Automatic pool cleaning device

Abstract

The application provides an automatic pool cleaning device. The automatic pool cleaning device comprises a body, a buoyancy adjusting assembly, a first detection assembly and a control module. The first detection assembly comprises a detection piece and a movable piece; the control module is electrically connected with the detection piece, and is configured to obtain a current state of the automatic pool cleaning device and control a working state of the buoyancy adjusting assembly according to a position and / or angle change of the movable piece relative to the body detected by the detection piece; when a head of the automatic pool cleaning device is exposed from the water surface by a preset distance, the control module obtains the current state of the automatic pool cleaning device according to the position and / or angle change of the movable piece relative to the body detected by the detection piece, and controls the buoyancy adjusting assembly to adjust the buoyancy of the automatic pool cleaning device so that the automatic pool cleaning device is floated to a cleaning posture. In this way, the problem that the existing automatic pool cleaning device cannot be smoothly taken out of the water is solved.

Description

Technical Field

[0001] This application relates to the field of cleaning device technology, and in particular to an automatic cleaning device for water tanks. Background Technology

[0002] With the increasing popularity of swimming pools and significant advancements in robotics technology, more and more consumers are opting for pool cleaning robots to perform their tasks. When a pool cleaning robot rises from underwater to the surface, a water surfacing sensor detects that it is currently in an out-of-water state. However, if only the head of the robot is above water while other areas (such as the tail or middle section) remain submerged, the water surfacing sensor cannot detect whether the robot has emerged from the water. This prevents the robot from adjusting its buoyancy and / or posture in time, making it difficult to emerge smoothly from the water. Summary of the Invention

[0003] In view of the above-mentioned defects in the prior art, this application provides an automatic water tank cleaning device, which aims to solve the problem that the existing automatic water tank cleaning devices cannot discharge water smoothly.

[0004] This application provides an automatic pool cleaning device capable of both surface and underwater cleaning. The device includes: a main body; a buoyancy adjustment component disposed on the main body for adjusting the buoyancy of the automatic pool cleaning device; a first detection component disposed at the head of the main body, comprising a detection element and a movable element, the detection element being capable of detecting changes in the position and / or angle of the movable element relative to the main body; and a control module electrically connected to the detection element, configured to obtain the current state of the automatic pool cleaning device based on the position and / or angle changes of the movable element relative to the main body detected by the detection element, and to control the working state of the buoyancy adjustment component. When the head of the automatic pool cleaning device protrudes a preset distance above the water surface, the position and / or angle of the movable element relative to the main body changes. The control module, based on the position and / or angle changes of the movable element relative to the main body detected by the detection element, obtains the current state of the automatic pool cleaning device and controls the buoyancy adjustment component to adjust the buoyancy of the automatic pool cleaning device so that the automatic pool cleaning device floats to the surface for cleaning.

[0005] In some embodiments, the first detection component further includes a mounting member that is detachably mounted on the detection member or the body, and a movable member that is movably connected to the mounting member.

[0006] In some embodiments, the detection element or body includes a first engaging end and a first engaging groove disposed opposite to each other, and the mounting element includes a second engaging groove and a second engaging end disposed opposite to each other. The first engaging end is detachably engaged with the second engaging groove, and the second engaging end is detachably connected to the first engaging groove.

[0007] In some embodiments, the movable component includes a buoyancy portion and a connecting portion connected to the buoyancy portion, and the mounting component includes a mounting portion, wherein the connecting portion is movably mounted to the mounting portion.

[0008] In some embodiments, the main body includes a front compartment with a water inlet, and a first detection component is connected to the front compartment and positioned near the water inlet.

[0009] In some embodiments, the buoyancy adjustment assembly includes multiple buoyancy chambers and an air pump, the air pump being used to deliver or output gas to the buoyancy chambers, and the control module being configured to control the air pump to deliver or output gas to the corresponding buoyancy chambers according to the current state of the automatic pool cleaning device.

[0010] In some embodiments, the buoyancy adjustment assembly further includes an air inlet pipe located at the head, and when the head of the automatic pool cleaning device extends out of the water, an air pump can deliver outside air from the air inlet pipe to the corresponding buoyancy chamber.

