] Optionally, the reagent storage device includes a liquid storage section having a first chamber for storing liquid reagents, and the cleaning device further includes a delivery pipeline with its inlet end connected to the first chamber and its outlet end connected to the flow channel.

[0012] Optionally, the suction device includes at least one impeller disposed within the flow channel, with a suction zone formed around the at least one impeller, and the liquid outlet end of the delivery pipeline extending into the suction zone.

[0013] Optionally, the suction device further includes at least one guide tube, each of the guide tubes extending from the dispensing port into the liquid outlet chamber and correspondingly extending to the liquid outlet side of each of the impellers, and the liquid outlet end of the conveying pipeline extending into at least one of the guide tubes.

[0014] Optionally, a one-way valve is provided on the delivery pipeline, the one-way valve being unidirectionally open along the liquid outlet direction of the delivery pipeline; and / or,

[0015] A pressure valve is installed on the delivery pipeline, and the pressure valve is configured to open when the pressure difference in the liquid outlet direction is within a preset threshold range; and / or,

[0016] An electrically controlled valve is installed on the delivery pipeline.

[0017] Optionally, the reagent storage device includes a solid storage section having a second chamber for storing solid reagents. The wall of the second chamber is at least partially perforated and is at least partially disposed within the flow channel, so that liquid passing through the flow channel flows through the second chamber.

[0018] Optionally, the dirt collection device includes a dust box, a first filter section and a second filter section. The first filter section is located at the liquid inlet end of the dust box, and the second filter section is located at the liquid outlet end of the dust box. The solid storage section is installed on the dust box and is located on the liquid outlet side of the second filter section.

[0019] Optionally, the dust box has a mounting groove on its outer side, the mounting groove having an opening facing the liquid outlet direction, and a mounting port communicating with the opening on the lower side wall of the mounting groove. The dust box has a snap-fit ​​part, and the solid storage part is slidably inserted into the mounting groove from the mounting port and covers the opening. The solid storage part has a snap-fit ​​mating part, and the snap-fit ​​part engages with the snap-fit ​​mating part so that the solid storage part can be detachably snap-fitted onto the dust box.

[0020] Optionally, the snap-fit ​​portion includes a first snap-fit ​​notch on the upper sidewall of the mounting groove and a second snap-fit ​​notch on the lower sidewall of the mounting groove. The snap-fit ​​mating portion includes a first buckle protruding from the upper side of the solid storage portion and a second buckle protruding from the lower side of the solid storage portion. Multiple first snap-fit ​​notches and first buckles are provided and are inserted and limited one-to-one in a corresponding manner. The second buckle includes a connecting section connecting the solid storage portion and a snap-fit ​​protrusion provided at the free end of the connecting section. The connecting section is elastically deformable so that the snap-fit ​​protrusion can be detachably snapped into the second snap-fit ​​notch.

[0021] Optionally, a liquid outlet chamber is formed inside the machine body, the liquid outlet chamber constitutes the end of the flow channel, the dispensing port communicates with the liquid outlet chamber, and the suction device includes at least one impeller installed in the liquid outlet chamber.

[0022] Optionally, the reagent storage device includes a liquid storage section and a solid storage section. The liquid storage section has a first chamber for storing liquid reagents. The cleaning device also includes a delivery pipeline. The inlet end of the delivery pipeline is connected to the first chamber, and the outlet end is connected to the outlet chamber. The solid storage section has a second chamber for storing solid reagents. The wall of the second chamber is at least partially perforated and is at least partially located upstream of the outlet chamber in the flow channel.

[0023] Optionally, the sludge collection device includes a dust box disposed upstream of the liquid outlet chamber, and the solid storage section is detachably installed on the outside of the liquid outlet end of the dust box.

[0024] Optionally, the body includes a main body and a cover. The main body has a first mounting cavity, a second mounting cavity, and a liquid outlet cavity. The first mounting cavity, the second mounting cavity, and the liquid outlet cavity are spaced apart. The upper ends of the first mounting cavity and the second mounting cavity are open. The liquid storage part is detachably inserted downward into the first mounting cavity. The dust box is detachably inserted downward into the second mounting cavity. The cover is detachably closable and covers the upper side of the first mounting cavity and the second mounting cavity.

[0025] Optionally, the pool cleaning equipment also includes a walking device installed on the lower side of the machine body, and the suction device provides power to drive the walking device to move the pool cleaning equipment along a preset route.

[0026] To address the aforementioned technical problems, the present invention also provides a control method for a water tank cleaning device, the water tank cleaning device comprising a body, a reagent storage device, and a suction device, wherein a flow channel communicating with the outside of the body is formed within the body, and the control method comprises:

[0027] Control the operation of the suction device to create a negative pressure in the flow channel;

[0028] Upon receiving a reagent dispensing command, the system controls the connection between the flow channel and the reagent storage device to dispensing the reagent in the reagent storage device using the negative pressure within the flow channel.

[0029] Optionally, the water tank cleaning equipment further includes a control valve disposed between the reagent storage device and the flow channel. The step of controlling the connection between the flow channel and the reagent storage device upon receiving a reagent dispensing command, so as to dispensing the reagent in the reagent storage device using the negative pressure within the flow channel, includes:

[0030] Upon receiving a reagent dispensing command, the control valve is opened to dispensing the reagent in the reagent storage device using the negative pressure within the flow channel.

[0031] Optionally, before the step of controlling the opening of the control valve upon receiving the reagent dispensing command to dispense the reagent in the reagent storage device using the negative pressure in the flow channel, the following steps are included:

[0032] Obtain the water quality parameters of the pool;

[0033] When the water quality parameters do not meet the preset standards, a reagent dispensing instruction is generated.

[0034] Optionally, the step of controlling the opening of the control valve upon receiving a reagent dispensing command, so as to dispensing the reagent in the reagent storage device using the negative pressure in the flow channel, includes:

[0035] The reagent application strategy is selected based on the difference between the water quality parameters and the preset standards;

[0036] The control valve is controlled to open for a preset opening duration and / or a preset opening ratio according to the reagent dispensing strategy.

[0037] Optionally, the step of selecting a reagent application strategy based on the difference between the water quality parameters and a preset standard includes:

[0038] The power of the suction device and / or the travel speed of the pool cleaning equipment are controlled and adjusted according to the reagent dispensing strategy.

[0039] Optionally, after receiving the reagent dispensing command, the step of controlling the opening of the control valve to dispensing the reagent in the reagent storage device using the negative pressure in the flow channel includes:

[0040] The water quality parameters of the pool are continuously acquired at a preset frequency, and the reagent dispensing strategy is adaptively adjusted according to the changes in the water quality parameters.

[0041] When the water quality parameters in the pool meet the preset standards, the control valve is closed.

[0042] Optionally, the step of controlling the suction device to operate so as to create a negative pressure in the flow channel includes, prior to:

[0043] Obtain spatial data of the water tank;

[0044] Based on the spatial data, multiple movement paths are generated to cover the dispensing area and correspond one-to-one with multiple reagent dispensing schemes.

