Control method of a pool cleaning device, pool cleaning device and cleaning system

Abstract

Embodiments of the present application provide a pool cleaning device control method, a pool cleaning device and a cleaning system. The pool cleaning device control method comprises: in response to a floating instruction, controlling a second driving device to drive the pool cleaning device submerged in a pool to move towards the water surface, so that at least part of the buoyancy component is exposed to the water surface, and the buoyancy component is in a first state when the pool cleaning device is submerged in water; in the case that at least part of the buoyancy component is exposed to the water surface, controlling a first driving device to drive the buoyancy component to mechanically move, so as to switch the buoyancy component from the first state to a second state; in the first state, the open cavity is configured to allow water in the pool to enter; in the second state, the open cavity is configured to prevent water in the pool from entering and contain gas, so that the device body floats on the water surface under the buoyancy provided by the buoyancy component. It can make the pool cleaning device quickly switch between sinking and floating, and improve the cleaning efficiency.

Description

Technical Field

[0001] This application relates to the field of cleaning technology, and in particular to a control method, a pool cleaning device, and a cleaning system. Background Technology

[0002] With the widespread use of water features such as swimming pools, landscape fish ponds, and fountains, the demand for related cleaning and maintenance continues to rise. Self-cleaning water equipment has gained widespread use in home garden water features, commercial swimming pools, and other scenarios due to its convenient operation.

[0003] Existing cleaning robots primarily use a combination of brushing and suction components to clean the bottom, walls, and surface of pools. To enable switching between underwater and floating operations, cleaning robots typically employ a buoyancy adjustment structure with airbags. By inflating or deflating the airbags, the volume of gas inside is changed, thereby adjusting the robot's buoyancy so that it can either sink to the bottom of the pool or float on the surface.

[0004] However, the long inflation and deflation time required for the airbags results in a lengthy switching process between sinking and floating for the cleaning robot, reducing its cleaning efficiency. Summary of the Invention

[0005] This application provides a control method, a pool cleaning device, and a cleaning system for a pool cleaning device, which enables the pool cleaning device to quickly switch between sinking and floating, thereby improving cleaning efficiency.

[0006] In a first aspect, embodiments of this application provide a control method for a pool cleaning device, the pool cleaning device including a device body, a buoyancy component disposed on the device body, a first driving device connected to the buoyancy component, and a second driving device for driving the device body to move, wherein the buoyancy component has an open cavity;

[0007] The method includes:

[0008] In response to a floating command, the second drive device is controlled to drive the pool cleaning equipment submerged in the pool toward the water surface so that at least part of the buoyancy component is exposed above the water surface, wherein the buoyancy component is in a first state when the pool cleaning equipment is submerged in water;

[0009] With at least a portion of the buoyancy component exposed above the water surface, the first drive device is controlled to drive the buoyancy component to perform mechanical movement in order to switch the buoyancy component from the first state to the second state;

[0010] In the first state, the open cavity is configured to allow water from the pool to enter;

[0011] In the second state, the open cavity is configured to prevent water from entering the pool and to contain gas, so that the main body of the device floats on the water surface under the buoyancy provided by the buoyancy component.

[0012] Compared to related technologies that use airbag inflation and deflation to switch the state of the pool cleaning equipment, this embodiment switches the state of the buoyancy component through mechanical movement, allowing the pool cleaning equipment to switch between floating and sinking. Utilizing the fast response speed of mechanical movement, the time required for the buoyancy component to switch states is shorter, meaning the pool cleaning equipment switches between floating and sinking faster, thus improving the cleaning efficiency of the pool cleaning equipment.

[0013] In some embodiments, controlling the first driving device to drive the buoyancy component to perform mechanical movement, so as to switch the buoyancy component from the first state to the second state, includes:

[0014] The first driving device is controlled to drive the buoyancy component to change its attitude relative to the main body of the device, thereby changing the orientation of the opening of the open cavity and switching the buoyancy component from the first state to the second state.

[0015] By changing the attitude of the buoyancy component relative to the main body of the equipment, the opening orientation of the open cavity can be changed, allowing the pool cleaning equipment to switch between floating and sinking. This allows the buoyancy component to have a simpler structure and mechanical movement, improving the switching speed and reliability of the pool cleaning equipment, and reducing the failure rate and assembly and maintenance costs of the pool cleaning equipment.

[0016] In some embodiments, the buoyancy component is provided with a rotating shaft rotatably connected to the device body; controlling the first driving device to drive the buoyancy component to change its attitude relative to the device body includes:

[0017] The first driving device is controlled to drive the buoyancy component to rotate around the pivot, thereby changing the orientation of the opening of the open cavity, wherein, in the second state, the opening is exposed above the water surface.

[0018] The buoyancy component is connected to the main body of the equipment via a rotating shaft. This reduces the number of parts between the buoyancy component and the main body, resulting in a simpler connection structure and higher reliability for the buoyancy component when switching between its first and second states. By rotating the buoyancy component relative to the main body, the opening orientation of the open cavity is changed. The mechanical movement of the buoyancy component is relatively simple, allowing for faster switching between its first and second states and improving the switching speed of the pool cleaning equipment between sinking and floating.

[0019] In some embodiments, after controlling the first drive device to drive the buoyancy component to perform mechanical movement, the method further includes:

[0020] Stop the driving force provided by the second driving device;

[0021] The main body of the equipment partially falls back into the water under the action of gravity until the buoyancy generated by the buoyancy component reaches a balance with the weight of the main body of the equipment, causing the main body of the equipment to float on the water surface.

[0022] By allowing the pool cleaning equipment to naturally descend under gravity during its descent, until it floats stably under the combined effects of gravity and buoyancy, this self-balancing mechanism simplifies the equipment's control logic. Furthermore, when the equipment's weight changes (e.g., carrying different loads) or the water's density changes (e.g., between fresh and seawater), the equipment can adaptively and automatically adjust its descent depth to suit different operating conditions without requiring additional manual control. Moreover, during the descent, buoyancy gradually increases with the immersion depth of the buoyancy components, preventing the equipment from rapidly impacting the water surface and reducing operational noise.

[0023] In some embodiments, controlling the first driving device to drive the buoyancy component to perform mechanical movement, so as to switch the buoyancy component from the first state to the second state, includes:

[0024] The first driving device is controlled to drive the buoyancy component to move, thereby changing the structural state of the buoyancy component and switching the buoyancy component from the first state to the second state.

[0025] In the first state, the buoyancy component has a first drainage volume, and in the second state, the buoyancy component has a second drainage volume, the second drainage volume being greater than the first drainage volume.

[0026] In this way, by changing the structural state of the buoyancy component itself, the position or angle of the buoyancy component relative to the main body of the equipment remains unchanged. This eliminates the need to reserve a large amount of extra space for the buoyancy component to move, resulting in a more compact structure for the pool cleaning equipment and helping to reduce its size. Furthermore, since the buoyancy component does not move relative to the main body of the equipment, changing the state of the buoyancy component will not cause a change in the center of gravity or shape of the pool cleaning equipment, thus ensuring high stability.

[0027] In some embodiments, the pool cleaning device includes a plurality of the buoyancy components;

[0028] The control of the first driving device to drive the buoyancy component to perform mechanical movement includes any of the following methods:

[0029] Control one of the first driving devices to drive multiple buoyancy components to perform mechanical movements synchronously;

[0030] The first drive device connected to each of the buoyancy components is controlled separately to synchronously drive the multiple buoyancy components to move.

[0031] In this way, when the pool cleaning equipment floats, multiple buoyancy components work together to provide buoyancy. The buoyancy provided by multiple buoyancy components is relatively large, making it suitable for scenarios with large loads, such as those that need to carry more functional modules.

[0032] Multiple buoyancy components can form a redundant safety design, so that even if one buoyancy component cannot effectively provide buoyancy due to factors such as rotation failure, other buoyancy components can still provide buoyancy for the main body of the equipment, so that the pool cleaning equipment can float on the water surface, and the operation reliability of the pool cleaning equipment is high.

[0033] In some embodiments, the method further includes:

[0034] When the water cleaning equipment enters or leaves the water surface and the buoyancy component is in the second state, the first driving device is controlled to drive the buoyancy component to perform mechanical movement, so as to switch the buoyancy component from the second state to the first state.

[0035] In this way, once the pool cleaning equipment is submerged in water, no additional operation is required. The equipment will naturally sink to the bottom of the pool under its own weight and begin cleaning from there. Once the equipment is out of the water, the buoyancy components will switch to their first state to prepare for the next cleaning cycle.

[0036] Furthermore, the pool cleaning equipment is always in its first state when not in operation, ensuring that its size and shape remain consistent when not in use. This avoids collisions and scratches caused by inconsistent size and shape during storage, packaging, and transportation, reducing the risk of damage to the pool cleaning equipment, improving the safety of packaging and transportation, facilitating automated grabbing, handling, and stacking, and improving warehousing and logistics efficiency.

[0037] In some embodiments, the pool cleaning device further includes a first sensor; the method further includes:

[0038] The component status signal of the buoyancy component detected by the first sensor is obtained, and the component status signal is used to indicate whether the buoyancy component is in the first state or the second state.