[0011] In some embodiments, the device further includes: an underwater acoustic sensing module; and a mounting bracket for mounting the underwater acoustic sensing module. The mounting bracket has openings on its top and side walls, through which the underwater acoustic sensing module can transmit and receive ultrasonic signals.

[0012] In some embodiments, the mounting bracket protrudes from the underwater acoustic sensor module; and / or the sidewall of the mounting bracket has a plurality of openings circumferentially; and / or the underwater acoustic sensor module protrudes from the automatic pool cleaning device; and / or the underwater acoustic sensor module or mounting bracket is mounted on the front, top, side and / or rear of the automatic pool cleaning device.

[0013] In some embodiments, the underwater acoustic sensing module is further provided with an IMU inertial measurement module.

[0014] In some embodiments, the device further includes: an image acquisition module for acquiring image information of a first target object; a processing module for performing AI image recognition on the image information to obtain target information of the first target object; and a control module configured to control the working state of the automatic pool cleaning device according to the target information of the first target object, wherein the working state of the automatic pool cleaning device includes at least underwater cleaning, surface cleaning, forward movement, backward movement, turning, and stopping.

[0015] In some embodiments, the device further includes: a laser sensing module electrically connected to a control module, the laser sensing module being used to collect target information of the second target object; the control module being configured to control the working state of the automatic water tank cleaning device according to the target information of the second target object, the working state of the automatic water tank cleaning device including at least forward, backward, turning and stopping.

[0016] In this application's technical solution, the head of the automatic pool cleaning device is equipped with a first detection component, which includes a detection element and a movable element. The movable element can change its position and / or angle relative to the body. Therefore, the movable element can be used to represent the floating and submerging states of the automatic pool cleaning device. The detection element can detect the position and / or angle changes of the movable element relative to the body. The control module is configured to obtain the current state of the automatic pool cleaning device based on the position and / or angle changes of the movable element relative to the body detected by the detection element and control the working state of the buoyancy adjustment component; when the head of the automatic pool cleaning device emerges from the water surface a preset distance, the position and / or angle of the movable element relative to the body changes. The control module obtains the current state of the automatic pool cleaning device based on the position and / or angle changes of the movable element relative to the body detected by the detection element and controls the buoyancy adjustment component to adjust the buoyancy of the automatic pool cleaning device so that the automatic pool cleaning device floats to the water surface for cleaning, solving the problem of existing automatic pool cleaning devices failing to smoothly exit the water. Attached Figure Description

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

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

[0019] Figure 2 for Figure 1 The diagram shows a cross-sectional view of the automatic cleaning device for the water tank.

[0020] Figure 3 for Figure 1 An exploded view of the automatic cleaning device for the water tank shown.

[0021] Figure 4 for Figure 1 A partial structural schematic diagram of the automatic cleaning device for the water tank shown.

[0022] Figure 5 for Figure 1 The diagram shows the structure of the middle frame.

[0023] Figure 6 for Figure 1 The diagram shows the structure of the mounting bracket.

[0024] Figure 7 for Figure 2 The diagram shows the structure of the buoyancy adjustment component.

[0025] Figure 8 for Figure 2 The diagram shows the structure of the first detection component.

[0026] Figure 9 for Figure 2 The diagram shows a structural schematic of the first detection component from another angle.

[0027] Figure 10 for Figure 6 An exploded view of the first detection component is shown.

[0028] Figure 11 for Figure 1 The diagram shows the functional modules of the automatic water tank cleaning device.

[0029] The realization of the purpose, functional features and advantages of this application will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0030] The technical solutions in this application will be clearly and completely described below. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of the embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of this application. It should be noted that, unless otherwise specified, the embodiments and features in the embodiments of this application can be combined with each other.

[0031] Please see Figures 1-11 One embodiment of this application provides an automatic water tank cleaning device 100, which can clean the bottom, walls and surface of the water tank. For example, the automatic water tank cleaning device 100 can perform surface cleaning and underwater cleaning.

[0032] The automatic water tank cleaning device 100 includes a main body 10, a buoyancy adjustment component 20, a first detection component 30, and a control module 101.

[0033] In some embodiments, the buoyancy adjustment component 20 is disposed on the body 10 and is used to adjust the buoyancy of the automatic pool cleaning device 100.