[0045] The step of controlling the opening of the control valve upon receiving a reagent dispensing command, so as to dispensing the reagent in the reagent storage device using the negative pressure in the flow channel, includes:

[0046] Upon receiving a reagent dispensing instruction, determine the corresponding reagent dispensing plan;

[0047] The control valve is opened according to the reagent dispensing scheme to dispense the reagent in the reagent storage device using the negative pressure in the flow channel, and the machine body is controlled to travel along a movement path corresponding to the reagent dispensing scheme.

[0048] Optionally, the water tank cleaning equipment has the following preset working modes: a cleaning mode that only collects dirt, a coordinated mode that combines dirt collection and spreading, and an independent spreading mode in the absence of dirt collection; the step of controlling the suction device to create negative pressure in the flow channel includes:

[0049] The system switches to either the collaborative mode or the independent dissemination mode based on input commands or a preset automatic control program.

[0050] To solve the above-mentioned technical problems, the present invention also provides a water tank cleaning device, comprising:

[0051] At least one processor; and,

[0052] A memory communicatively connected to the at least one processor; wherein,

[0053] The memory stores instructions that can be executed by the at least one processor to enable the at least one processor to perform the control method for the pool cleaning equipment as described above.

[0054] The technical solution provided by this invention has the following beneficial effects:

[0055] The water tank cleaning equipment provided by this invention is used for automatic cleaning of water tanks. It includes a main body, a sludge collection device, a suction device, and a reagent storage device. A flow channel connecting the main body to the outside is formed within the main body, and a suction port connecting to the flow channel is provided. The suction device is located within the flow channel, providing the negative pressure required for sludge collection, and using this negative pressure to draw the reagent from the reagent storage device to the outside of the main body, thus achieving reagent dispensing. In the technical solution provided by this invention, the water tank cleaning equipment can simultaneously dispense reagents during the cleaning process. Compared to manual dispensing, the reagent dispensing is more uniform and efficient. Furthermore, this water tank cleaning equipment utilizes an existing suction device to achieve both sludge collection and reagent dispensing functions. This not only reduces the number and complexity of the equipment components, making the equipment structure simpler and more compact, and lowering production costs, but also facilitates upgrades to existing water tank cleaning equipment. Only minor modifications to the existing suction device and the addition of simple reagent storage and delivery pipelines are needed to achieve functional upgrades, reducing research and development and subsequent maintenance costs. Attached Figure Description

[0056] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, 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 the present invention. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0057] Figure 1 A three-dimensional structural schematic diagram of an embodiment of the water tank cleaning device provided by the present invention;

[0058] Figure 2 for Figure 1 A three-dimensional structural diagram of the water tank cleaning equipment, where the cover is not shown;

[0059] Figure 3 for Figure 1 3D exploded view of the cleaning equipment for the greywater tank;

[0060] Figure 4 for Figure 1 Cross-sectional view of the cleaning equipment for the greywater tank;

[0061] Figure 5 for Figure 1Schematic diagram of reagent flow in the liquid storage section;

[0062] Figure 6 for Figure 4 Schematic diagram of the assembly structure of the dust box and solid storage section;

[0063] Figure 7 for Figure 6 Exploded view of the three-dimensional structure of the dust collection box and solid storage section;

[0064] Figure 8 for Figure 7 A three-dimensional structural diagram of the solid-state storage unit from another perspective.

[0065] Figure 9 A flowchart of the first embodiment of the control method for the water tank cleaning equipment provided by the present invention;

[0066] Figure 10 A flowchart of the second embodiment of the control method for the water tank cleaning equipment provided by the present invention;

[0067] Figure 11 A flowchart of the third embodiment of the control method for the water tank cleaning equipment provided by the present invention;

[0068] Figure 12 A flowchart of the fourth embodiment of the control method for the water tank cleaning equipment provided by the present invention;

[0069] Figure 13 This is a schematic diagram of an embodiment of the water tank cleaning device provided by the present invention.

[0070] Explanation of icon numbers:

[0071] 100-Water tank cleaning equipment; 1-Main body; 11-Flow channel; 111-Sludge suction port; 112-Spreading port; 12-Body body; 120-Liquid outlet chamber; 121-First mounting chamber; 122-Second mounting chamber; 13-Cover; 2-Sludge collection device; 21-Dust box; 211-Mounting groove; 2111-Opening; 2112-Mounting port; 212-First bayonet; 213-Second bayonet; 22-First filter section; 23-Second filtration section; 3-Suction device; 31-Impeller; 32-Guide tube; 4-Reagent storage device; 41-Liquid storage section; 42-Solid storage section; 421-Second chamber; 422-First snap-fit; 423-Second snap-fit; 4231-Connecting section; 4232-Snap-fit ​​protrusion; 5-Delivery pipeline; 51-One-way valve; 6-Traveling device; 7-Cleaning component; 81-Processor; 82-Memory.

[0072] The realization of the objective of this invention, its functional characteristics and excellent effects will be further explained below in conjunction with specific embodiments and accompanying drawings. Detailed Implementation

[0073] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0074] It should be noted that if the embodiments of the present invention involve directional indication, the directional indication is only used to explain the relative positional relationship and movement of the components in a certain specific posture. If the specific posture changes, the directional indication will also change accordingly.

[0075] Furthermore, if the embodiments of this invention involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the meaning of "and / or" throughout the text includes three parallel solutions; for example, "A and / or B" includes solution A, solution B, or a solution where both A and B are satisfied simultaneously. Furthermore, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this invention.

[0076] Please see Figures 1 to 8 This invention provides a pool cleaning device 100 for automatically cleaning pools. The pool cleaning device 100 includes a body 1, a dirt collection device 2, a suction device 3, and a reagent storage device 4. The body 1 can be at least part of the outer shell constituting the main body of the pool cleaning device 100, and it is used to install and support the various components of the pool cleaning device 100, such as the dirt collection device 2, the suction device 3, the reagent storage device 4, a walking component for moving the device, and a cleaning component 7 for cleaning the pool walls, etc.

[0077] The machine body 1 has a flow channel 11 connecting to the outside of the machine body 1, and a suction port 111 connecting to the flow channel 11. A sludge collection device 2 is installed in the flow channel 11 to filter and store the flowing sludge. A suction device 3 is installed in the flow channel 11 to drive liquid into the flow channel 11 through the suction port 111, and after flowing through the sludge collection device 2, it flows to the outside of the machine body 1. A reagent storage device 4 is installed on the machine body 1. The reagent storage device 4 is used to store solid or liquid reagents. The reagents refer to the agents required by the water tank cleaning equipment 100 for algae removal, clarification, disinfection, and other maintenance of the water body, including but not limited to clarifying agents, algaecides, coagulants, disinfectants, pH adjusters, etc. The reagents stored in the reagent storage device 4 flow to the outside of the machine body 1 under the negative pressure provided by the suction device 3.

[0078] In this embodiment, after the suction device 3 is activated, it generates a strong negative pressure. Under this negative pressure, the liquid in the pool, carrying dirt and impurities, flows from the suction port 111 into the flow channel 11. When the liquid passes through the dirt collection device 2, the dirt collection device 2 functions to intercept and collect the dirt and impurities. Then, the relatively clean liquid continues to flow along the flow channel 11 to the outside of the machine body 1. At the same time, the negative pressure generated by the suction device 3 also acts on the reagent storage device 4, so that the reagent stored therein is successfully drawn to the outside of the machine body 1, thereby completing the reagent dispensing work.

