Automatic pool cleaning device

Abstract

This application provides an automatic pool cleaning device for cleaning pools, wherein the automatic pool cleaning device includes: a body; a traveling mechanism disposed on the body and used to drive the automatic pool cleaning device to travel; and a water spraying mechanism disposed on the side region of the body, the water spraying mechanism being configured to be rotatably oriented and / or the water spraying mechanism having water flow outlets in different directions for providing thrust in different directions.

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 automated pool cleaning systems. However, current cleaning systems lack flexible motion control, making them ill-suited for complex terrain and certain challenging scenarios. For example, clogged filters may result in insufficient downward pressure, causing the machine to tilt upwards and struggle to climb walls; encountering drain covers may leave the machine suspended in mid-air, making escape difficult; and the machine may be unable to float. Therefore, there is an urgent need to develop a novel approach to overcome these problems and enable cleaning systems to adapt to complex terrain. Summary of the Invention

[0003] This application addresses the shortcomings of the prior art by providing an automatic water tank cleaning device for cleaning water tanks. The automatic water tank cleaning device includes: a main body; a traveling mechanism disposed on the main body and used to drive the automatic water tank cleaning device to travel; and a water spraying mechanism disposed on the side area of ​​the main body. The water spraying mechanism is rotatable or has multiple water flow outlets in different directions to provide thrust in different directions.

[0004] Furthermore, the water spraying mechanism is rotatably disposed on the side of the body to provide thrust in different directions; or, the water spraying mechanism has multiple water outlets in different directions to provide thrust in different directions.

[0005] Furthermore, the number of water spraying mechanisms is even, and the even number of water spraying mechanisms are distributed on both sides of the main body.

[0006] Furthermore, the number of water spraying mechanisms is four, and the four water spraying mechanisms are symmetrically arranged along the travel direction of the automatic water cleaning device.

[0007] Furthermore, all of the water spray mechanisms are controlled synchronously; or, the water spray mechanisms on the same side are controlled synchronously; or, each of the water spray mechanisms is controlled individually.

[0008] Furthermore, the automatic water tank cleaning device includes a rotary drive unit, and the water spraying mechanism includes a propeller and a blade drive unit. The propeller is fixed to the output end of the blade drive unit, and the rotary drive unit drives the blade drive unit to rotate, thereby changing the thrust direction of the propeller.

[0009] Furthermore, the automatic water tank cleaning device includes a conductive sliding terminal, and the paddle drive unit is electrically connected to the conductive sliding terminal; or The propeller drive unit is powered wirelessly; or The automatic water tank cleaning device includes a flexible wire that electrically connects the blade drive unit to a power source. The flexible wire includes a redundant section to prevent the blade drive unit from disconnecting from the power source when it rotates.

[0010] Furthermore, when the flexible conductor includes a redundant segment, the redundant segment is arranged along the rotation path of the blade drive unit.

[0011] Furthermore, the output end of the blade drive unit can rotate in the forward or reverse direction to drive the propeller to provide forward or reverse thrust.

[0012] Furthermore, the automatic water tank cleaning device includes a rotary drive unit, and the water spraying mechanism includes a flow channel structure, a propeller disposed within the flow channel structure, and a vector nozzle connected to the water outlet end of the flow channel structure. The vector nozzle is disposed on the side of the main body, and the rotary drive unit drives the vector nozzle to rotate, thereby changing the thrust direction of the propeller.

[0013] Furthermore, the automatic water tank cleaning device includes a rotary drive unit, which includes a pitch mechanism. The water spraying mechanism includes a propeller, which includes a pitch-changing propeller. The pitch mechanism drives the pitch-changing propeller to rotate, changing the pitch of the pitch-changing propeller to adjust the thrust direction of the pitch-changing propeller.