[0034] In some embodiments, a first detection component 30 is disposed at the head 11 of the body 10. The first detection component 30 includes a detection element 31 and a movable element 32. The detection element 31 is capable of detecting changes in the position and / or angle of the movable element 32 relative to the body 10. It is understood that the head 11 may be located on one side of the body 10, such as... Figure 2As shown, the head 11 can be located on one side of the front portion 14 of the body 10. In some embodiments, the detection element 31 can detect positional changes of the movable element 32 relative to the body 10. In some embodiments, the detection element 31 can detect angular changes of the movable element 32 relative to the body 10. In some embodiments, the detection element 31 can detect both positional and angular changes of the movable element 32 relative to the body 10. The positional and / or angular changes of the movable element 32 relative to the body 10 can indicate the floating state of the automatic pool cleaning device 100, such as an upward floating state.

[0035] In some embodiments, the detection element 31 may be an angle detection element. The angle detection element is capable of detecting the angle change of the moving element 32 relative to the body 10.

[0036] In some embodiments, the detection element 31 may be a position detection element. The position detection element is capable of detecting positional changes of the moving element 32 relative to the body 10.

[0037] In some embodiments, the detection element 31 may be a position and angle detection element. The position and angle detection element is capable of detecting changes in the position and angle of the moving element 32 relative to the body 10.

[0038] In some embodiments, the control module 101 is electrically connected to the detection element 31. The control module 101 is configured to obtain the current state of the automatic pool cleaning device 100 based on the position and / or angle change of the moving element 32 relative to the body 10 detected by the detection element 31, and to control the operating state of the buoyancy adjustment component 20. The current state of the automatic pool cleaning device 100 includes at least floating, sinking, and current posture. The operating states of the automatic pool cleaning device 100 include at least forward, backward, turning, stopping, floating, sinking, surface cleaning, and underwater cleaning.

[0039] In some embodiments, when the head 11 of the automatic pool cleaning device 100 protrudes a preset distance above the water surface, the position and / or angle of the movable member 32 relative to the body 10 changes. The control module 101, based on the position and / or angle change of the movable member 32 relative to the body 10 detected by the detection element 31, obtains the current state of the automatic pool cleaning device 100 and controls the buoyancy adjustment component 20 to adjust the buoyancy of the automatic pool cleaning device 100 so that the automatic pool cleaning device 100 floats to a clean water surface posture. In this clean water surface posture, the automatic pool cleaning device 100 protrudes from the water surface inlet 121, and water can enter the body 10 through the water surface inlet 121.

[0040] In some embodiments, when the automatic pool cleaning device 100 dispenses water, its head 11 typically emerges from the water surface first. Since the first detection component 30 is located at the head 11 of the main body 10, after the head 11 of the automatic pool cleaning device 100 emerges from the water surface a predetermined distance, the movable component 32 in the first detection component 30 can change relative to the position and / or angle of the main body 10, and thus the change in position and / or angle of the movable component 32 relative to the main body 10 is detected by the detection component 31. Therefore, the control module 101 obtains the current state of the automatic pool cleaning device 100 based on the change in position and / or angle of the movable component 32 relative to the main body 10 detected by the detection component 31, and controls the buoyancy adjustment component 20 to adjust the buoyancy of the automatic pool cleaning device 100 so that the automatic pool cleaning device 100 floats to the water surface for cleaning.

[0041] Based on this, when the automatic water cleaning device 100 dispenses water, the first detection component 30 located on the head 11 of the main body 10 is used to detect the current state of the automatic water cleaning device 100 (the head 11 dispenses water first). When the current state meets the requirements, the control module 101 controls the buoyancy adjustment component 20 to adjust the buoyancy of the automatic water cleaning device 100 so that the automatic water cleaning device 100 floats to the water surface for cleaning.

[0042] In some embodiments, the first detection component 30 further includes a mounting member 33. The mounting member 33 is detachably mounted on the detection member 31 or the body 10. The movable member 32 is movably connected to the mounting member 33. When the head 11 of the automatic water cleaning device 100 protrudes a preset distance above the water surface, the movable member 32 can move, and its position and / or angle relative to the body 10 changes.