[0079] In this way, by integrating the tasks of cleaning and reagent application into a single pool cleaning device 100, and utilizing the same suction device 3 to provide negative pressure, both tasks can be performed simultaneously. This not only improves work efficiency but also reduces the time and labor costs previously required for separate cleaning and reagent application. Furthermore, by leveraging the pool cleaning device 100's ability to move autonomously within the pool, reagents can be continuously applied during the cleaning process, ensuring a more even distribution of the reagents and significantly improving water quality control. Moreover, using the same suction device 3 to perform both sludge collection and reagent application effectively reduces the number of components, resulting in a simpler and more compact structure, lower manufacturing costs, and reduced potential sources of equipment failure, thus improving overall reliability and stability.

[0080] Based on the above embodiments, it can be understood that the reagent can be directly discharged from the body 1 through the flow channel 11, or it can be discharged from the body 1 through other tubing structures under the negative pressure provided by the suction device 3. In this embodiment, please refer to... Figure 1 , Figure 2 and Figure 4The end of the flow channel 11 forms a dispensing port 112 that connects to the outside of the body 1. Under the negative pressure provided by the suction device 3, the reagent in the reagent storage device 4 flows to the outside of the body 1 through the dispensing port 112. This design facilitates upgrading existing pool cleaning equipment 100. Only minor modifications are needed to the existing suction device 3, and simple reagent storage and delivery pipelines 5 can be added to achieve functional upgrades, reducing the cost of research and development and subsequent maintenance.

[0081] Furthermore, the reagent storage device 4 includes a liquid storage section 41, which has a first chamber for storing liquid reagents. The cleaning device also includes a delivery pipe 5, with the inlet end of the delivery pipe 5 connected to the first chamber and the outlet end connected to the flow channel 11. The length, diameter, and other parameters of the delivery pipe 5 can be designed as needed to precisely control the delivery volume and speed of the liquid reagents. In this embodiment, when the suction device 3 is started, it generates a negative pressure. Under the action of the negative pressure, the liquid reagents in the first chamber are driven by the pressure difference to enter the delivery pipe 5 from the inlet end, then flow along the delivery pipe 5, and finally be discharged into the water pool from the dispensing port 112 along with the water flow in the flow channel 11. It can be understood that the liquid storage section can be set as a flexible structure to adjust the pressure difference in the first chamber during the discharge of liquid reagents, so that the liquid reagents can be discharged smoothly. The liquid storage section 41 can also be set as a rigid structure and includes a pressure regulating mechanism for adjusting the pressure in the first chamber, so that the pressure in the first chamber remains balanced, avoiding the situation where the pressure in the first chamber is too low after a period of operation, resulting in the liquid reagents being unable to be discharged. There are multiple ways to implement the pressure regulating structure. In an optional embodiment, a piston is movably installed in the first chamber. One side of the chamber on both sides of the piston is used to store liquid reagents and is connected to the flow channel 11 through the delivery pipeline 5. The other side can be directly connected to the outside of the machine body 1. In this way, as the liquid reagents are discharged, the piston moves accordingly, thereby ensuring that the liquid reagents can be discharged smoothly.

[0082] Please continue reading. Figure 4 and Figure 5 The suction device 3 is primarily a water pump structure, specifically including at least one impeller 31 disposed within the flow channel 11. A suction zone is formed around the impeller 31, and the outlet end of the delivery pipeline 5 extends into the suction zone. In practical applications, the number, shape, and size of the impellers 31 can be designed according to the power requirements of the suction device 3 and the specific requirements for reagent delivery. For example, in large pool cleaning scenarios requiring greater suction to quickly complete the collection of sludge and reagent dispensing, the number of impellers 31 can be increased. Multiple impellers 31 working together can improve the efficiency of negative pressure generation and complete the task more quickly.

[0083] The suction zone is related to the installation method and type of the impeller 31. It is located near the liquid inlet end of the impeller 31 and can generate a large negative pressure when the impeller 31 is working, thereby generating a strong suction force. Thus, under the action of suction, the liquid reagent in the liquid storage section 41 quickly enters the suction zone through the delivery pipe 5 and is then smoothly drawn into the flow channel 11. This design, on the one hand, allows the reagent to be drawn into the flow channel 11 quickly and efficiently, greatly improving the reagent dispensing speed. On the other hand, the precise connection between the delivery pipe 5 and the suction zone reduces energy loss during reagent delivery. The reagent can enter the flow channel 11 more smoothly, avoiding problems of poor delivery or uneven dispensing caused by energy loss, further improving the working efficiency and stability of the equipment.

[0084] Preferably, please continue reading. Figure 4 and Figure 5 In this embodiment, the impeller 31 is an axial flow impeller 31, and the suction device 3 also includes at least one guide tube 32. Each guide tube 32 extends from the dispensing port 112 into the liquid outlet chamber 120, and extends to the liquid outlet side of each impeller 31 in a corresponding manner. The liquid outlet end of the conveying pipeline 5 extends into at least one of the guide tubes 32. In this embodiment, the shape and material of the guide tube 32 can be designed according to the flow guidance requirements, and it plays the role of stably and efficiently conveying the liquid in the flow channel 11 to the outside of the machine body 1. Since the liquid outlet end of the conveying pipeline 5 is located in the guide tube 32, the reagent can flow more smoothly with the water flow. The guide tube 32 provides a stable and efficient flow path for the mixture of water and reagent, avoiding turbulence and blockage of the reagent in the flow channel 11.

[0085] In this embodiment, the design of the guide tube 32 optimizes the liquid flow path within the flow channel 11. First, it allows the water and reagent to mix more evenly, ensuring more uniform distribution of the reagent in the water tank and improving the water quality regulation effect. Second, the guide tube 32 also protects the liquid outlet of the delivery pipe 5. During rapid water flow, the liquid outlet of the delivery pipe 5 is easily damaged by the impact of the water flow and the collision of impurities. The guide tube 32 can effectively fix the delivery pipe 5 and reduce such damage. At the same time, the guide tube 32 also provides a smooth and efficient discharge path for the liquid reagent, avoiding turbulence and blockage of the reagent within the flow channel 11, and especially preventing the reagent from corroding the power components such as the motor that drives the impeller 31 in the suction device 3.

[0086] Please continue reading. Figure 5 A one-way valve 51 is installed on the delivery pipeline 5, which is unidirectionally open in the liquid outlet direction of the delivery pipeline 5. The one-way valve 51 ensures that the reagent flows in the delivery pipeline 5 in the predetermined direction, effectively preventing backflow of the reagent during delivery, dilution of the reagent in the first chamber, and adverse effects on the uniformity and accuracy of reagent dispensing.