[0039] In this way, the first sensor can detect the actual state (first state or second state) of the buoyancy component in real time, avoiding situations where the buoyancy component fails to switch to the correct state due to factors such as jamming of the transmission components or failure of the first drive device. Furthermore, the current state of the buoyancy component obtained by the first sensor can serve as the basis for subsequent actions of the pool cleaning equipment, ensuring that the actions of the main body of the equipment are adapted to the state of the buoyancy component, and avoiding situations where the actions of the main body of the equipment are mismatched with the state of the buoyancy component.

[0040] In some embodiments, the pool cleaning device further includes a second sensor; before controlling the first driving device to drive the buoyancy component to perform mechanical movement, the method further includes:

[0041] Based on the device status signal of the main body of the device detected by the second sensor, it is determined that the device status of the water tank cleaning equipment meets the preset conditions.

[0042] By setting a second sensor, the current state of the buoyancy component can be confirmed, thus avoiding a mismatch between the buoyancy component's state switching and the current state of the main body of the equipment. This improves the accuracy and reliability of the buoyancy component switching to the second state. For example, it can prevent the buoyancy component from activating prematurely before the opening is fully above the water surface, which could lead to the buoyancy component scooping water but failing to provide the preset buoyancy.

[0043] Secondly, embodiments of this application provide a control method for a pool cleaning device, the pool cleaning device including a device body, a buoyancy component disposed on the device body, and a first driving device connected to the buoyancy component, wherein the buoyancy component has an open cavity;

[0044] The method includes:

[0045] In response to a floating command, the pool cleaning equipment submerged in the pool is controlled to move toward the water surface so that at least a portion of the buoyancy component is exposed above the water surface, wherein the buoyancy component is in a first state when the pool cleaning equipment is submerged in water;

[0046] With at least part of the buoyancy component exposed above the water surface, the first drive device is controlled to drive the buoyancy component to change its attitude relative to the main body of the device, so as to switch the buoyancy component from the first state to the second state.

[0047] In the first state, the open cavity is configured to allow water from the pool to enter;

[0048] In the second state, the open cavity is configured to prevent water from entering the pool and to contain gas.

[0049] By changing the attitude of the buoyancy component relative to the main body of the equipment, the buoyancy component switches between a first state and a second state, thereby driving the pool cleaning equipment to switch between floating and sinking. In this way, the buoyancy component can have a relatively simple structure and mechanical movement, improving the speed and reliability of the pool cleaning equipment's state switching, and reducing the failure rate and assembly and maintenance costs of the pool cleaning equipment.

[0050] In some embodiments, the buoyancy component is provided with a rotating shaft rotatably connected to the device body; controlling the first driving device to drive the buoyancy component to change its attitude relative to the device body, so as to switch the buoyancy component from the first state to the second state, includes:

[0051] The first driving device is controlled to drive the buoyancy component to rotate around the pivot, thereby changing the orientation of the opening and switching the buoyancy component from the first state to the second state.

[0052] The buoyancy component is connected to the main body of the equipment via a rotating shaft. This reduces the number of parts between the buoyancy component and the main body, resulting in a simpler connection structure and higher reliability of the buoyancy component switching between its first and second states. By rotating the buoyancy component relative to the main body to change the orientation of the opening, the mechanical movement of the buoyancy component is relatively simple, allowing for faster switching between the first and second states and improving the speed of switching between sinking and floating in the pool cleaning equipment. Furthermore, the orientation of the buoyancy component's opening in either the first or second state can be precisely adjusted by controlling the rotation angle of the rotating shaft, enhancing operational flexibility.

[0053] Thirdly, embodiments of this application provide a pool cleaning device, comprising:

[0054] Equipment body;

[0055] A buoyancy component is disposed on the main body of the device, and the buoyancy component has an open cavity;

[0056] A first driving device is connected to the buoyancy component and is used to drive the buoyancy component to perform mechanical movement, so that the buoyancy component switches between a first state and a second state.

[0057] The second driving device is used to drive the main body of the equipment to move;

[0058] A control device is connected to the first drive device and the second drive device, respectively;

[0059] The control device is configured to perform the control method for the pool cleaning equipment as described in the first aspect.

[0060] This embodiment switches the state of the buoyancy component through mechanical movement, thereby enabling the pool cleaning equipment to switch between floating and sinking. Utilizing the fast response speed of mechanical movement, the time required for the buoyancy component to switch states is short, meaning the pool cleaning equipment can switch between floating and sinking quickly, thus improving the cleaning efficiency of the pool cleaning equipment.

[0061] Fourthly, embodiments of this application provide a water tank cleaning device, comprising:

[0062] Equipment body;

[0063] A buoyancy component is disposed on the main body of the device, and the buoyancy component has an open cavity;

[0064] A first driving device is connected to the buoyancy component and is used to drive the buoyancy component to perform mechanical movement, so that the buoyancy component switches between a first state and a second state.

[0065] The control device is connected to the first drive device;

[0066] The control device is configured to perform the control method for the pool cleaning equipment as described in the second aspect.

[0067] By changing the attitude of the buoyancy component relative to the main body of the equipment, the buoyancy component switches between a first state and a second state, thereby driving the pool cleaning equipment to switch between floating and sinking. In this way, the buoyancy component can have a relatively simple structure and mechanical operation, improving the speed and reliability of the pool cleaning equipment's state switching, and reducing the failure rate and assembly and maintenance costs of the pool cleaning equipment.

[0068] Fifthly, embodiments of this application provide a cleaning system, including a base station and the pool cleaning equipment described in the third or fourth aspect.

[0069] By switching the state of the buoyancy components through mechanical movement, the pool cleaning equipment can switch between floating and sinking. The mechanical movement of the buoyancy components has a fast response speed and the time required for the buoyancy components to switch states is short. In other words, the pool cleaning equipment can switch between floating and sinking quickly, which improves the cleaning efficiency of the pool cleaning equipment. Attached Figure Description

[0070] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0071] Figure 1 This is a schematic diagram of the structure of the water tank cleaning equipment provided in the embodiments of this application;

[0072] Figure 2This is another structural schematic diagram of the water tank cleaning equipment provided in the embodiments of this application;

[0073] Figure 3 This is another structural schematic diagram of the water tank cleaning equipment provided in the embodiments of this application;

[0074] Figure 4 This is another structural schematic diagram of the water tank cleaning equipment provided in the embodiments of this application;

[0075] Figure 5 A schematic flowchart illustrating the control method for the water tank cleaning equipment provided in this application embodiment;

[0076] Figure 6 Another schematic flowchart illustrating the control method of the water tank cleaning equipment provided in the embodiments of this application;

[0077] Figure 7 Another schematic flowchart illustrating the control method of the water tank cleaning equipment provided in the embodiments of this application;

[0078] Figure 8 Another schematic flowchart illustrating the control method of the water tank cleaning equipment provided in the embodiments of this application;

[0079] Figure 9 Another schematic flowchart illustrating the control method of the water tank cleaning equipment provided in the embodiments of this application;

[0080] Figure 10 Another schematic flowchart illustrating the control method of the water tank cleaning equipment provided in the embodiments of this application;

[0081] Figure 11 Another schematic flowchart of the control method for the water tank cleaning equipment provided in the embodiments of this application.

[0082] Figure label:

[0083] 10-Main body of the equipment;

[0084] 20 - Buoyancy component; 21 - Open cavity; 22 - Opening; 23 - Rotating shaft; 24 - First buoyancy component; 25 - Second buoyancy component;

[0085] 30 - First drive unit;

[0086] M - First direction; N - Second direction.

[0087] The accompanying drawings illustrate specific embodiments of this application, which will be described in more detail below. These drawings and descriptions are not intended to limit the scope of the concept in any way, but rather to illustrate the concept of this application to those skilled in the art through reference to particular embodiments. Detailed Implementation

[0088] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0089] To address the technical problem in related technologies where the long switching time required for cleaning robots to go between sinking and floating results in low cleaning efficiency, this application provides a control method, a pool cleaning device, and a cleaning system for a pool cleaning device. The method utilizes the mechanical movement of a buoyancy component to switch between sinking and floating, thereby driving the pool cleaning device to switch between floating and sinking. This results in a shorter switching time and improved cleaning efficiency.

[0090] The control method, water tank cleaning equipment, and cleaning system provided in the embodiments of this application will be described in detail below with reference to the accompanying drawings.

[0091] Please see Figures 1 to 4 The pool cleaning equipment includes a main body 10, a buoyancy component 20 disposed on the main body 10, a first drive device 30 connected to the buoyancy component 20, and a second drive device (not shown in the figure) for driving the main body 10 to move, wherein the buoyancy component 20 has an open cavity 21.

[0092] In some embodiments, the main body 10 of the device may be equipped with a cleaning component (not shown in the figure). The cleaning component may include a cleaning element, a suction filter, etc., to clean the water and the pool walls. This embodiment does not limit the type of cleaning component or the cleaning method. The pool cleaning equipment is also equipped with a second drive device, which may include a propeller, a walking track, etc. The second drive device is usually located at the bottom of the main body 10 of the device to lower the center of gravity of the pool cleaning equipment and improve the stability of the pool cleaning equipment in water.