[0043] In some embodiments, the detection element 31 or the body 10 includes a first engaging end 311 and a first engaging groove 312 disposed opposite to each other, and the mounting element 33 includes a second engaging groove 331 and a second engaging end 332 disposed opposite to each other. The first engaging end 311 is detachably engaged with the second engaging groove 331, and the second engaging end 332 is detachably connected to the first engaging groove 312. The detection element 31 and the body 10 are detachably connected by an engaging manner, which allows the detection element 31 to be easily installed onto the body 10 and easily removed from the body 10.

[0044] In some embodiments, the movable component 32 includes a buoyancy part 321 and a connecting part 322 connected to the buoyancy part 321, and the mounting component 33 includes a mounting part 333, with the connecting part 322 movably mounted on the mounting part 333. When the head 11 of the automatic pool cleaning device 100 protrudes a predetermined distance above the water surface, the connecting part 322 can drive the buoyancy part 321 to move, causing a change in the position and / or angle of the buoyancy part 321 relative to the body 10.

[0045] In some embodiments, such as Figure 8 , Figure 9 and Figure 10 As shown, the detection component 31 includes a first engaging end 311 and a first engaging groove 312 disposed opposite to each other, as well as a connecting protrusion 313. The movable component 32 includes a buoyancy part 321 and a connecting part 322 connected to the buoyancy part 321. The mounting component 33 includes a mounting part 333, and the connecting part 322 is movably mounted on the mounting part 333. A corresponding through hole is provided on the connecting protrusion 313, through which the detection component 31 can be fixed as a whole to the head 11 of the body 10 using screws, etc.

[0046] The first engaging end 311 includes a guide wall 3111. The guide wall 3111 guides the first engaging end 311 to be detachably engaged in the second engaging groove 331. There may be two guide walls 3111, specifically formed on both sides of the first engaging end 311.

[0047] The buoyancy part 321 and the connecting part 322 are connected by a connecting rod 323. The buoyancy part 321 can be made of foam, such as foamed rubber, so that it can easily change position and / or angle relative to the body 10 under the action of buoyancy. Of course, the buoyancy part 321 can also be made of other materials, such as lightweight plastics, hollow glass microsphere composites, or low-density solid materials such as thermoplastic elastomers. The connecting part 322 includes a first connecting arm 3221 and a second connecting arm 3222. There is a gap 3223 between the first connecting arm 3221 and the second connecting arm 3222. Both the first connecting arm 3221 and the second connecting arm 3222 are provided with through holes 3224. The connecting part 322 can be movably installed on the mounting part 333 through the through holes 3224. For example, the mounting part 333 is embedded in the through hole 3224, and the two can move between each other.

[0048] Mounting member 33 includes a second engaging groove 331 and a second engaging end 332 disposed opposite to each other. The first engaging end 311 is detachably engaged with the second engaging groove 331, and the second engaging end 332 is detachably connected to the first engaging groove 312, so that both ends of the connecting part 332 can be detachably mounted on the mounting member 33. The second engaging end 332 is provided with a guide surface 3321. The guide surface 3321 can guide the second engaging end 332 to be detachably connected to the first engaging groove 312.

[0049] Since the first engaging end 311 is detachably engaged with the second engaging slot 331, and the second engaging end 332 is detachably connected to the first engaging slot 312, the user can easily remove the mounting part 33 by gently pulling it to perform self-maintenance. If there is a jam between the detection part 31 and the moving part 32, the user can easily remove it for self-maintenance and clear the jam.

[0050] The detection element 31 can be a magnetic encoder, and the movable element 32 can also be equipped with a magnet, such as a built-in permanent magnet. The magnet is preferably located in the buoyancy part 321, but can also be located in the connecting part 322 or the connecting rod 323. When the angle or position of the movable element 32 changes, the detection element 31 can sense the position or angle of the movable element 32 after rotation, and obtain the change in position or angle of the movable element 32 relative to its initial position. The movable element 32 does not require power and is particularly suitable for use in water pool environments containing metal ions.

[0051] In some embodiments, the body 10 includes a front compartment 12 with a water inlet 121. A first detection component 30 is connected to the front compartment 12 and positioned near the water inlet 121. The body 10 also includes a middle frame 13, a front portion 14, a top portion 15, a side portion 16, and a rear portion 17. The middle frame 13 has an opening 131 and a handle 132. The space in the opening 131 can be used to install a hydroacoustic sensing module 102.