[0087] Optionally, a pressure valve is installed on the delivery pipeline 5. This pressure valve is configured to open when the pressure difference in the liquid outlet direction is within a preset threshold range. This prevents backflow of reagents during delivery and allows for precise control of the reagent delivery volume and timing through pressure difference settings. The electrically controlled valve controls the opening and closing of the valve and the degree of opening via electrical signals. Specifically, it can be an electromagnetic proportional valve, which offers high precision and flexibility, enabling precise automated operation of reagent delivery. For example, the pool cleaning equipment 100 may include a control device that precisely controls the opening and closing of the electrically controlled valve and / or the degree of opening according to a preset program, thereby precisely controlling the timing and quantity of reagent dispensing. Preferably, a sensor can also be installed on the delivery pipeline 5 to monitor the reagent flow rate and pressure in real time. Based on the signals from the sensor, the control device can precisely control the opening degree of the electrically controlled valve, achieving more precise reagent delivery control.

[0088] Based on the above embodiments, preferably, please continue to refer to the following: Figure 3 , Figure 4 and Figures 6 to 8 The reagent storage device 4 includes a solid storage section 42, which has a second chamber 421 for storing solid reagents. The walls of the second chamber 421 are at least partially perforated and are at least partially disposed within the flow channel 11, allowing liquid flowing through the flow channel 11 to pass through the second chamber 421. In specific applications, the shape of the solid storage section 42 can be designed in various ways according to the shape and properties of the solid reagents. For example, for irregularly shaped solid reagents, a box-shaped solid storage section 42 can be designed for easy storage and fixation of the reagents. For granular solid reagents, a basket-shaped solid storage section 42 can be used, which can ensure the flow of liquid and effectively store the reagents. The area and shape of the perforated portion can also be adjusted according to the dissolution rate and dispersing requirements of the solid reagents. It can be understood that a larger perforated area can increase the contact area between the liquid and the solid reagent, accelerating the dissolution rate of the solid reagents. Special shaped perforations, such as circles or squares, can also affect the uniformity of reagent dissolution and the permeability of water flow. These can be selected according to the actual situation. Furthermore, the position of the solid storage section 42 within the flow channel 11 can also be optimized. Placing it in an area with a moderate water flow rate ensures that the reagent is fully dissolved while preventing incomplete dissolution from being washed away due to excessively fast water flow.

[0089] In this embodiment, after the suction device 3 is activated, water flows from the suction port 111 to the outside of the machine body 1 through the flow channel 11. When the water flows through the second chamber 421, it comes into full contact with the solid reagent, and under the flushing action of the water flow, the solid reagent gradually dissolves in the water. The dissolved reagent solution flows with the water flow and is finally discharged from the dispensing port 112 into the water tank. This design realizes the automatic dissolution and dispensing of solid reagents without the need for manual pre-dissolution of solid reagents, greatly simplifying the operation process. Moreover, by precisely controlling the structure of the solid storage section 42, such as the perforated area, shape, and position within the flow channel 11, the dissolution rate and dispensing amount of solid reagents can be effectively adjusted.

[0090] In alternative embodiments, the second chamber 421 may not be located in the flow channel 11, but rather in a location inside or outside the body 1 where water can flow through it when the body 1 moves. This approach can also achieve reagent dispensing, but the dispensing efficiency is correspondingly lower due to the slower water flow rate.

[0091] For further information, please refer to [link / reference]. Figures 6 to 8 The sludge collection device 2 includes a dust box 21, a first filter section 22, and a second filter section 23. The first filter section 22 is located at the liquid inlet of the dust box 21, and the second filter section 23 is located at the liquid outlet of the dust box 21. A solid storage section 42 is installed on the dust box 21 and located on the liquid outlet side of the second filter section 23. The first filter section 22, located at the liquid inlet of the dust box 21, can intercept larger particles of impurities, preventing these large particles from entering the dust box 21 and affecting subsequent filtration and equipment operation. The second filter section 23, located at the liquid outlet of the dust box 21, can further filter fine particles, retaining the sludge in the dust box 21 and ensuring cleaner water flowing out of the dust box 21. The solid storage section 42, installed on the dust box 21 and located on the liquid outlet side of the second filter section 23, integrates the solid storage section 42 with the sludge collection device 2, optimizing the overall structure of the equipment and allowing the addition of solid reagents while maintaining and cleaning the dust box 21, improving operational convenience and maintenance efficiency.

[0092] Preferably, the solid storage section 42 is detachably installed in the dust box 21. This allows for flexible selection of the dust box 21 with appropriate structural parameters based on different water quality conditions and reagent types, better meeting varying water quality adjustment needs. For example, in heavily polluted water tanks, the perforated area of ​​the upper wall of the second chamber 421 can be appropriately increased to accelerate reagent dissolution and increase the dispensing rate. Conversely, in water tanks with relatively good water quality, the perforated area can be reduced to decrease reagent dissolution and dispensing rate, achieving precise water quality adjustment.

[0093] The solid storage unit 42 and the dust box 21 can be installed in various ways, such as snap-fit ​​or magnetic installation. In this embodiment, please refer to... Figure 7 and Figure 8 The dust box 21 has an installation groove 211 on its outer side. The installation groove 211 has an opening 2111 facing the liquid outlet direction. The lower side wall of the installation groove 211 has an installation port 2112 that communicates with the opening 2111. The dust box 21 has a snap-fit ​​part. The solid storage part 42 is slidably inserted into the installation groove 211 through the installation port 2112 and covers the opening 2111. The solid storage part 42 has a snap-fit ​​mating part. The snap-fit ​​part and the snap-fit ​​mating part cooperate to make the solid storage part 42 detachably snap-fitted onto the dust box 21.

[0094] Thus, when installing the solid reagent storage unit 42, the user only needs to align the solid reagent storage unit 42 with the mounting port 2112 and smoothly slide it into the mounting groove 211, allowing the snap-fit ​​parts to engage with each other, thereby achieving a fixed installation of the solid reagent storage unit 42. When it is necessary to replace the solid reagent, by applying a certain external force to separate the snap-fit ​​parts, the solid reagent storage unit 42 can be easily removed from the dust box 21. This design greatly facilitates the replacement of the solid reagent storage unit 42, improves the convenience of equipment maintenance, reduces equipment downtime caused by replacing solid reagents, improves work efficiency, and reduces maintenance costs.

[0095] Specifically, the snap-fit ​​portion includes a first snap-fit ​​opening 212 provided on the upper side wall of the mounting groove 211 and a second snap-fit ​​opening 213 provided on the lower side wall of the mounting groove 211. The snap-fit ​​mating portion includes a first latch 422 protruding from the upper side of the solid storage portion 42 and a second latch 423 protruding from the lower side of the solid storage portion 42. Multiple first snap-fit ​​openings 212 and first latches 422 are provided, and they are inserted and limited one-to-one in a corresponding manner. The second latch 423 includes a connecting section 4231 connecting the solid storage portion 42 and a snap-fit ​​protrusion 4232 provided at the free end of the connecting section 4231. The connecting section 4231 is elastically deformable so that the snap-fit ​​protrusion 4232 can be detachably snapped into the second snap-fit ​​opening 213. The number and spacing of the first snap-fit ​​openings 212 and the first latches 422 can be adjusted according to the size and weight of the solid storage portion 42. Preferably, multiple first snap-fit ​​openings 212 and first latches 422 are provided at intervals. The shape of the snap-fit ​​protrusion 4232 is preferably designed as a trapezoid with a guide slope. The trapezoidal snap-fit ​​protrusion 4232 has good guidance when inserted and removed, and can effectively prevent the solid storage part 42 from accidentally falling off.