[0093] In some embodiments, the buoyancy component 20 has an open cavity 21 with an opening 22, through which the open cavity 21 communicates with the external environment. In this way, external air or water can enter and exit the open cavity 21 through the opening 22 to achieve gas-liquid replacement within the open cavity 21.

[0094] The buoyancy component 20 can have a first state and a second state relative to the main body 10 of the equipment. The first driving device 30 is used to drive the buoyancy component 20 to switch between the first state and the second state.

[0095] Please see Figure 1 and Figure 2 In the first state, the open cavity 21 is configured to allow water in the pool to enter, and correspondingly, the gas in the open cavity 21 is discharged through the opening 22. The drainage volume of the buoyancy component 20 is reduced to decrease the buoyancy provided by the buoyancy component 20, wherein the buoyancy provided by the buoyancy component 20 is less than the weight of the pool cleaning equipment, so that the pool cleaning equipment sinks and is submerged in water.

[0096] Please see Figure 3 and Figure 4 In the second state, the water in the open cavity 21 can be discharged, while the gas enters the buoyancy component 20. In this way, the buoyancy component 20 can have a large drainage volume and can provide a large buoyancy so that the pool cleaning equipment floats on the water surface.

[0097] In some embodiments, the pool cleaning device further includes a first drive device 30 for driving the buoyancy component 20 to switch between a first state and a second state, so that the pool cleaning device can switch between sinking and floating.

[0098] Figure 5 This is a schematic flowchart illustrating the control method for the water tank cleaning equipment provided in an embodiment of this application. Please refer to... Figure 5 The control method of this water tank cleaning equipment is described in detail below:

[0099] S101: In response to a floating command, control the second drive device to drive the pool cleaning equipment submerged in the pool toward the water surface so that at least part of the buoyancy component 20 is exposed above the water surface, wherein the buoyancy component 20 is in a first state when the pool cleaning equipment is submerged in water.

[0100] In some embodiments, the floating instruction may be triggered by remote control, or by the user through an application, physical button, or voice assistant on a terminal device (such as a mobile phone, tablet, smartwatch, or dedicated remote control). Alternatively, it may be automatically generated by the pool cleaning device itself based on preset conditions (such as the completion of a cleaning task, the battery level of the pool cleaning device being below a threshold, a malfunction of the pool cleaning device, or a scheduled task).

[0101] The second drive device may include a propeller, tracks, etc., and this embodiment is not limited to any particular type. The pool cleaning equipment moves towards the water surface, not limited to a single vertical upward path. Its starting point for buoyancy can be the pool bottom, the pool wall, or a hovering position in the water. Its buoyancy method can be floating in the water, crawling along the pool wall, or a combination of both. Thus, depending on the different starting points and buoyancy methods, the second drive device can flexibly select the buoyancy path based on actual working conditions (such as the current position of the pool cleaning equipment, water depth, water flow conditions, and user instructions), improving the adaptability of the pool cleaning equipment and the convenience of user retrieval.

[0102] In some embodiments, when the pool cleaning equipment is submerged in a pool, both the buoyancy component 20 and the main body 10 of the equipment are submerged in water, and the buoyancy component 20 is in a first state. Since the buoyancy component 20 has an open cavity 21, water can fill the interior of the open cavity 21 under water pressure, so that the open cavity 21 is full of water.

[0103] In some embodiments, the second driving device drives the pool cleaning equipment to float, so that at least part of the buoyancy component 20 is exposed above the water surface. For example, at least the opening 22 of the open cavity 21 may be exposed above the water surface. In this way, the water in the open cavity 21 can be discharged from the opening 22 of the open cavity 21 under the action of gravity, and correspondingly, air can enter the open cavity 21 through the opening 22 to achieve gas-liquid displacement of the open cavity 21. That is, the buoyancy component 20 can be exposed above the water surface along with the main body 10 in the first state, and realize the switch from the state of water filling the open cavity 21 to the state of air filling the open cavity 21.

[0104] In some embodiments, before activating the second drive device in response to a floating command, a safety check may be performed first, including but not limited to: detecting the current water depth, confirming whether the pool cleaning equipment is located in a narrow gap or under an obstacle, and confirming whether there are obstacles such as cables, handrails, or slides on the buoyancy path. If an abnormality is detected, the execution of the floating command or the issuance of an alarm signal may be delayed.

[0105] S102: With at least part of the buoyancy component 20 exposed above the water surface, the first drive device 30 is controlled to drive the buoyancy component 20 to perform mechanical movement to switch the buoyancy component 20 from a first state to a second state; wherein, in the first state, the open cavity 21 is configured to allow water in the pool to enter; in the second state, the open cavity 21 is configured to prevent water in the pool from entering and to contain gas, so that the main body of the device 10 floats on the water surface under the buoyancy provided by the buoyancy component 20.

[0106] In some embodiments, when the buoyancy component 20 is in the first state, both the buoyancy component 20 and the main body 10 of the device are submerged in water, and the open cavity 21 is filled with water.

[0107] In some embodiments, when at least part of the buoyancy component 20 is exposed above the water surface, it means that the buoyancy component 20 is exposed above the water surface in a first state, and the open cavity 21 has switched from a state of water-filled open cavity 21 to a state of air-filled open cavity 21.

[0108] In some embodiments, when the buoyancy member 20 is in the second state, the opening 22 of the open cavity 21 is exposed to the water surface. The open cavity 21 is configured to prevent water from entering the pool and to contain gas. That is, when the buoyancy member 20 is in the second state, the opening 22 of the open cavity 21 is spaced from the water surface, the sidewalls of the open cavity 21 prevent water from entering the open cavity 21, and the open cavity 21 can be maintained in a state of containing air. In this way, the open cavity 21 can be maintained in a state of being filled with air and has a large drainage volume. The buoyancy member 20 can provide a large buoyancy, allowing the main body of the device 10 to float on the water surface under the buoyancy provided by the buoyancy member 20.

[0109] Depending on the structure of the buoyancy component 20, the buoyancy component 20 can switch from the first state to the second state in different ways and prevent water from entering the open cavity 21.

[0110] In some embodiments, the first drive device 30 is controlled to drive the buoyancy component 20 to perform mechanical movement in order to switch the buoyancy component 20 from a first state to a second state.

[0111] Depending on the structure of the buoyancy component 20, the mechanical movement of the first drive device 30 and the buoyancy component 20 will differ. Correspondingly, when the buoyancy component 20 switches to the second state, the portion of the buoyancy component 20 exposed above the water surface can vary.

[0112] The buoyancy component 20 can switch between a first state and a second state by changing its structural form. For example, the buoyancy component 20 can be a foldable structure. When unfolded, it presents the second state, forming an open cavity 21 with an opening 22, through which air can enter. When folded, it presents the first state, shrinking into a near-solid structure. In this state, the drainage volume of the buoyancy component 20 decreases, and the buoyancy provided by the buoyancy component 20 decreases and becomes less than the weight of the pool cleaning equipment, allowing the buoyancy component 20 to sink into the water. Thus, by switching the buoyancy component 20 between unfolding and folding, it can switch between the first and second states. Furthermore, when the buoyancy component 20 is floating and the opening 22 is exposed above the water surface, it can be switched from the folded state to the unfolded state, while a portion of the buoyancy component 20 remains submerged in water.

[0113] The buoyancy component 20, in addition to having an opening 22, may also be equipped with an openable flap. When the flap is closed, the buoyancy component 20 is in a second state, forming an open cavity 21 with the opening 22. When the flap is open, the buoyancy component 20 is in a first state, allowing water to enter the open cavity 21 through the flap. At this time, the drainage volume of the buoyancy component 20 decreases, and the buoyancy provided by the buoyancy component 20 decreases and becomes less than the weight of the pool cleaning equipment, allowing the buoyancy component 20 to sink into the water. Thus, the first drive device 30 can change the shape of the buoyancy component 20 by driving the opening and closing of the flap, thereby switching the buoyancy component 20 between the first and second states. Furthermore, when the buoyancy component 20 floats and the flap is exposed above the water surface, the buoyancy component 20 can be driven to switch from the first state to the second state, allowing the buoyancy component 20 to separate from the water surface.

[0114] Understandably, due to the influence of manufacturing and assembly processes, such as the inability of the foldable buoyancy component 20 to form a dense structure when it is folded, and the large roughness of the inner wall surface of the buoyancy component 20, a small amount of water may remain in the open cavity 21 when the buoyancy component 20 is in the second state. This residual water can be considered negligible.

[0115] Compared to the method of switching the state of the pool cleaning equipment by inflating and deflating the airbag in related technologies, this embodiment switches the state of the buoyancy component 20 by mechanical movement of the buoyancy component 20, thereby enabling the pool cleaning equipment to switch between floating and sinking. By utilizing the fast response speed of mechanical movement, the time required for the state switching of the buoyancy component 20 is shorter, that is, the pool cleaning equipment switches between floating and sinking faster, thus improving the cleaning efficiency of the pool cleaning equipment.