[0052] In some embodiments, such as Figure 7 As shown, the buoyancy adjustment assembly 20 includes multiple buoyancy chambers 21 and an air pump 22. The air pump 22 is used to supply or output gas to the buoyancy chambers 21. The control module 101 is configured to control the air pump 22 to supply or output gas to the corresponding buoyancy chamber 21 according to the current state of the automatic pool cleaning device 100. For example, if the automatic pool cleaning device 100 needs to continue to float, the control module 101 is configured to control the air pump 22 to supply gas to the corresponding buoyancy chamber 21 according to the current state of the automatic pool cleaning device 100, thereby increasing the gas volume in the corresponding buoyancy chamber 21. If the automatic pool cleaning device 100 needs to sink, the control module 101 is configured to control the air pump 22 to output gas to the corresponding buoyancy chamber 21 according to the current state of the automatic pool cleaning device 100, thereby reducing the gas volume in the corresponding buoyancy chamber 21.

[0053] In some embodiments, the buoyancy adjustment assembly 20 further includes an air inlet pipe 23 disposed at the head 11. When the head 11 of the automatic pool cleaning device 100 extends out of the water surface, the air pump 22 can deliver external air from the air inlet pipe 23 to the corresponding buoyancy chamber 21. The buoyancy adjustment assembly 20 also includes an air guide pipe 24. The air guide pipe 24 connects the air inlet pipe 23, the air pump 22, and the buoyancy chamber 21, and is used to deliver the corresponding gas to the corresponding buoyancy chamber 21. The automatic pool cleaning device 100 includes a rear control chamber 40 and a front control chamber 50. Corresponding control modules can be disposed in the rear control chamber 40 and the front control chamber 50. For example, the air pump 22 can be disposed in the rear control chamber 40, and the underwater acoustic sensor module 102 can be electrically connected to the control module disposed in the front control chamber 50.

[0054] In some embodiments, such as Figure 6 and Figure 11As shown, the automatic pool cleaning device 100 also includes a mounting bracket 103 for mounting a hydroacoustic sensor module 102. Both the top wall 1031 and the side wall 1032 of the mounting bracket 103 have openings 1033, through which the hydroacoustic sensor module 102 can transmit and receive ultrasonic signals, giving it a large signal transmission and reception angle / range. Multiple openings 1033 can be formed in the side wall 1032, extending circumferentially. The openings 1033 in the top wall 1031 and the side wall 1032 can be spaced apart to increase the installation stability of the mounting bracket 103.

[0055] Mounting bracket 103 may include a top wall 1031 and a side wall 1032. Support bracket 113 has a mounting area 1131, on which mounting bracket 103 can be mounted. The opening 1033 of the top wall 1031 can fully expose the mounting area 1131, and the opening 1033 of the side wall 1032 can at least partially expose the mounting area 1131.

[0056] The number of underwater acoustic sensor modules 102 and the number of mounting areas 1131 can be set according to actual needs. In some embodiments, the number of underwater acoustic sensor modules 102 is one, and the number of mounting areas 1131 is two, with the two mounting areas 1131 connected by a connecting rod 1132; or, the number of underwater acoustic sensor modules 102 is two, and the number of mounting areas 1131 is two.

[0057] The support frame 113 is provided with several latches 1133. The latches 1133 can fasten the support frame 113 onto the body 10. The support frame 113 is fitted to the handle 132, and the support frame 113 also forms a through groove 1134, so that the support frame 113 can be used as part of the handle 132.

[0058] In some embodiments, the mounting bracket 103 may protrude from the underwater acoustic sensing module 102 to protect the underwater acoustic sensing module 102 from damage.

[0059] In some embodiments, the sidewall 1032 of the mounting bracket 103 is provided with a plurality of openings 1033 in the circumferential direction to increase the laser emission and reception angle or range.

[0060] In some embodiments, the underwater acoustic sensor module 102 protrudes from the automatic cleaning device 100 of the pool, so that the laser emitted by the underwater acoustic sensor module 102 can be unobstructed and the reflected laser signal can be stably received.

[0061] In some embodiments, the underwater acoustic sensor module 102 or the mounting bracket 103 is disposed at the front 14, top 15, side 16 and / or rear 17 of the automatic pool cleaning device 100. The underwater acoustic sensor module 102 or the mounting bracket 103 may be disposed in a suitable area.