[0096] Based on the above embodiments, the impeller 31 can be positioned anywhere within the flow channel 11, as long as it can provide negative pressure. Preferably, please refer to the following... Figure 4 and Figure 5The body 1 has a liquid outlet chamber 120, which forms the end of the flow channel 11. The dispensing port 112 is connected to the liquid outlet chamber 120. The suction device 3 includes at least one impeller 31 installed in the liquid outlet chamber 120. Specifically, the reagent storage device 4 includes a liquid storage section 41 and a solid storage section 42. The liquid storage section 41 has a first chamber for storing liquid reagents. The cleaning device also includes a delivery pipe 5. The inlet end of the delivery pipe 5 is connected to the first chamber, and the outlet end is connected to the liquid outlet chamber 120. The solid storage section 42 has a second chamber 421 for storing solid reagents. The wall of the second chamber 421 is at least partially perforated and is at least partially located upstream of the liquid outlet chamber 120 in the flow channel 11.

[0097] When the water tank cleaning equipment 100 is working, the impeller 31 of the suction device 3 rotates at high speed in the outlet chamber 120, generating negative pressure and driving the liquid and reagents in the flow channel 11 into the outlet chamber 120. Due to the rotation of the impeller 31, a negative pressure area is formed in the outlet chamber 120. Under the action of pressure difference, the liquid reagents in the first chamber are sucked into the outlet chamber 120 along the delivery pipe 5, while the solid reagents in the second chamber 421 enter the outlet chamber 120 under the flushing of the water flow in the flow channel 11. Then, they are discharged into the water tank through the dispensing port 112. This design optimizes the discharge path of liquid and solid reagents, improving the efficiency and stability of discharge.

[0098] Based on the previous embodiment, the dirt collection device 2 includes a dust box 21 located upstream of the liquid outlet chamber 120, and a solid storage section is detachably installed on the outside of the liquid outlet end of the dust box 21. Thus, when the pool cleaning equipment 100 is operating, water containing dirt and impurities first enters the dust box 21, where it collects and filters the dirt. The filtered water then flows through the solid storage section located outside the liquid outlet end of the dust box 21, where solid reagents gradually dissolve in the water. This dissolved water then flows into the liquid outlet chamber 120 with the water flow and is finally discharged from the dispensing port 112. This reduces the risk of impurities in the water clogging the second chamber 421 and avoids large particles from adversely affecting the dispensing effect of the solid reagents. Furthermore, the detachable connection between the solid storage section and the dust box 21 allows users to easily replace different types or dosages of solid reagents according to actual needs, improving the flexibility and applicability of the equipment.

[0099] Preferably, please refer to Figure 1 and Figure 2The body 1 includes a main body 12 and a cover 13. The main body 12 has a first mounting cavity 121, a second mounting cavity 122, and a liquid outlet cavity 120 formed within it. The first mounting cavity 121, the second mounting cavity 122, and the liquid outlet cavity 120 are spaced apart. The upper ends of the first mounting cavity 121 and the second mounting cavity 122 are open. A liquid storage unit 41 is detachably inserted downwards into the first mounting cavity 121, and a dust box 21 is detachably inserted downwards into the second mounting cavity 122. The cover 13 is closable and covers the upper sides of the first mounting cavity 121 and the second mounting cavity 122. The size and shape of the first mounting cavity 121 and the second mounting cavity 122 can be designed according to the specific specifications of the liquid storage unit 41 and the dust box 21. Preferably, a sealing structure, such as a rubber sealing ring, can be provided at the connection between the cover 13 and the main body 12 to prevent water and impurities from entering the mounting cavities and protect the internal components. When liquid reagents need to be added, the liquid storage unit 41 can be easily removed by simply opening the cover 13. Preferably, a pluggable quick-connect coupling is used between the inlet end of the delivery pipe 5 and the liquid storage unit 41 to improve the ease of installation and removal. When the solid storage unit 42 needs to be replaced, the dust box 21 can be easily removed by opening the cover 13. After cleaning the dust box 21, the required solid storage unit 42 can be installed.

[0100] Please continue reading. Figure 1 The pool cleaning equipment 100 also includes a walking device 6 installed on the lower side of the body 1. Specifically, the walking device 6 can be a tracked structure. In an optional embodiment, the tracked structure is driven by a separate walking drive mechanism to move the body 1. In this embodiment, the suction device 3 also provides power to drive the walking device 6 to move the pool cleaning equipment 100 along a preset route. Thus, while generating negative pressure for collecting dirt and spreading reagents, the suction device 3 also transmits some power to the walking device 6, reducing the need for additional power sources, further simplifying the equipment structure, reducing costs, and improving the energy efficiency of the equipment. This makes the equipment more energy-saving and environmentally friendly, achieving optimized resource utilization while meeting cleaning and spreading needs.

[0101] Based on the structure of the above-mentioned pool cleaning equipment, the present invention also provides a control method for the pool cleaning equipment.

[0102] The implementation details of the first embodiment of the control method for the water tank cleaning equipment provided by the present invention will be described below. The following implementation details are provided for ease of understanding only and are not necessary for implementing this solution.

[0103] The specific process of this embodiment is as follows: Figure 9 As shown, it specifically includes:

[0104] Step S1: Control the suction device to operate so that a negative pressure is formed in the flow channel.

[0105] In a practical implementation, the suction device can be a water pump used for collecting waste in a water tank. The flow channel also serves as a waste collection conduit. When the water tank cleaning equipment performs cleaning operations, the negative pressure provided by the suction device causes dirt to flow into the channel with the water and be intercepted by the waste collection device within the channel. Specifically, the suction device can include an impeller. The centrifugal force generated by the impeller's rotation lowers the air pressure inside the flow channel than the external atmospheric pressure, creating a negative pressure environment. The negative pressure value can be controlled by adjusting the impeller's rotation speed, typically achieved by adjusting the power of the motor driving the impeller.

[0106] Step S2: Upon receiving a reagent dispensing command, control the connection between the flow channel and the reagent storage device to dispensing the reagent in the reagent storage device using the negative pressure within the flow channel.

[0107] In this step, the reagent dispensing command can be triggered by the user operating the device panel or a remote signal, or it can be automatically triggered by a preset program. Specifically, components such as control valves or opening / closing devices can be installed between the reagent storage device and the flow channel to control the flow path. In practice, when a reagent dispensing command is received, the control module sends an electrical signal to open the component. At this time, the reagent enters the flow channel through the delivery pipeline under negative pressure and is discharged from the dispensing port with the water flow.

[0108] Optionally, the water tank cleaning equipment further includes a control valve disposed between the reagent storage device and the flow channel, and step S2 specifically comprises:

[0109] When step S2' receives the reagent dispensing command, it controls the opening of the control valve to dispensing the reagent in the reagent storage device using the negative pressure in the flow channel.

[0110] It is understood that the specific type of control valve is not limited, as long as it can control the flow path opening and closing. Specifically, the control valve can include, but is not limited to, an electromagnetic proportional valve. Preferably, the control valve is also connected in series with a pressure valve, a check valve, etc., to prevent overload and backflow. In this way, the amount of reagent dispensed can be proportionally adjusted by controlling the opening of the electromagnetic proportional valve. For example, depending on the type and strategy of the reagent being dispensed, the flow rate can be controlled within different ranges, thereby achieving precise reagent dispensing.