[0116] In some embodiments, in step S102 above, controlling the first driving device 30 to drive the buoyancy component 20 to perform mechanical movement, so as to switch the buoyancy component 20 from a first state to a second state, includes:

[0117] The first drive device 30 is controlled to drive the buoyancy component 20 to change its attitude relative to the main body 10, thereby changing the orientation of the opening 22 of the open cavity 21 and switching the buoyancy component 20 from the first state to the second state.

[0118] In some embodiments, controlling the first driving device 30 to drive the buoyancy component 20 to change its attitude relative to the device body 10 can mean changing the angle, position, or orientation of the buoyancy component 20 relative to the device body 10, or it can mean simultaneously changing at least one of the angle, position, and orientation of the buoyancy component 20 relative to the device body 10. In this way, the orientation of the opening 22 can be changed by changing the attitude of the buoyancy component 20.

[0119] In other words, the orientation of the opening 22 is different when the buoyancy component 20 is in the first state and the second state.

[0120] When the buoyancy component 20 is in the second state, the opening 22 can face the second direction N. The second direction N can have an angle with the vertical direction. This angle can be less than or equal to 10° to avoid the angle between the second direction N and the vertical direction being too large, which would make it easy for water to enter the open cavity 21 and thus reduce the buoyancy provided by the buoyancy component 20.

[0121] When the buoyancy component 20 is in the first state, the opening 22 can face the first direction M, and the second direction N and the first direction M have an angle. The angle between the first direction M and the second direction N can be of different sizes depending on the shape of the buoyancy cavity, the size of the opening 22, etc. For example, the angle can be 40°-150°.

[0122] In this way, when the buoyancy component 20 switches from the first state to the second state, the water in the open cavity 21 can be discharged through the opening 22, and when the buoyancy component 20 switches from the second state to the first state, the water can enter the open cavity 21 through the opening 22, and no gas will remain in the open cavity 21 and be sealed off.

[0123] By changing the attitude of the buoyancy component 20 relative to the main body 10 of the equipment, the orientation of the opening 22 of the open cavity 21 is changed, thereby enabling the pool cleaning equipment to switch between floating and sinking. This allows the buoyancy component 20 to have a simpler structure and mechanical movement, improving the speed and reliability of the pool cleaning equipment's state switching, and reducing the failure rate and assembly and maintenance costs of the pool cleaning equipment.

[0124] In some embodiments, the buoyancy component 20 is provided with a rotating shaft 23 that is rotatably connected to the device body 10.

[0125] Depending on the position of the rotating shaft 23, the buoyancy component 20 can rotate or flip relative to the main body 10 of the equipment. For example, when the buoyancy component 20 is spaced apart from its rotating shaft 23, the buoyancy component 20 can flip relative to the main body 10 of the equipment. For ease of explanation, the following description takes the rotating shaft 23 being located on the buoyancy component 20 as an example. In this way, the structure of the buoyancy component 20 is more compact, which is conducive to the miniaturization of the pool cleaning equipment.

[0126] In some embodiments, controlling the first drive device 30 to drive the buoyancy component 20 to change its attitude relative to the device body 10 includes: controlling the first drive device 30 to drive the buoyancy component 20 to rotate about the pivot 23 to change the orientation of the opening 22, wherein, in the second state, the opening 22 is exposed above the water surface.

[0127] In other words, the buoyancy component 20 is rotatably connected to the main body 10 of the equipment via a rotating shaft 23. The number of parts between the buoyancy component 20 and the main body 10 is relatively small, and the connection structure is relatively simple. This results in high reliability for the buoyancy component 20 when switching between the first and second states. By rotating the buoyancy component 20 relative to the main body 10 to change the orientation of the opening 22, the mechanical movement of the buoyancy component 20 is relatively simple, thus enabling a faster switching speed between the first and second states and improving the switching speed of the pool cleaning equipment between sinking and floating.

[0128] Furthermore, the orientation of the opening 22 of the buoyancy component 20 in the first and second states can be precisely adjusted by controlling the rotation angle of the rotating shaft 23. In this way, in the first state, water can quickly enter the open cavity 21 or be discharged through the opening 22, and in the second state, the opening 22 can be stably exposed above the water surface.

[0129] Figure 6 Another schematic flowchart illustrating the control method for the water tank cleaning equipment provided in this application embodiment. Please refer to... Figure 6 In some embodiments, after step S102 controls the first driving device 30 to drive the buoyancy component 20 to perform mechanical movement, the method further includes:

[0130] S103: Stop the driving force provided by the second drive device; thereafter, the main body of the equipment 10 partially falls back into the water under the action of gravity until the buoyancy generated by the buoyancy component 20 reaches a balance with the weight of the main body of the equipment 10, so that the main body of the equipment 10 floats on the water surface.

[0131] In some embodiments, stopping the driving force provided by the second drive device can refer to any one or more of the following: the second drive device is powered off and shut down, reverse braking, control signal is stopped, and the second drive device is disengaged from the equipment body 10. By stopping the second drive device from providing driving force, the water tank cleaning equipment can stop floating.

[0132] In some embodiments, the partial descent of the device body 10 into the water under gravity means that after the driving force provided by the second driving device is stopped, the device body 10 is no longer subject to an upward driving force. At this time, under the action of its own gravity, the device body 10 moves downward from its current position (such as being completely or mostly exposed above the water surface) and re-enters the water. In other words, the descent process of the device body 10 is driven by gravity and does not require an additional driving device.

[0133] Before the main body 10 of the device falls back down, the buoyancy component 20 has already switched from the first state to the second state via the first drive device 30. At this time, the open cavity 21 of the buoyancy component 20 contains air, and the opening 22 faces the second direction N, which can prevent water from entering the open cavity 21. Therefore, during the fall of the main body 10 of the device, the side wall of the buoyancy component 20 can come into contact with water.

[0134] As the main body of the equipment 10 gradually sinks into the water, the volume of the buoyancy component 20 submerged in the water gradually increases, and the volume of water displaced by the buoyancy component 20 also gradually increases. According to Archimedes' principle, the buoyancy generated by the buoyancy component 20 is equal to the weight of the water it displaces; therefore, the buoyancy provided by the buoyancy component 20 gradually increases.

[0135] When the buoyancy generated by the buoyancy component 20 reaches equilibrium with the weight of the main body 10, the main body 10 stops falling and floats on the water surface.

[0136] By allowing the pool cleaning equipment to naturally fall back under gravity until it floats stably under the combined effects of gravity and buoyancy, this self-balancing mechanism simplifies the control logic of the equipment. Furthermore, when the weight of the equipment changes (e.g., carrying different loads) or the density of the water changes (e.g., between fresh and seawater), the equipment can adaptively and automatically adjust its descent depth to adapt to different operating conditions without requiring additional manual control. Moreover, during the descent process, the buoyancy gradually increases with the immersion depth of the buoyancy component 20, preventing the equipment from rapidly impacting the water surface and reducing operational noise.

[0137] In some embodiments, controlling the first driving device 30 to drive the buoyancy component 20 to perform mechanical movement, so as to switch the buoyancy component 20 from a first state to a second state, includes:

[0138] The first driving device 30 is controlled to drive the buoyancy component 20 to move, thereby changing the structural state of the buoyancy component 20 and switching the buoyancy component 20 from the first state to the second state.

[0139] In some embodiments, the structural state of the buoyancy component 20 may refer to the geometry, size, shape, or configuration of the buoyancy component 20 itself. By changing the structural state of the buoyancy component 20, the displacement volume or cavity volume of the buoyancy component 20 changes, thereby enabling the buoyancy component 20 to switch between a first state and a second state.

[0140] The buoyancy component 20 may change its structural state in ways including but not limited to: changing its telescopic state (changing the volume of the open cavity 21 by telescopically extending or retracting the buoyancy component 20), and changing its folding state (closing or hiding the opening 22 by folding the buoyancy component 20).

[0141] By changing the structural state of the buoyancy component 20, its drainage volume can be altered in different states. In the first state, the buoyancy component 20 has a first drainage volume; in the second state, it has a second drainage volume, which is larger than the first. That is, in the first state, the buoyancy provided by the buoyancy component 20 is relatively small and less than the weight of the pool cleaning device, allowing it to sink and be submerged in water. In the second state, the buoyancy provided by the buoyancy component is larger and greater than the weight of the pool cleaning device, allowing it to float on the water surface.

[0142] For example, the open cavity 21 of the buoyancy component 20 is equipped with a piston-type drainage component (not shown). The drainage component can reciprocate relative to the buoyancy component 20 to change the internal structural state of the buoyancy component 20. When the buoyancy component 20 is in the first state, water can enter the open cavity 21 through the opening 22, and the drainage component can contact the water, resulting in a small drainage volume for the buoyancy component 20. During the process of the water tank cleaning equipment floating to the surface, the first driving device 30 can drive the drainage component to move relative to the buoyancy component 20. At this time, the volume of the open cavity 21 decreases, and water can be discharged through the opening 22. After the water is drained, the drainage component can move to its initial position. During the process of the drainage component moving to its initial position, gas can enter the open cavity 21 through the opening 22. Thus, when the buoyancy component 20 floats on the water surface, it can have a large drainage volume.