[0062] In the above embodiment, by placing the underwater acoustic sensing module 102 above the surface of the automatic water cleaning device 100 and setting the mounting bracket 103 to protrude from the underwater acoustic sensing module 102, the underwater acoustic sensing module 102 can resist the impact of the automatic water cleaning device 100 falling, and can simultaneously receive and transmit signals from the top and sides.

[0063] Furthermore, the underwater acoustic sensing module 102 also includes an IMU (Inertial Measurement Unit) module. The underwater acoustic sensing module 102 can also integrate the IMU module into a single unit, employing an integrated underwater acoustic-inertial sensor, including a coaxial integrated housing, an underwater acoustic sensing module, an IMU module, a synchronization clock unit, a data fusion processing unit, a watertight electrical interface, and a power management unit. The underwater acoustic sensing module and the IMU are mounted coaxially and with the same reference, the synchronization clock enables simultaneous sampling, and the data fusion processing unit performs in-situ calibration and fusion output.

[0064] By integrating the underwater acoustic sensing module and the IMU (Inertial Measurement Unit) module coaxially and with the same reference, installation deviations and coordinate system transformation errors caused by the assembly of discrete components are eliminated. High-precision timestamp alignment of acoustic and inertial data is achieved through a synchronous clock, significantly reducing timing offset issues in multi-source data fusion. In-situ data fusion is completed using a built-in processing unit, and underwater acoustic observation information is used to compensate for long-term IMU integral drift in real time, effectively improving the accuracy and long-term stability of carrier attitude and position calculations. The integrated pressure-resistant water-sealed enclosure simplifies the overall wiring structure, reduces underwater sealing nodes, and lowers system size, weight, and power consumption. Simultaneously, the internal vibration damping structure suppresses cross-interference between water flow impact and mechanical vibration on acoustic acquisition and inertial measurement, improving sensor reliability under complex underwater conditions. It can directly output the fused attitude and underwater acoustic sensing results, reducing the computational burden on the backend main control equipment and facilitating its use on small underwater platforms such as underwater robots. For example, with the integrated underwater acoustic-inertial sensor, the positioning between the pool cleaning equipment and the base station, as well as the attitude adjustment within the pool, will be more accurate compared to conventional methods.

[0065] If an integrated underwater acoustic-inertial sensor is used, the inertial measurement module that is conventionally installed in the control compartment of the water tank cleaning equipment will no longer be required.

[0066] In some embodiments, such as Figure 11As shown, the automatic pool cleaning device 100 also includes an image acquisition module 104 and a processing module 105. The image acquisition module 104 is used to acquire image information of a first target object. The processing module 105 is capable of performing AI image recognition on the image information to obtain target information of the first target object. The control module 101 is configured to control the working state of the automatic pool cleaning device 100 according to the target information of the first target object. The working state of the automatic pool cleaning device 100 includes at least underwater cleaning, surface cleaning, forward movement, backward movement, turning, and stopping. In some embodiments, the image acquisition module 104 may be composed of a monocular camera.

[0067] If the first target object is an obstacle, the processing module 105 can perform AI image recognition on the image information to obtain the target information of the first target object as an obstacle.

[0068] If the first target object is garbage, the processing module 105 can perform AI image recognition on the image information to obtain the target information of the first target object as garbage, and can determine its corresponding garbage type.

[0069] In some embodiments, the image acquisition module 104 may be composed of a binocular camera. In some embodiments, by using the image acquisition module 104 and the processing module 105 to perform AI image recognition on the image information, obstacles and types of trash can be accurately identified, thereby allowing the control module 101 to be configured to control the working state of the automatic pool cleaning device 100 based on the target information of the first target object. Furthermore, by using pixel-level capture positioning, the automatic pool cleaning device 100 can be controlled to accurately capture trash or avoid obstacles.

[0070] Furthermore, such as Figure 3 As shown, the automatic pool cleaning device 100 also includes a supplementary light 107 and a transparent cover 108. The supplementary light 107 and the image acquisition module 104 are located in the same area. The transparent cover 108 is located in this area. The transparent cover 108 seals the supplementary light 107 and the image acquisition module 104 to ensure their normal operation underwater, and its transparency ensures effective light transmission.