[0111] In this embodiment, the pool cleaning equipment 1 utilizes a single suction device to provide negative pressure, allowing for selective reagent application or simultaneous cleaning and reagent application. This not only improves work efficiency but also reduces the time and labor costs previously required for separate cleaning and reagent application. The pool cleaning equipment can also continuously apply reagents during the mobile cleaning process, ensuring more even distribution of the reagents in the pool and significantly improving water quality control. Furthermore, using a single suction device to perform both sludge collection and reagent application effectively reduces the number of equipment components, resulting in a simpler and more compact structure, lower manufacturing costs, and reduced potential risks of equipment failure, thus improving overall reliability and stability.

[0112] Based on the first embodiment described above, a second embodiment of the control method for a water tank cleaning device is proposed. The specific process of this embodiment is as follows: Figure 10 As shown.

[0113] In this embodiment, the steps preceding step S2' include:

[0114] S01 acquires the water quality parameters of the pool;

[0115] In practice, the water quality parameters of the pool can be obtained using a water quality sensor array mounted on the device. This sensor array includes, but is not limited to, pH sensors, residual chlorine sensors, and turbidity sensors. The detected data can be transmitted to the control module via an analog-to-digital converter. Specifically, the water quality parameters can be obtained according to user control commands, or the water quality can be automatically detected at a preset frequency. For example, a detection can be performed every 10 seconds by default, while during periods when the air temperature is higher than a preset temperature, the detection frequency can be increased to every 5 seconds.

[0116] S02 When the water quality parameters do not meet the preset standards, a reagent dispensing instruction is generated.

[0117] In this step, the control module compares real-time data with preset standards. These preset standards can be pre-set by the manufacturer before shipment, or they can be input and stored by the user. Alternatively, the control module can obtain current relevant standards and specifications through network connectivity. In an optional embodiment, the preset standards can be a series of threshold ranges corresponding to different water quality parameters. When the threshold range is exceeded, a dispensing instruction is generated.

[0118] In this embodiment, a dispensing instruction is automatically generated by comparing the water quality standard of the pool with the preset standard. This allows the control valve to be automatically opened according to actual needs, and the reagent dispensing work can begin. The dispensing work is more automated, the water quality adjustment is more timely, and the lag in manual inspection is avoided, thus improving the timeliness and accuracy of water quality adjustment.

[0119] Based on the second embodiment described above, a third embodiment of the control method for the water tank cleaning equipment is proposed. Please refer to the following section. Figure 11 In this embodiment, step S2' includes:

[0120] Step S21: Select a reagent application strategy based on the difference between the water quality parameters and the preset standard.

[0121] In this step, multiple reagent dispensing strategies are pre-stored in the control module's database. For example, when the residual chlorine concentration is below 0.3 mg / L, a residual chlorine dispensing strategy is selected; when the turbidity is >5 NTU, a clarifying agent dispensing strategy is selected. Strategy selection should comprehensively consider the differences in multiple parameters (such as pH, residual chlorine concentration, and turbidity) to determine the optimal solution. It is understood that the reagent dispensing strategy should at least include the reagent dosage, and preferably also include the reagent dispensing speed, the travel speed of the water tank cleaning equipment, and the travel path.

[0122] Step S22: Control the control valve to open for a preset opening duration and / or a preset opening ratio according to the reagent dispensing strategy.

[0123] In this step, the reagent dosage is controlled by adjusting the opening duration and opening ratio of the control valve. Preferably, a PID control algorithm can also be used to dynamically adjust the valve opening, gradually bringing the corresponding water quality parameters closer to the target value, thereby reducing reagent dosage errors.

[0124] It is understood that there are many other ways to adjust the amount of pesticide applied, such as controlling the power of the suction device and the travel speed of the pool cleaning equipment. Therefore, preferably, step S21 is followed by:

[0125] The steps involve controlling and adjusting the power of the suction device and / or the travel speed of the pool cleaning equipment according to the reagent dispensing strategy.

[0126] In practice, when adding high-concentration reagents, the power of the suction device can be reduced to decrease the dilution of the reagents by the water flow. In severely polluted areas, the equipment speed can be slowed down to extend the reagent delivery time in a given area.

[0127] Thus, in this embodiment, the reagent is precisely applied by adjusting the opening duration and opening ratio of the control valve, the suction power of the suction device, and the travel speed of the water tank cleaning equipment, thereby improving the application accuracy and bringing the water quality of the tank to its optimal state.

[0128] It is understandable that water quality parameters change continuously as the reagent is applied. Therefore, preferably, the water tank cleaning equipment can continuously obtain the water quality parameters of the tank at a preset frequency during the reagent application process, and dynamically adjust the reagent application strategy according to the changes in the water quality parameters.

[0129] Further, step S2' is followed by:

[0130] Step S31: Continuously acquire water quality parameters of the pool at a preset frequency, and adaptively adjust the reagent dispensing strategy according to changes in water quality parameters.

[0131] In this step, adaptively adjusting the reagent dispensing strategy may specifically include adjusting the opening ratio of the control valve, the suction power of the suction device, and the travel speed of the pool cleaning equipment. This adjustment method also takes into account the cleaning needs of the pool.

[0132] Step S32: When the water quality parameters of the pool meet the preset standards, the control valve is closed.

[0133] In this embodiment, by monitoring the water quality parameters of the pool, the water quality can be controlled in real time, avoiding excessive reagent addition and ensuring that the water quality remains stable within a safe range.

[0134] This embodiment utilizes the spatial modeling function of the water tank cleaning equipment. Based on spatial data, it generates multiple movement paths through path planning, each corresponding to a specific reagent dispensing scheme, such as spiral, zoned coverage, and edge-to-edge paths, to cover the dispensing area. When a reagent dispensing command is received, the corresponding dispensing scheme is determined, and the control valve is opened. The equipment then moves according to the corresponding path and speed, dispensing the reagent to the target area under negative pressure. Thus, through precise spatial data modeling and path optimization, the regional accuracy and comprehensive coverage of reagent dispensing are significantly improved. It allows for targeted reagent delivery to contaminated areas, reducing ineffective movement and reagent waste, enhancing reagent diffusion, and is compatible with different water tank scenarios. The operation is flexible and convenient, effectively reducing energy consumption and maintenance costs.

[0135] Based on the first embodiment described above, a fourth embodiment of the control method for a water tank cleaning device is proposed. The specific process of this embodiment is as follows: Figure 12 As shown.

[0136] The steps preceding S1 include:

[0137] Step S011: Obtain the spatial data of the water tank.

[0138] In practice, SLAM (Simultaneous Localization and Mapping) technology can be implemented using LiDAR, depth cameras, or ultrasonic sensors to collect data such as the pool's outline, depth, and obstacles (e.g., escalators, drains) to build a digital map of the pool. Alternatively, a simple model can be created by manually inputting the pool's length, width, and depth.

[0139] Step S012: Based on the spatial data, generate multiple movement paths that cover the dispensing area and correspond one-to-one with multiple reagent dispensing schemes.