[0143] In this way, by changing the structural state of the buoyancy component 20, the position or angle of the buoyancy component 20 relative to the main body 10 of the equipment can remain unchanged. This eliminates the need for ample additional space for movement of the buoyancy component 20, resulting in a more compact structure and a smaller overall size for the pool cleaning equipment. Furthermore, since the buoyancy component 20 does not move relative to the main body 10, switching its state does not alter the center of gravity or shape of the pool cleaning equipment, thus ensuring high stability.

[0144] In some embodiments, the pool cleaning device includes a plurality of buoyancy components 20, for example, the number of buoyancy components 20 may be two, three or more.

[0145] In this way, the buoyancy components 20 can be distributed at different positions around the circumference of the main body 10 according to the structural distribution and center of gravity of the main body 10, so that the water tank cleaning equipment can float stably on the water surface when it is in the second state. For example, when the main body 10 has a symmetrical structure, the multiple buoyancy components 20 can also be symmetrically distributed with respect to the symmetrical surface of the main body 10.

[0146] Accordingly, in step S102, controlling the first driving device 30 to drive the buoyancy component 20 to perform mechanical movement includes any of the following methods:

[0147] Method 1: Control a first drive device 30 to drive multiple buoyancy components 20 to perform mechanical movements synchronously.

[0148] Method 2: Control the first drive device 30 connected to each buoyancy component 20 separately to synchronously drive multiple buoyancy components 20 to move.

[0149] In Method 1, the first drive device 30 can be connected to multiple buoyancy components 20 via transmission components (such as gear rotation components, synchronous belt drive components, linkage drive components, and chain drive components). In this way, the power output by the first drive device 30 can be simultaneously transmitted to multiple buoyancy components 20 via the transmission components, causing the multiple buoyancy components 20 to perform the same mechanical movements synchronously (such as synchronous rotation, synchronous extension, synchronous folding, etc.), thereby achieving synchronous switching between the first and second states of the multiple buoyancy components 20.

[0150] For example, the first driving device 30 may include a drive motor that can synchronously drive the two buoyancy components 20 to rotate, so that the orientation of the openings 22 of the two buoyancy components 20 changes synchronously.

[0151] In the second method, there are also multiple first driving devices 30, and each buoyancy component 20 is provided with a corresponding first driving device 30. In this way, the multiple buoyancy components 20 can be driven to move synchronously through the synchronous action of multiple first driving devices 30.

[0152] By synchronizing the mechanical movement and switching states of the buoyancy component 20, the force on the pool cleaning equipment can be more even when it floats, avoiding tilting or overturning of the pool cleaning equipment due to insufficient buoyancy at a certain position, thus improving the stability and safety of the pool cleaning equipment.

[0153] Furthermore, when the pool cleaning equipment floats, multiple buoyancy components 20 work together to provide buoyancy. The buoyancy provided by multiple buoyancy components 20 is relatively large, making it suitable for scenarios with heavy loads, such as those requiring the carrying of many functional modules.

[0154] Multiple buoyancy components 20 can form a redundant safety design, so that even if one buoyancy component 20 cannot effectively provide buoyancy due to factors such as rotation failure, other buoyancy components 20 can still provide buoyancy for the main body of the equipment 10, so that the pool cleaning equipment floats on the water surface, and the operation reliability of the pool cleaning equipment is high.

[0155] In some embodiments, please refer to Figure 2 and Figure 4 Multiple buoyancy components 20 can be spaced apart along the travel direction of the main body 10. The buoyancy components 20 may include a first buoyancy component 24 and a second buoyancy component 25. There may be one or more first buoyancy components 24 located at the front of the main body 10 in the travel direction. There may be one or more second buoyancy components 25 located at the rear of the main body 10 in the travel direction. Based on the multiple buoyancy components 20 providing stable buoyancy for the cleaning component, the buoyancy provided by the first buoyancy component 24 is greater than the buoyancy provided by the second buoyancy component 25. For example, the volume of the open cavity 21 of the first buoyancy component 24 is greater than the volume of the open cavity 21 of the second buoyancy component 25.

[0156] In this way, when the pool cleaning equipment floats on the water surface, the front side of the pool cleaning equipment in the direction of travel can be tilted away from the water surface relative to the rear side, so that the main body 10 of the equipment has a preset tilt angle, which can be 5°-15°, and this embodiment does not limit it.

[0157] By ensuring that the buoyancy of the front side of the pool cleaning equipment is greater than that of the rear side, the front side of the equipment tilts upward relative to the rear side when floating. This allows the cleaning components and the suction port of the suction filter to be closer to the water surface, improving the water surface cleaning effect. Simultaneously, the center of gravity of the equipment can be shifted towards the rear, providing greater stability during water surface fluctuations and turns, preventing the equipment from tipping over.

[0158] Figure 7 Another schematic flowchart illustrating the control method for the water tank cleaning equipment provided in this application embodiment. Please refer to... Figure 7 In some embodiments, the control method for the pool cleaning equipment may further include the following steps:

[0159] S104: When the water tank cleaning equipment enters or leaves the water surface and the buoyancy component 20 is in the second state, control the first drive device 30 to drive the buoyancy component 20 to perform mechanical movement so as to switch the buoyancy component 20 from the second state to the first state.

[0160] In some embodiments, the entry or exit of the pool cleaning equipment into or from the water surface may include, but is not limited to, the following scenarios: the pool cleaning equipment completes the cleaning operation and leaves the water surface; the pool cleaning equipment enters the water before the cleaning operation begins; the pool cleaning equipment suspends the operation or adjusts the operation position and leaves the water surface; the equipment leaves the water surface during an emergency or malfunction handling; the pool cleaning equipment is recycled or maintained; or the pool cleaning equipment is stored or transported.

[0161] In the above scenario, when the buoyancy component 20 is in the second state, the first driving device 30 is controlled to drive the buoyancy component 20 to perform mechanical movement, thereby switching the buoyancy component 20 from the second state to the first state. That is to say, when the pool cleaning equipment is not in operation (e.g., during storage, transportation, maintenance, or idleness), the buoyancy component 20 can be switched to the first state, which can constitute the default initial state of the pool cleaning equipment.

[0162] In this way, once the pool cleaning equipment is submerged in water, no additional operation is required. The equipment will naturally sink to the bottom of the pool under its own weight and begin cleaning from there. Once the equipment is out of the water, the buoyancy component 20 is switched to its first state to prepare for the next cleaning operation.

[0163] Furthermore, the pool cleaning equipment is always in its first state when not in operation, ensuring that its size and shape remain consistent when not in use. This avoids collisions and scratches caused by inconsistent size and shape during storage, packaging, and transportation, reducing the risk of damage to the pool cleaning equipment, improving the safety of packaging and transportation, facilitating automated grabbing, handling, and stacking, and improving warehousing and logistics efficiency.

[0164] In some embodiments, the pool cleaning device further includes a first sensor, which includes, but is not limited to, a Hall sensor, an ultrasonic distance sensor, a micro switch, and a proximity sensor.

[0165] Hall sensors operate based on the Hall effect principle. When a current-carrying conductor or semiconductor is placed in a magnetic field perpendicular to the current direction, a Hall voltage is generated in the direction perpendicular to both the current and the magnetic field. Ultrasonic distance sensors emit ultrasonic pulses and receive their echoes, calculating the distance between the sensor and the target object based on the time difference between transmission and reception. A microswitch is a switch with a tiny contact gap and a rapid-acting mechanism; when an external mechanical force is applied to its actuator or button, the contact state changes (from normally open to closed, or from normally closed to open). A proximity sensor is a sensor that detects the proximity of a target object without physical contact. Based on their operating principles, proximity sensors can be classified into various types, including inductive, capacitive, and photoelectric.

[0166] Figure 8Another schematic flowchart illustrating the control method for the water tank cleaning equipment provided in this application embodiment. Please refer to... Figure 8 In some embodiments, the control method for the pool cleaning equipment further includes:

[0167] S105: Obtain the component status signal of the buoyancy component 20 detected by the first sensor. The component status signal is used to indicate whether the buoyancy component 20 is in the first state or the second state.

[0168] Depending on the different mechanical motion forms of the buoyancy component 20 and the different types of the first sensor, the component status signal of the buoyancy component 20 detected by the first sensor may be different.

[0169] Taking a device body 10 with buoyancy component 20 rotatably connected to the main body 10 and an ultrasonic distance sensor as an example, the ultrasonic distance sensor can be mounted on the main body 10 and located on the rotation path of the buoyancy component 20. The buoyancy component 20 can be provided with a reflective surface or reflective structure to enhance the ultrasonic echo signal. The reflective surface can be the outer surface of the buoyancy component 20 itself, or it can be an additional reflective plate.