[0071] In some embodiments, such as Figure 11 As shown, the automatic pool cleaning device 100 also includes a laser sensing module 106. The laser sensing module 106 is electrically connected to the control module 101. The laser sensing module 106 is used to collect target information of the second target object. The control module 101 is configured to control the working state of the automatic pool cleaning device 100 according to the target information of the second target object. The working state of the automatic pool cleaning device 100 includes at least forward, backward, turning and stopping.

[0072] In some embodiments, the laser sensing module 106 may be a module composed of a line laser. The laser sensing module 106 may be disposed at the front 14 of the automatic pool cleaning device 100, and may be further tilted, to collect target information of a second target object in the direction of the front 14 of the automatic pool cleaning device 100. The second target object may be an edge, a cliff step, or similar object. The target information may be information such as the distance between the automatic pool cleaning device 100 and the second target object. Taking the second target object as a cliff step, and the target information as the distance between the automatic pool cleaning device 100 and the cliff step as an example, the control module 101 is configured to control the working state of the automatic pool cleaning device 100 based on the distance between the automatic pool cleaning device 100 and the cliff step. The working state of the automatic pool cleaning device 100 includes at least forward, backward, turning, and stopping. If the distance is less than a first preset distance, the control module 101 is configured to control the working state of the automatic pool cleaning device 100 to be backward, turning, or stopping. If the distance is greater than the second preset distance, the control module 101 is configured to control the automatic water tank cleaning device 100 to move forward. The second preset distance is greater than the first preset distance.

[0073] In summary, the head 11 of the main body 10 of the automatic pool cleaning device 100 is provided with a first detection component 30, which includes a detection element 31 and a movable element 32. The movable element 32 is capable of changing its position and / or angle relative to the main body 10. Therefore, the movable element 32 can be used to indicate the floating and submerging states of the automatic pool cleaning device 100. The detection element 31 is capable of detecting the position and / or angle changes of the movable element 32 relative to the main body. The control module 101 is configured to obtain the current state of the automatic pool cleaning device 100 based on the position and / or angle change of the movable part 32 relative to the body 10 detected by the detection element 31, and control the working state of the buoyancy adjustment component 20. When the head 11 of the automatic pool cleaning device 100 is exposed above the water surface by a preset distance, the position and / or angle of the movable part 32 relative to the body changes. The control module 101 obtains the current state of the automatic pool cleaning device 100 based on the position and / or angle change of the movable part 32 relative to the body detected by the detection element 31, and controls the buoyancy adjustment component 20 to adjust the buoyancy of the automatic pool cleaning device 100 so that the automatic pool cleaning device 100 floats to the water surface for cleaning, thus solving the problem that existing automatic pool cleaning devices cannot smoothly discharge water.

[0074] In the description of this application, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. Furthermore, the described specific features, structures, materials, or characteristics may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this application, as well as the features of those different embodiments or examples.

[0075] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "a plurality of" means two or more, unless otherwise explicitly specified.

[0076] In this application, unless otherwise stated, directional terms such as "up" and "down" are generally used in relation to the direction shown in the accompanying drawings, or in relation to the vertical, perpendicular, or gravitational direction; similarly, for ease of understanding and description, "left" and "right" are generally used in relation to the left and right shown in the accompanying drawings; "inner" and "outer" refer to the inner and outer contours of each component itself, but the above directional terms are not intended to limit this application.

[0077] The above description is merely an exemplary embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope described in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. An automatic water tank cleaning device, characterized in that, The automatic pool cleaning device (100) is capable of cleaning the water surface and underwater, and the automatic pool cleaning device (100) includes: Ontology(10); A buoyancy adjustment component (20), wherein the buoyancy adjustment component (20) is disposed on the body (10) and is used to adjust the buoyancy of the automatic cleaning device (100) of the pool; and A first detection component (30) is disposed at the head (11) of the body (10). The first detection component (30) includes a detection element (31) and a movable element (32). The detection element (31) is capable of detecting the position and / or angle change of the movable element (32) relative to the body (10). A control module (101) is electrically connected to the detection element (31). The control module (101) is configured to obtain the current state of the automatic cleaning device (100) of the pool and control the working state of the buoyancy adjustment component (20) based on the position and / or angle change of the moving part (32) relative to the body (10) detected by the detection element (31). When the head (11) of the automatic pool cleaning device (100) protrudes a preset distance above the water surface, the position and / or angle of the movable part (32) relative to the body (10) changes. The control module (101) obtains the current state of the automatic pool cleaning device (100) based on the position and / or angle change of the movable part (32) relative to the body (10) detected by the detection component (31), and controls the buoyancy adjustment component (20) to adjust the buoyancy of the automatic pool cleaning device (100) so that the automatic pool cleaning device (100) floats to the water surface for cleaning.