[0140] In this step, there are multiple reagent dispensing schemes and corresponding movement paths depending on the type of reagent. For example, for reagents that need to be evenly distributed throughout the pond, the pre-designed path can be a spiral path; for reagents that need to be applied to specific areas to treat local water quality parameters that exceed standards, the pre-designed path can be a grid-like zonal coverage path; and for algae control reagents, the pre-designed path can be an edge-following path, etc.

[0141] The steps in S2' include:

[0142] Step S021: Upon receiving a reagent dispensing instruction, determine the corresponding reagent dispensing plan.

[0143] In practice, a preset reagent dispensing scheme can be selected based on the obtained water quality parameters of the pool.

[0144] Step S022: According to the reagent dispensing plan, the control valve is opened to dispense the reagent in the reagent storage device using the negative pressure in the flow channel, and the machine body is controlled to travel along a movement path corresponding to the reagent dispensing plan.

[0145] In this step, different reagent dispensing schemes are implemented, following preset movement paths and speeds to more precisely control the reagent placement location and dosage. For example, if excessive turbidity is detected in a certain area of ​​the pool, a "zoned coverage path" is selected, controlling the cleaning equipment to move back and forth in that area at a preset speed while simultaneously opening the control valve to add clarifying agent, achieving precise treatment of the contaminated area.

[0146] In this embodiment,

[0147] Based on the above embodiments, a fifth embodiment of the control method for a water tank cleaning device is proposed. In this embodiment, the water tank cleaning device has the following preset working modes: a cleaning mode that only collects dirt, a coordinated mode that combines dirt collection and dispensing (which may include two modes: cleaning priority and reagent dispensing priority), and an independent dispensing mode in the non-dirt collection state.

[0148] The steps preceding S1 include:

[0149] The steps involve switching to the collaborative mode or the independent dissemination mode based on input instructions or a preset automatic control program.

[0150] In this embodiment, the water tank cleaning equipment can be adjusted to different travel speeds and the suction device can be adjusted to different power levels to adapt to the needs of different working modes. For example, during daily cleaning, the "cleaning mode" is used with an impeller speed of 3000 rpm and a track speed of 1.2 m / min; during water quality adjustment, it switches to the "cooperative mode," where the impeller speed is dynamically adjusted according to the dispensing requirements, supporting dispensing while moving; during nighttime periods when no one is around, it can automatically switch to the "independent dispensing mode," where the suction device operates at a low speed (impeller speed of 1500 rpm), focusing on dispensing slow-release reagents (such as chlorine tablets), and the equipment travel speed is reduced to 0.3 m / min.

[0151] The control method for the water tank cleaning equipment provided in this embodiment achieves automation, precision, and intelligence in water tank cleaning and reagent dispensing by using the negative pressure linkage cleaning and dispensing function of the suction device, combined with water quality sensing, spatial modeling, and multi-mode control logic. It forms a deep synergy with the equipment hardware structure, improving operational efficiency while reducing system complexity and maintenance costs.

[0152] The present invention also provides a water tank cleaning device, such as... Figure 13 As shown, the pool cleaning device includes at least one processor 81; and a memory 82 communicatively connected to the at least one processor 81; wherein the memory 82 stores instructions executable by the at least one processor 81, the instructions being executed by the at least one processor 81 to enable the at least one processor 81 to perform the control method of the pool cleaning device described above.

[0153] The memory 82 and processor 81 are connected via a bus, which can include any number of interconnecting buses and bridges, connecting various circuits of one or more processors 81 and memory 82. The bus can also connect various other circuits, such as peripheral devices, voltage regulators, and power management circuits, which are well known in the art and therefore will not be described further herein. A bus interface provides an interface between the bus and the transceiver. The transceiver can be a single element or multiple elements, such as multiple receivers and transmitters, providing a unit for communicating with various other devices over a transmission medium. Data processed by processor 81 is transmitted over a wireless medium via an antenna, which further receives data and transmits it to processor 81.

[0154] Processor 81 is responsible for managing the bus and general processing, and can also provide various functions, including timing, peripheral interfaces, voltage regulation, power management, and other control functions. Memory 82 can be used to store data used by processor 81 during operation.

[0155] To achieve the above objectives, the present invention provides a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the above-described control method for a coffee machine.

[0156] That is, those skilled in the art will understand that all or part of the steps in the methods of the above embodiments can be implemented by a program instructing related hardware. This program is stored in a storage medium and includes several instructions to cause a device (which may be a microcontroller, chip, etc.) or processor to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as a USB flash drive, a portable hard drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

[0157] The above description is merely a preferred embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structure made using the contents of the present invention specification and drawings, or directly or indirectly applied to other related technical fields, are similarly included within the patent protection scope of the present invention.

Claims

1. An automatic reagent-spreading water tank cleaning device, characterized in that, include: The body has a flow channel that connects to the outside of the body, and a suction port that connects to the flow channel is provided. A sludge collection device is installed inside the flow channel; A suction device is provided in the flow channel. The suction device is used to drive the liquid into the flow channel through the suction port, and after flowing through the collection device, it flows to the outside of the machine body. A reagent storage device is provided on the machine body. The reagent storage device is used to store reagents. The reagents stored in the reagent storage device flow to the outside of the machine body under the negative pressure provided by the suction device.

2. The water tank cleaning equipment as described in claim 1, characterized in that, The end of the flow channel forms a dispensing port that connects to the outside of the body. The reagent in the reagent storage device flows to the outside of the body through the dispensing port under the negative pressure provided by the suction device.

3. The water tank cleaning equipment as described in claim 2, characterized in that, The reagent storage device includes a liquid storage section, which has a first chamber for storing liquid reagents. The cleaning device also includes a delivery pipeline, the inlet of which is connected to the first chamber and the outlet of which is connected to the flow channel.

4. The water tank cleaning equipment as described in claim 3, characterized in that, The suction device includes at least one impeller disposed within the flow channel, a suction zone is formed around the at least one impeller, and the liquid outlet end of the delivery pipeline extends into the suction zone.

5. The water tank cleaning equipment as described in claim 4, characterized in that, The suction device further includes at least one guide tube, each of the guide tubes extending from the dispensing port into the liquid outlet chamber and correspondingly extending to the liquid outlet side of each of the impellers, and the liquid outlet end of the conveying pipeline extending into at least one of the guide tubes.

6. The water tank cleaning equipment as described in claim 3, characterized in that, A one-way valve is installed on the delivery pipeline, and the one-way valve is unidirectionally open in the liquid outlet direction of the delivery pipeline; and / or, A pressure valve is installed on the delivery pipeline, and the pressure valve is configured to open when the pressure difference in the liquid outlet direction is within a preset threshold range; and / or, An electrically controlled valve is installed on the delivery pipeline.

7. The water tank cleaning equipment as described in any one of claims 2 to 6, characterized in that, The reagent storage device includes a solid storage section having a second chamber for storing solid reagents. The wall of the second chamber is at least partially perforated and is at least partially disposed within the flow channel, so that liquid passing through the flow channel flows through the second chamber.