[0170] The component status signal acquired by the ultrasonic distance sensor can be a distance signal. When the buoyancy component 20 rotates around the shaft 23, the distance between its reflective surface and the ultrasonic distance sensor changes periodically. By comparing the detected distance value with a preset distance threshold, the state of the buoyancy component 20 can be determined.

[0171] For example, when the buoyancy component 20 is in the first state, the distance between the reflective surface and the sensor can be a first distance value D1 (e.g., 10 mm). When the buoyancy component 20 is in the second state, the distance between the reflective surface and the sensor can be a second distance value D2 (e.g., 25 mm). When the detected distance value is close to D1 (e.g., D1 ± 2 mm), it can be confirmed that the buoyancy component 20 is currently in the first state; when the detected distance value is close to D2 (e.g., D2 ± 2 mm), it can be confirmed that the buoyancy component 20 is currently in the second state.

[0172] In some embodiments, there may be two first sensors: one first sensor detects whether the buoyancy component 20 is in a first state, and the other first sensor detects whether the buoyancy component 20 is in a second state. The two first sensors can constitute a safety interlock detection component. For example, when one first sensor detects that the buoyancy component 20 is in the first state, and simultaneously the other first sensor detects that the buoyancy component 20 is in the first state, it can be determined that the pool cleaning equipment is malfunctioning, thus preventing continued use of the pool cleaning equipment in a malfunctioning state.

[0173] In this way, the actual state (first state or second state) of the buoyancy component 20 can be detected in real time by the first sensor to obtain the actual state of the buoyancy component 20, and to avoid the situation where the buoyancy component 20 is not actually switched to the correct position when the state is switched due to factors such as jamming of the transmission component or failure of the first drive device 30.

[0174] Furthermore, the current state of the buoyancy component 20 obtained by the first sensor can serve as the basis for the subsequent actions of the pool cleaning equipment, so that the actions of the main body 10 are compatible with the state of the buoyancy component 20, avoiding a situation where the actions of the main body 10 and the state of the buoyancy component 20 are mismatched.

[0175] In some embodiments, the pool cleaning device further includes a second sensor, which includes, but is not limited to, a water level sensor, a pressure sensor, and an ultrasonic sensor.

[0176] A water level sensor is used to detect whether the pool cleaning equipment is in water or above the water surface. Water level sensors can include electrode-type water level sensors and capacitive water level sensors. A pressure sensor is used to detect the water pressure or air pressure of the environment in which the equipment body 10 is located. An ultrasonic sensor calculates the distance between the sensor and a target object (e.g., water surface, pool bottom, or pool wall) based on the time difference between emission and reception by emitting ultrasonic pulses and receiving their echoes.

[0177] Figure 9 Another schematic flowchart illustrating the control method for the water tank cleaning equipment provided in this application embodiment. Please refer to... Figure 9 Before step S102 controls the first drive device 30 to drive the buoyancy component 20 to perform mechanical movement, the control method for the pool cleaning equipment further includes:

[0178] S106: Based on the device status signal of the device body 10 detected by the second sensor, determine that the device status of the water tank cleaning device meets the preset conditions.

[0179] Depending on the different forms of mechanical motion of the buoyancy component 20 and the different types of the first sensor, the component status signal of the buoyancy component 20 detected by the first sensor may be different.

[0180] Taking a buoyancy component 20 rotatably mounted on the main body 10 of the equipment, and a pressure sensor as an example, the pressure sensor can be mounted on the main body 10 of the equipment, with its pressure-sensing surface connected to the external environment of the equipment, to directly sense the water pressure or air pressure of the environment in which the equipment is located. In this way, the equipment status signal obtained by the pressure sensor can be a pressure value signal. When the pressure sensor enters the water from the air, or leaves the water and enters the air, the pressure value detected by the pressure sensor will change significantly.

[0181] The height of the pressure sensor relative to the main body 10 of the device can be roughly equivalent to the position of the bottom of the opening 22 when the buoyancy component 20 is exposed above the water surface. In this way, when the pressure value detected by the pressure sensor changes, it can be confirmed that the bottom of the opening 22 has surfaced, meeting the conditions for switching to the second state, or it can be confirmed that the buoyancy component 20 has begun to enter the water.

[0182] By setting a second sensor, the current state of the buoyancy component 20 can be confirmed, thus avoiding a mismatch between the state switching of the buoyancy component 20 and the current state of the main body 10. This improves the accuracy and reliability of the buoyancy component 20 when switching to the second state. This also prevents the buoyancy component 20 from activating prematurely before the opening 22 is fully above the water surface, which could lead to the buoyancy component 20 scooping water but failing to provide the preset buoyancy.

[0183] Please see Figures 1 to 4 This embodiment provides a pool cleaning device, including a main body 10, a buoyancy component 20, a first drive device 30, and a second drive device.

[0184] The main body 10 of the equipment may be equipped with cleaning components (not shown), which may include cleaning parts, suction filtration devices, etc. This embodiment does not limit the type of cleaning components or the cleaning method. For example, the cleaning parts may include a roller brush for scraping and removing dirt such as mud and algae attached to the bottom and walls of the pool. The suction filtration device can filter and intercept dirt through filter elements such as filter screens. By leaving dirt such as mud and sand on the main body 10 of the equipment, the water is cleaned.

[0185] The buoyancy component 20 is located on the main body 10 of the equipment, that is, the buoyancy component 20 is connected to the main body 10 of the equipment. The buoyancy component 20 has an open cavity 21, that is, the open cavity 21 has an opening 22, and the open cavity 21 is connected to the external environment through the opening 22. In this way, outside air or water can enter and exit the open cavity 21 through the opening 22 to realize gas-liquid replacement within the open cavity 21.

[0186] The first driving device 30 is connected to the buoyancy component 20 and is used to drive the buoyancy component 20 to perform mechanical movement, so that the buoyancy component 20 switches between a first state and a second state. That is, the buoyancy component 20 has a first state and a second state relative to the main body of the equipment 10, and the first driving device 30 can drive the buoyancy component 20 to switch between the first state and the second state.

[0187] In the first state (e.g.) Figure 1 and Figure 2As shown, water can enter the buoyancy component 20 through the opening 22. Correspondingly, the gas in the open cavity 21 is discharged through the opening 22. The drainage volume of the buoyancy component 20 becomes smaller, the buoyancy provided by the buoyancy component 20 is smaller, and the buoyancy provided by the buoyancy component 20 is less than the weight of the pool cleaning equipment. The pool cleaning equipment sinks and is submerged in the water.

[0188] In the second state (e.g.) Figure 3 and Figure 4 As shown, water in the open cavity 21 can be discharged through the opening 22, while gas enters the buoyancy component 20 through the opening 22. This allows the buoyancy component 20 to have a large drainage volume when floating on the water surface, providing greater buoyancy and enabling the pool cleaning equipment to float. However, in some cases, part of the buoyancy component 20 is submerged, while the opening 22 of the open cavity 21 is exposed to the water surface to prevent water from entering the open cavity 21. If water remains inside the open cavity 21, the buoyancy provided by the buoyancy component 20 will decrease, and the pool cleaning equipment may sink.

[0189] The second driving device is used to drive the main body 10 of the equipment to move. The second driving device may include a propeller, a walking track, etc. As needed, the second driving device can drive the main body of the equipment to float or sink in the water or crawl on the pool wall. This embodiment does not limit this.

[0190] The pool cleaning equipment also includes a control device, which is connected to the first drive unit 30 and the second drive unit respectively. The control device is configured to perform actions such as... Figures 5-9 The control method for the water tank cleaning equipment provided in the illustrated embodiment.

[0191] Among them, the pool cleaning equipment performs... Figures 5-9 The control method for the pool cleaning equipment provided in the embodiment shown has the same effect as the control method for the pool cleaning equipment. By switching the state of the buoyancy component 20 through the mechanical movement of the buoyancy component 20, the pool cleaning equipment can switch between floating and sinking. The mechanical movement of the buoyancy component 20 has a fast response speed and the time required for the state switching of the buoyancy component 20 is short. That is, the pool cleaning equipment switches between floating and sinking quickly, which improves the cleaning efficiency of the pool cleaning equipment.

[0192] Figure 10 Another schematic flowchart illustrating the control method for the water tank cleaning equipment provided in this application embodiment. Please refer to... Figure 10 The control method of this water tank cleaning equipment is described in detail below:

[0193] This embodiment provides a control method for a pool cleaning device. The pool cleaning device includes a main body 10, a buoyancy component 20 disposed on the main body 10, and a first driving device 30 connected to the buoyancy component 20. The buoyancy component 20 has an open cavity 21. The method includes:

[0194] S201: In response to a floating command, control the pool cleaning equipment submerged in the pool to move toward the water surface so that at least part of the buoyancy component 20 is exposed above the water surface, wherein the buoyancy component 20 is in a first state when the pool cleaning equipment is submerged in water;

[0195] S202: With at least part of the buoyancy component 20 exposed above the water surface, the first drive device 30 is controlled to drive the buoyancy component 20 to change its attitude relative to the main body 10, so as to switch the buoyancy component 20 from a first state to a second state; wherein, in the first state, the open cavity 21 is configured to allow water in the pool to enter; in the second state, the open cavity 21 is configured to prevent water in the pool from entering and to contain gas.