2. The automatic water tank cleaning device according to claim 1, characterized in that, The first detection component (30) further includes a mounting component (33), which is detachably mounted on the detection component (31) or the body (10), and the movable component (32) is movably connected to the mounting component (33).

3. The automatic water tank cleaning device according to claim 2, characterized in that, The detection element (31) or the body (10) includes a first engaging end (311) and a first engaging groove (312) disposed opposite to each other. The mounting element (33) includes a second engaging groove (331) and a second engaging end (332) disposed opposite to each other. The first engaging end (311) is detachably engaged with the second engaging groove (331), and the second engaging end (332) is detachably connected to the first engaging groove (312).

4. The automatic water tank cleaning device according to claim 2, characterized in that, The movable part (32) includes a buoyancy part (321) and a connecting part (322) connected to the buoyancy part (321). The mounting part (33) includes a mounting part (333), and the connecting part (322) is movably mounted on the mounting part (333).

5. The automatic water tank cleaning device according to claim 1, characterized in that, The main body (10) includes a front compartment (12), which has a water inlet (121). The first detection component (30) is connected to the front compartment (12) and is located near the water inlet (121).

6. The automatic water tank cleaning device according to claim 1, characterized in that, The buoyancy adjustment assembly (20) includes multiple buoyancy chambers (21) and an air pump (22) for supplying or outputting gas to the buoyancy chambers (21). The control module (101) is configured to control the air pump (22) to supply or output gas to the corresponding buoyancy chambers (21) according to the current state of the automatic pool cleaning device (100).

7. The automatic water tank cleaning device according to claim 6, characterized in that, The buoyancy adjustment component (20) also includes an air inlet pipe (23) located on the head (11). When the head (11) of the automatic pool cleaning device (100) extends out of the water surface, the air pump (22) can deliver external air from the air inlet pipe (23) to the corresponding buoyancy chamber (21).

8. The automatic water tank cleaning device according to claim 1, characterized in that, Also includes: underwater acoustic sensing module (102); Mounting bracket (103) is used to mount the underwater acoustic sensor module (102). The top wall (1031) and side wall (1032) of the mounting bracket (103) are both provided with openings (1033). The underwater acoustic sensor module (102) can transmit and receive ultrasonic signals through the openings (1033).

9. The automatic water tank cleaning device according to claim 8, characterized in that, The mounting bracket (103) protrudes from the underwater acoustic sensing module (102); and / or The sidewall (1032) of the mounting bracket (103) is provided with a plurality of openings (1033) in the circumferential direction; and / or The underwater acoustic sensing module (102) protrudes from the automatic water tank cleaning device (100); and / or The underwater acoustic sensing module (102) or the mounting bracket (103) is located at the front (14), top (15), side (16) and / or rear (17) of the automatic water tank cleaning device (100).

10. The automatic water tank cleaning device according to claim 8, characterized in that, The underwater acoustic sensing module (102) also includes an IMU inertial measurement module.

11. The automatic water tank cleaning device according to claim 1, characterized in that, Also includes: Image acquisition module (104), the image acquisition module (104) is used to acquire image information of the first target object; The processing module (105) is capable of performing AI image recognition on the image information to obtain target information of the first target object; The control module (101) is configured to control the working state of the automatic pool cleaning device (100) according to the target information of the first target object. The working state of the automatic pool cleaning device (100) includes at least underwater cleaning, surface cleaning, forward movement, backward movement, turning, and stopping.

12. The automatic water tank cleaning device according to claim 1, characterized in that, Also includes: A laser sensing module (106) is electrically connected to the control module (101). The laser sensing module (106) is used to collect target information of the second target object. The control module (101) is configured to control the working state of the automatic pool cleaning device (100) according to the target information of the second target object. The working state of the automatic pool cleaning device (100) includes at least forward, backward, turning and stopping.

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