8. The water tank cleaning equipment as described in claim 7, characterized in that, The dirt collection device includes a dust box, a first filter section and a second filter section. The first filter section is located at the liquid inlet end of the dust box, and the second filter section is located at the liquid outlet end of the dust box. The solid storage section is installed on the dust box and is located on the liquid outlet side of the second filter section.

9. The water tank cleaning equipment as described in claim 8, characterized in that, The dust box has a mounting groove on its outer side, the mounting groove having an opening facing the liquid outlet direction, and a mounting port communicating with the opening on the lower side wall of the mounting groove. The dust box has a snap-fit ​​part, and the solid storage part is slidably inserted into the mounting groove from the mounting port and covers the opening. The solid storage part has a snap-fit ​​mating part, and the snap-fit ​​part engages with the snap-fit ​​mating part so that the solid storage part can be detachably snap-fitted onto the dust box.

10. The water tank cleaning equipment as described in claim 9, characterized in that, The snap-fit ​​portion includes a first snap-fit ​​notch on the upper side wall of the mounting groove and a second snap-fit ​​notch on the lower side wall of the mounting groove. The snap-fit ​​mating portion includes a first buckle protruding from the upper side of the solid storage portion and a second buckle protruding from the lower side of the solid storage portion. Multiple first snap-fit ​​notches and first buckles are provided and are inserted and limited one-to-one in a corresponding manner. The second buckle includes a connecting section connecting the solid storage portion and a snap-fit ​​protrusion provided at the free end of the connecting section. The connecting section is elastically deformable so that the snap-fit ​​protrusion can be detachably snapped into the second snap-fit ​​notch.

11. The water tank cleaning equipment as described in claim 2, characterized in that, The machine body has a liquid outlet chamber, which forms the end of the flow channel. The dispensing port is connected to the liquid outlet chamber. The suction device includes at least one impeller installed in the liquid outlet chamber.

12. The water tank cleaning equipment as described in claim 11, characterized in that, The reagent storage device includes a liquid storage section and a solid storage section. The liquid storage section has a first chamber for storing liquid reagents. The cleaning device also includes a delivery pipeline. The inlet end of the delivery pipeline is connected to the first chamber, and the outlet end is connected to the outlet chamber. The solid storage section has a second chamber for storing solid reagents. The wall of the second chamber is at least partially perforated and is at least partially located upstream of the outlet chamber in the flow channel.

13. The water tank cleaning equipment as described in claim 12, characterized in that, The sludge collection device includes a dust box located upstream of the liquid outlet chamber, and the solid storage section is detachably installed on the outside of the liquid outlet end of the dust box.

14. The water tank cleaning equipment as described in claim 13, characterized in that, The device includes a main body and a cover. The main body has a first mounting cavity, a second mounting cavity, and a liquid outlet cavity. The first mounting cavity, the second mounting cavity, and the liquid outlet cavity are spaced apart. The upper ends of the first mounting cavity and the second mounting cavity are open. The liquid storage part is detachably inserted downward into the first mounting cavity. The dust box is detachably inserted downward into the second mounting cavity. The cover is detachably closable and covers the upper side of the first mounting cavity and the second mounting cavity.

15. The pool cleaning equipment as described in any one of claims 11 to 14, characterized in that, The pool cleaning equipment also includes a walking device installed on the lower side of the machine body. The suction device also provides power to drive the walking device to move the pool cleaning equipment along a preset route.

16. A control method for a water tank cleaning device, the water tank cleaning device comprising a body, a reagent storage device, and a suction device, wherein a flow channel communicating with the outside of the body is formed within the body, characterized in that... The control method includes: Control the operation of the suction device to create a negative pressure in the flow channel; Upon receiving a reagent dispensing command, the system controls the connection between the flow channel and the reagent storage device to dispensing the reagent in the reagent storage device using the negative pressure within the flow channel.

17. The control method for the water tank cleaning equipment as described in claim 16, characterized in that, The water tank cleaning equipment also includes a control valve disposed between the reagent storage device and the flow channel. The step of controlling the connection between the flow channel and the reagent storage device upon receiving a reagent dispensing command, so as to dispensing the reagent in the reagent storage device using the negative pressure within the flow channel, includes: Upon receiving a reagent dispensing command, the control valve is opened to dispensing the reagent in the reagent storage device using the negative pressure within the flow channel.

18. The control method for the water tank cleaning equipment as described in claim 17, characterized in that, Before the step of controlling the opening of the control valve upon receiving the reagent dispensing command, so as to dispense the reagent in the reagent storage device using the negative pressure in the flow channel, the following steps are included: Obtain the water quality parameters of the pool; When the water quality parameters do not meet the preset standards, a reagent dispensing instruction is generated.

19. The control method for the water tank cleaning equipment as described in claim 18, characterized in that, The step of controlling the opening of the control valve upon receiving a reagent dispensing command, so as to dispensing the reagent in the reagent storage device using the negative pressure in the flow channel, includes: The reagent application strategy is selected based on the difference between the water quality parameters and the preset standards; The control valve is controlled to open for a preset opening duration and / or a preset opening ratio according to the reagent dispensing strategy.

20. The control method for the water tank cleaning equipment as described in claim 19, characterized in that, The step of selecting a reagent application strategy based on the difference between the water quality parameters and the preset standard includes: The power of the suction device and / or the travel speed of the pool cleaning equipment are controlled and adjusted according to the reagent dispensing strategy.

21. The control method for the water tank cleaning equipment as described in claim 18, characterized in that, Upon receiving a reagent dispensing command, the step of controlling the opening of the control valve to dispensing the reagent in the reagent storage device using the negative pressure within the flow channel is followed by: The water quality parameters of the pool are continuously acquired at a preset frequency, and the reagent dispensing strategy is adaptively adjusted according to the changes in the water quality parameters. When the water quality parameters in the pool meet the preset standards, the control valve is closed.

22. The control method for the water tank cleaning equipment as described in claim 16, characterized in that, Prior to the step of controlling the suction device to operate so as to create a negative pressure in the flow channel, the following steps are included: Obtain spatial data of the water tank; Based on the spatial data, multiple movement paths are generated to cover the dispensing area and correspond one-to-one with multiple reagent dispensing schemes. The step of controlling the opening of the control valve upon receiving a reagent dispensing command, so as to dispensing the reagent in the reagent storage device using the negative pressure in the flow channel, includes: Upon receiving a reagent dispensing instruction, determine the corresponding reagent dispensing plan; The control valve is opened according to the reagent dispensing scheme to dispense the reagent in the reagent storage device using the negative pressure in the flow channel, and the machine body is controlled to travel along a movement path corresponding to the reagent dispensing scheme.

23. The control method for the water tank cleaning equipment according to any one of claims 16 to 22, characterized in that, The water tank cleaning equipment has the following preset working modes: a cleaning mode that only collects dirt, a coordinated mode that combines dirt collection and spreading, and an independent spreading mode in the absence of dirt collection; the step of controlling the suction device to create negative pressure in the flow channel includes: The system switches to either the collaborative mode or the independent dissemination mode based on input commands or a preset automatic control program.

24. A water tank cleaning device, characterized in that, include: At least one processor; as well as, A memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor to enable the at least one processor to perform the control method of the pool cleaning device as described in any one of claims 16 to 23.

Images