[0196] The control method for the water tank cleaning equipment provided in this embodiment is similar to... Figure 5 The same parts of the control method for the pool cleaning equipment provided in the illustrated embodiment will not be described in detail here.

[0197] In some embodiments, the first drive device 30 is controlled to drive the buoyancy component 20 to change its attitude relative to the device body 10, so as to switch the buoyancy component 20 from a first state to a second state.

[0198] The attitude of the buoyancy component 20 relative to the device body 10 may include at least one of the angle, position, or orientation of the buoyancy component 20 relative to the device body 10. In this way, the attitude of the buoyancy component 20 can be changed by the first driving device 30 to change the orientation of the opening 22 of the open cavity 21, thereby allowing the buoyancy component 20 to switch between a first state and a second state.

[0199] By changing the attitude of the buoyancy component 20 relative to the main body 10 of the equipment, the buoyancy component 20 can switch between a first state and a second state, allowing the pool cleaning equipment to switch between floating and sinking. In this way, the buoyancy component 20 can have a relatively simple structure and mechanical operation, improving the speed and reliability of the pool cleaning equipment's state switching, and reducing the failure rate and assembly and maintenance costs of the pool cleaning equipment.

[0200] In some embodiments, the buoyancy component 20 is provided with a rotating shaft 23 that is rotatably connected to the device body 10.

[0201] Depending on the position of the pivot 23 of the buoyancy component 20, the buoyancy component 20 can rotate or flip relative to the main body 10 of the equipment. For example, when the buoyancy component 20 and its pivot 23 are spaced apart, the buoyancy component 20 can flip relative to the main body 10 of the equipment. For ease of explanation, the following description takes the pivot 23 being located on the buoyancy component 20 as an example. In this way, the structure of the buoyancy component 20 is more compact, which is conducive to the miniaturization of the pool cleaning equipment.

[0202] Controlling the first driving device 30 to drive the buoyancy component 20 to change its attitude relative to the main body 10, so as to switch the buoyancy component 20 from the first state to the second state, includes: controlling the first driving device 30 to drive the buoyancy component 20 to rotate around the rotating shaft 23, so as to change the orientation of the opening 22, and switch the buoyancy component 20 from the first state to the second state.

[0203] In other words, the buoyancy component 20 is rotatably connected to the main body 10 of the equipment via a rotating shaft 23. The number of parts between the buoyancy component 20 and the main body 10 is relatively small, and the connection structure is simple. This results in high reliability for the buoyancy component 20 when switching between the first and second states. By rotating relative to the main body 10, the buoyancy component 20 changes the orientation of the opening 22. The mechanical movement of the buoyancy component 20 is relatively simple, allowing for faster switching between the first and second states and improving the switching speed of the pool cleaning equipment between sinking and floating. Furthermore, the orientation of the opening 22 of the buoyancy component 20 in the first or second state can be precisely adjusted by controlling the rotation angle of the rotating shaft 23, thereby enhancing the flexibility of buoyancy adjustment.

[0204] In some embodiments, this embodiment provides a pool cleaning device, including:

[0205] Equipment body 10;

[0206] A buoyancy component 20 is provided on the main body 10 of the equipment, and the buoyancy component 20 has an open cavity 21;

[0207] The first driving device 30 is connected to the buoyancy component 20 and is used to drive the buoyancy component 20 to perform mechanical movement, so that the buoyancy component 20 switches between the first state and the second state.

[0208] The control device is connected to the first drive device 30; the control device is configured to perform actions such as Figure 10 The control method for the water tank cleaning equipment provided in the illustrated embodiment.

[0209] The water tank cleaning equipment provided in this embodiment has the same structure as the water tank cleaning equipment described above, and will not be described in detail here.

[0210] Among them, the pool cleaning equipment performs actions such as Figure 10The control method for the pool cleaning equipment provided in the illustrated embodiment has the same effects as the control method for the pool cleaning equipment. By changing the attitude of the buoyancy component 20 relative to itself, the buoyancy component 20 can switch between a first state and a second state, allowing the pool cleaning equipment to switch between floating and sinking. In this way, the buoyancy component 20 can have a simpler structure and mechanical operation, improving the speed and reliability of the pool cleaning equipment's state switching, and reducing the failure rate and assembly and maintenance costs of the pool cleaning equipment.

[0211] Figure 11 Another schematic flowchart illustrating the control method of the pool cleaning equipment provided in this application embodiment. This embodiment includes a buoyancy component 20. Figures 1-4 The first buoyancy component 24 and the second buoyancy component 25 shown are used as examples for illustration. The first buoyancy component 24 and the second buoyancy component 25 have similar shapes, both including a peripheral wall that encloses an open cavity 21 and an opening 22. At least a portion of the peripheral wall is configured as a flow guide wall. Figure 1-4 (The curved portion in the text). Please refer to... Figure 11 This embodiment provides a control method for a water tank cleaning device, which includes:

[0212] S301: Control the movement of a non-operating pool cleaning device into the pool.

[0213] The non-working state refers to the state in which the pool cleaning equipment is not performing cleaning operations, including but not limited to the standby state, storage state, transportation state, or maintenance state of the pool cleaning equipment. Its current location or carrier may include but is not limited to: base station, storage compartment, another pool, user handheld device, ground, countertop, transportation vehicle, storage cabinet, toolbox, drying rack, hanging rack, repair table, or packaging box.

[0214] In some embodiments, when the pool cleaning equipment is in a non-working state, both the first buoyancy component 24 and the second buoyancy component 25 are in a first state. This ensures that the size and shape of the pool cleaning equipment remain consistent when it is not in a working state, avoiding collisions and scratches caused by inconsistent size and shape during storage, packaging, and transportation. This reduces the risk of damage to the pool cleaning equipment, improves the safety of packaging and transportation, facilitates automated grasping, handling, and stacking, and improves warehousing and logistics efficiency.

[0215] The water tank cleaning equipment can be moved into the water tank by at least one of the following methods: manual placement, base station push, autonomous movement, or robotic arm grabbing.

[0216] S302: The water tank cleaning equipment enters the water and sinks under the action of gravity.

[0217] In this configuration, since the first buoyancy component 24 and the second buoyancy component 25 are in a first state, meaning that the openings 22 of both the first buoyancy component 24 and the second buoyancy component 25 face the first direction M, during the sinking process of the pool cleaning equipment, water in the pool can enter the open cavities 21 of the first buoyancy component 24 and the second buoyancy component 25 respectively, and the gas inside the open cavities 21 is discharged. As the pool cleaning equipment continues to sink, the open cavities 21 can fill with water. The drainage volume of the first buoyancy component 24 and the second buoyancy component 25 is relatively small, and the sum of the buoyancy provided by the first buoyancy component 24 and the second buoyancy component 25 is less than the weight of the pool cleaning equipment, allowing the pool cleaning equipment to continue sinking to the bottom of the pool under the action of gravity.

[0218] S303: Control the water tank cleaning equipment to perform underwater cleaning operations on the water tank.

[0219] Underwater cleaning operations can refer to the cleaning operations performed on the underwater areas of a pool by pool cleaning equipment that is submerged in water.

[0220] Underwater cleaning operations may include, but are not limited to: cleaning the sediment, leaves, pebbles and other dirt deposited at the bottom of the pool; cleaning the algae, moss, scale and other dirt attached to the side walls of the pool; filtering and purifying suspended particulate matter, microorganisms and other dirt in the water; and cleaning different parts of the pool such as corners, steps and ladders.

[0221] S304: In response to a floating command, control the second drive device to drive the pool cleaning equipment submerged in the pool toward the water surface so that at least part of the buoyancy component 20 is exposed above the water surface, wherein the buoyancy component 20 is in a first state when the pool cleaning equipment is submerged in water.

[0222] S305: When at least part of the buoyancy component 20 is exposed above the water surface, the first drive device 30 is controlled to drive the first buoyancy component 24 and the second buoyancy component 25 to perform mechanical movements simultaneously, so as to switch the first buoyancy component 24 and the second buoyancy component 25 from the first state to the second state simultaneously.

[0223] In other words, after the underwater cleaning operation is completed, the second drive device can be controlled to drive the pool cleaning equipment to float directly from its current position, or to walk from its current position to the pool wall and crawl from the pool wall to the water surface. When the guide wall of at least one of the first buoyancy component 24 and the second buoyancy component 25 is above the water surface, it indicates that the water in the first buoyancy component 24 and the second buoyancy component 25 has been emptied or nearly emptied through the guide wall. At this time, the first buoyancy component 24 and the second buoyancy component 25 are simultaneously switched to the second state (i.e., the state in which the opening 22 faces the second direction N) so that the pool cleaning equipment floats on the water surface.

[0224] S306: Control the water tank cleaning equipment to perform water surface cleaning operations in the water tank.

[0225] Among them, water surface cleaning operation refers to the operation of cleaning the water surface area of ​​the pool while the pool cleaning equipment is floating on the water surface.