[0014] Furthermore, the pool traveling mechanism includes a first traveling mechanism and a second traveling mechanism, which are disposed on both sides of the automatic pool cleaning device and configured to drive the device to travel in a specific direction when driven; the automatic pool cleaning device also includes a bottom receiving groove, a roller brush located in the bottom receiving groove, a bottom water inlet, a drain outlet, a water pump, and a filter device. The roller brush is used to roll to clean the pool, and the water pump is used to guide water flow from the bottom water inlet and through the filter device to the outside through the drain outlet.

[0015] The embodiments described in this application have the following beneficial effects: The automatic pool cleaning device provided in this application includes a main body, a traveling mechanism disposed on the main body, and a water spraying mechanism disposed on the side of the main body. When the cleaning device needs to adapt to complex terrain during the cleaning process, by rotating the water spraying mechanism or by discharging water through water outlets in different directions, the water spraying mechanism can provide water flow thrust in different directions, thus providing thrust in a direction that facilitates the cleaning device's adaptation to complex terrain; or by cooperating with the traveling mechanism, by rotating the water spraying mechanism or discharging water through water outlets in different directions, the water spraying mechanism can provide water flow thrust in different directions, thus providing thrust in a direction that facilitates the cleaning device's adaptation to complex terrain. Because it provides thrust that facilitates the cleaning device's adaptation to complex terrain, its ability to adapt to complex terrain is improved. Attached Figure Description

[0016] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. The accompanying drawings described below are merely exemplary embodiments of this application.

[0017] Figure 1 This is a schematic diagram illustrating the structure of an automatic water tank cleaning device according to an embodiment of this application; Figure 2 This is a schematic diagram illustrating the structure of an automatic water tank cleaning device according to another embodiment of this application; Figure 3 This is a schematic diagram showing the vertical projection of an automatic water tank cleaning device according to an embodiment of this application.

[0018] Figure label: Detailed Implementation

[0019] 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.

[0020] This application provides an automatic pool cleaning device 100, which is capable of cleaning pools. The pool is, for example, a pool-shaped structure. The pool-shaped structure can be a swimming pool, a water storage tank, a spa pool, a water tank, a water storage trough, etc. The automatic pool cleaning device 100 can be a device such as an automatic cleaning device or a pool cleaning robot, capable of cleaning pool-shaped structures. The automatic pool cleaning device 100 of this application will be described in detail below with reference to the accompanying drawings. Figure 1 A schematic diagram of an automatic pool cleaning device 100 according to an embodiment of this application is shown. The automatic pool cleaning device 100 includes: a body 10; a traveling mechanism 30 disposed on the body 10 and used to drive the automatic pool cleaning device 100 to travel; and a water spraying mechanism 50 disposed on the side region 90 of the body 10 and used to provide thrust in different directions.

[0021] The main body 10 of the automatic pool cleaning device 100 includes a bottom water inlet 11, a drain outlet, a main water pump 13, and a filter device 15. The main water pump 13 guides water flow from the bottom water inlet 11, and after passing through the filter device 15, it discharges water to the outside through the drain outlet. Specifically, the main water pump 13 is the core power component of the entire automatic pool cleaning device 100. By pumping water, it draws water from the pool into the automatic pool cleaning device 100 through the bottom water inlet 11 and filters it through the filter device 15 to remove dirt from the water flow. The filtered clean water is discharged from the automatic pool cleaning device 100 through the drain outlet. This application does not limit the specific presentation of the automatic pool cleaning device 100 or the pool-shaped structure, as long as the principle of this application can be achieved. In the following description, unless otherwise specified, a robot will be used as an example of the automatic pool cleaning device 100, and a swimming pool will be used as an example of the pool or pool-shaped structure. Unless otherwise specified, the terms “pool bottom”, “pool surface”, and “pool bottom” will be used to refer to the bottom surface of the pool.