[0226] Water surface cleaning operations include, but are not limited to: collecting floating debris such as leaves, foam, and dust from the water surface; cleaning the waterline dirt ring formed at the junction of the water surface and the pool wall; and filtering and purifying suspended particulate matter and other dirt in the surface water.

[0227] During the water surface cleaning operation, the first buoyancy component 24 and the second buoyancy component 25 are both maintained in the second state to provide stable buoyancy for the water cleaning equipment, so that the water cleaning equipment can float stably on the water surface.

[0228] S307: Control the removal of pool cleaning equipment from the pool.

[0229] In other words, once the pool cleaning operation is completed, the pool cleaning equipment can be removed from the pool. The methods for removing the pool cleaning equipment may include, but are not limited to, manual removal, removal via a lifting platform, or removal of the base station using a robotic arm or other recovery mechanism.

[0230] S308: Control the first driving device 30 to drive the first buoyancy component 24 and the second buoyancy component 25 to perform mechanical movement, so as to switch the first buoyancy component 24 and the second buoyancy component 25 from the second state to the first state. That is to say, when the pool cleaning equipment is not in operation (e.g., during storage, transportation, maintenance, or idleness), both the first buoyancy component 24 and the second buoyancy component 25 can be switched to the first state, and the first state can constitute the default initial state of the pool cleaning equipment. The relevant content has been described in the above embodiments, and will not be repeated in this embodiment.

[0231] S309: Control the water tank cleaning equipment to move to the preset position.

[0232] The preset location can refer to the location where the pool cleaning equipment is charged, stored, maintained, dried, or awaits the next cleaning task after the cleaning operation is completed.

[0233] The preset location package may include, but is not limited to: base stations for charging and data interaction, storage compartments for storage, charging docks for charging, drying racks for drying, storage locations specified by users through terminal devices or manually, water outlets at the edge of the pool, or steps.

[0234] The water tank cleaning equipment can be moved to a preset position by at least one of the following methods, including but not limited to manual movement, base station push, conveyor belt conveying, autonomous movement, or robotic arm grasping.

[0235] This embodiment provides a cleaning system, including a base station and a pool cleaning device from any of the above embodiments. The structure, effects, working principle, and control methods of the pool cleaning device have been described in the above embodiments and will not be repeated here. The base station can be installed outside the pool and can provide the pool cleaning device with functions such as docking, charging, maintenance, and data interaction.

[0236] The cleaning system, by incorporating the aforementioned pool cleaning equipment, achieves the same effects. The buoyancy component 20's state is switched via mechanical movement, allowing the pool cleaning equipment to alternate between floating and sinking. The buoyancy component 20's mechanical movement has a fast response speed, and the time required for state switching is short, meaning the pool cleaning equipment switches between floating and sinking quickly, thus improving its cleaning efficiency.

[0237] Finally, it should be noted that other embodiments of the invention will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This invention is intended to cover any variations, uses, or adaptations of the invention that follow the general principles of the invention and include common knowledge or customary techniques in the art not disclosed herein, and is not limited to the precise structures described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of the invention is limited only by the appended claims.

Claims

1. A control method for a water tank cleaning device, characterized in that, The water tank cleaning equipment includes a main body, a buoyancy component disposed on the main body, a first driving device connected to the buoyancy component, and a second driving device for driving the main body to move, wherein the buoyancy component has an open cavity; The method includes: In response to a floating command, the second drive device is controlled to drive the pool cleaning equipment submerged in the pool toward the water surface so that at least part of the buoyancy component is exposed above the water surface, wherein the buoyancy component is in a first state when the pool cleaning equipment is submerged in water; With at least a portion of the buoyancy component exposed above the water surface, the first drive device is controlled to drive the buoyancy component to perform mechanical movement in order to switch the buoyancy component from the first state to the second state; In the first state, the open cavity is configured to allow water from the pool to enter; In the second state, the open cavity is configured to prevent water from entering the pool and to contain gas, so that the main body of the device floats on the water surface under the buoyancy provided by the buoyancy component.

2. The method according to claim 1, characterized in that, The step of controlling the first driving device to drive the buoyancy component to perform mechanical movement, so as to switch the buoyancy component from the first state to the second state, includes: The first driving device is controlled to drive the buoyancy component to change its attitude relative to the main body of the device, thereby changing the orientation of the opening of the open cavity and switching the buoyancy component from the first state to the second state.

3. The method according to claim 2, characterized in that, The buoyancy component is provided with a rotating shaft that is rotatably connected to the main body of the equipment; controlling the first driving device to drive the buoyancy component to change its attitude relative to the main body of the equipment includes: The first driving device is controlled to drive the buoyancy component to rotate around the pivot to change the orientation of the opening, wherein, in the second state, the opening is exposed above the water surface.

4. The method according to claim 1, characterized in that, After controlling the first driving device to drive the buoyancy component to perform mechanical movement, the method further includes: Stop the driving force provided by the second driving device; The main body of the equipment partially falls back into the water under the action of gravity until the buoyancy generated by the buoyancy component reaches a balance with the weight of the main body of the equipment, causing the main body of the equipment to float on the water surface.

5. The method according to claim 1, characterized in that, The step of controlling the first driving device to drive the buoyancy component to perform mechanical movement, so as to switch the buoyancy component from the first state to the second state, includes: The first driving device is controlled to drive the buoyancy component to move, thereby changing the structural state of the buoyancy component and switching the buoyancy component from the first state to the second state. In the first state, the buoyancy component has a first drainage volume, and in the second state, the buoyancy component has a second drainage volume, the second drainage volume being greater than the first drainage volume.

6. The method according to any one of claims 1 to 5, characterized in that, The water tank cleaning equipment includes multiple buoyancy components; The control of the first driving device to drive the buoyancy component to perform mechanical movement includes any of the following methods: Control one of the first driving devices to drive multiple buoyancy components to perform mechanical movements synchronously; The first drive device connected to each of the buoyancy components is controlled separately to synchronously drive the multiple buoyancy components to move.

7. The method according to any one of claims 1 to 5, characterized in that, The method further includes: When the water cleaning equipment enters or leaves the water surface and the buoyancy component is in the second state, the first driving device is controlled to drive the buoyancy component to perform mechanical movement, so as to switch the buoyancy component from the second state to the first state.

8. The method according to any one of claims 1 to 5, characterized in that, The water tank cleaning equipment further includes a first sensor; the method further includes: The component status signal of the buoyancy component detected by the first sensor is obtained, and the component status signal is used to indicate whether the buoyancy component is in the first state or the second state.

9. The method according to any one of claims 1 to 5, characterized in that, The pool cleaning equipment further includes a second sensor; before controlling the first drive device to drive the buoyancy component to perform mechanical movement, the method further includes: Based on the device status signal of the main body of the device detected by the second sensor, it is determined that the device status of the water tank cleaning equipment meets the preset conditions.

10. A control method for a water tank cleaning device, characterized in that, The water tank cleaning equipment includes a main body, a buoyancy component disposed on the main body, and a first driving device connected to the buoyancy component, wherein the buoyancy component has an open cavity; The method includes: In response to a floating command, the pool cleaning equipment submerged in the pool is controlled to move toward the water surface so that at least a portion of the buoyancy component is exposed above the water surface, wherein the buoyancy component is in a first state when the pool cleaning equipment is submerged in water; With at least part of the buoyancy component exposed above the water surface, the first drive device is controlled to drive the buoyancy component to change its attitude relative to the main body of the device, so as to switch the buoyancy component from the first state to the second state. In the first state, the open cavity is configured to allow water from the pool to enter; In the second state, the open cavity is configured to prevent water from entering the pool and to contain gas.

11. The method according to claim 10, characterized in that, The buoyancy component is provided with a rotating shaft that is rotatably connected to the main body of the equipment; controlling the first driving device to drive the buoyancy component to change its attitude relative to the main body of the equipment, so as to switch the buoyancy component from the first state to the second state, includes: The first driving device is controlled to drive the buoyancy component to rotate around the rotating shaft, thereby changing the orientation of the opening of the open cavity and switching the buoyancy component from the first state to the second state.

12. A water tank cleaning device, characterized in that, include: Equipment body; A buoyancy component is disposed on the main body of the device, and the buoyancy component has an open cavity; A first driving device is connected to the buoyancy component and is used to drive the buoyancy component to perform mechanical movement, so that the buoyancy component switches between a first state and a second state. The second driving device is used to drive the main body of the equipment to move; A control device is connected to the first drive device and the second drive device, respectively; The control device is configured to perform the control method of the pool cleaning equipment as described in any one of claims 1-9.

13. A water tank cleaning device, characterized in that, include: Equipment body; A buoyancy component is disposed on the main body of the device, and the buoyancy component has an open cavity; A first driving device is connected to the buoyancy component and is used to drive the buoyancy component to perform mechanical movement, so that the buoyancy component switches between a first state and a second state. The control device is connected to the first drive device; The control device is configured to perform the control method of the pool cleaning equipment as described in claim 10 or 11.

14. A cleaning system, characterized in that, Includes a base station and the pool cleaning equipment as described in claim 12 or 13.

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