[0022] In some embodiments, the body 10 may further include a sensing module, a control module, and an execution module. The sensing module may include, for example, a flow rate sensor, a pressure sensor, an image sensor, etc., for real-time monitoring of water flow, waste distribution, and the robot's motion status within the pool. The control module may consist of a control chip and related circuitry, responsible for receiving sensor data, processing signals, and generating corresponding control commands according to a preset control strategy. The execution module may include a motor drive system, etc. The motor drive system can adjust the motor's speed and direction according to the control commands, controlling the robot's movement speed and path. The traveling mechanism 30 may include a first traveling mechanism 31 and a second traveling mechanism 33. Both the first traveling mechanism 31 and the second traveling mechanism 33 include rollers disposed on the body 10 and tracks sleeved on the outside of the rollers. The rollers can be driven by a motor, which is controlled by the motor drive system.

[0023] In some embodiments, the water spraying mechanism 50 can be a pump-push type water spraying mechanism 50, which uses an impeller pump (such as a centrifugal pump or axial flow pump) to draw in water, pressurize it, and then spray it out at high speed to generate thrust; or it can be a jet type (pumpless self-priming type), which mainly uses its own motion or external pressure difference to drive the water flow through the nozzle without the need for an active pump body (such as the Venturi effect); or it can be a piston / diaphragm type water spraying mechanism 50, which uses the reciprocating motion of a piston or diaphragm to squeeze the cavity and periodically spray water to generate thrust (similar to squid propulsion).

[0024] The water spray mechanism 50 is located in the side region 90 of the main body 10. It should be noted that the side region 90 may include the area enclosed by the inner and outer boundaries of the side region. (See attached diagram.) Figure 3, project the cleaning device in the height direction to form the projected outer contour C of the cleaning device. The side area 90 forms the projected outer boundary A and the projected inner boundary B of the projection in the height direction. The projected inner boundary B is at least located on the projected outer contour C of the cleaning device or within the projected outer contour C of the cleaning device. It can be understood that generally, one or two water outlets for the main water pump 13 to discharge water are provided in the middle of the main body 10 of the cleaning device. Of course, the position of the projected inner boundary can also be understood in another way. The distance from the unilateral projected inner boundary to the projected outer contour of the cleaning device can be 1 / 50 to 1 / 3 of the length direction of the projected outer contour of the cleaning device, with the position of the main water pump 13 as the boundary. For ease of understanding, further explanation is as follows. The water spraying mechanism 50 in this embodiment is provided on the side of the main body 10, different from the position of the water outlet used by the main water pump 13. For example, if the outer contour is in the shape of a "hui" character, then the water outlet of the main water pump 13 is located at the "kou" character in the middle of the "hui" character. The projection of the water spraying mechanism 50 in this embodiment in the height direction is located inside, outside or on the contour area of the outer "kou" character of the "hui" character. In the height direction of the main body 10, the water spraying mechanism 50 can be provided on the upper side or the lower side of the main body 10 to facilitate providing thrust in different directions.

[0025] Referring to Figure 1 and Figure 2 , in some embodiments, in order to enable the water spraying mechanism 50 to provide thrust in different directions, the water spraying mechanism 50 can be set in a rotatable form, so that the water spraying mechanism 50 can spray water in different directions. The water spraying mechanism 50 can also be set in a form with multiple water flow outlets in different directions. When water flows out from different water flow outlets, thrust in different directions will be generated. Specifically, in some embodiments, the water spraying mechanism 50 includes a water pump, a multi-way pipe (such as a three-way pipe, a four-way pipe, a five-way pipe, etc.), and a multi-way valve provided in the multi-way pipe. The water flow pumped out by the water pump first passes through the multi-way valve, and the multi-way valve controls the corresponding valve to open, so that the water flow can flow out to the pipe in a specific direction to provide corresponding thrust; in some embodiments, the water spraying mechanism 50 can include a motor and an impeller. The motor has the function of driving the impeller forward and backward. By driving the impeller to rotate forward or backward by the motor, the water flow flows out from the water flow outlets in two directions, so as to provide thrust in at least two directions; in some embodiments, the water spraying mechanism 50 can include a motor assembly. The motor assembly has at least two symmetrically arranged motors, and an impeller is provided at the output end of each motor. When the cleaning device needs to adapt to complex terrain, control the corresponding motor to start, so that the water flow flows out from the water flow outlet in this direction to generate the corresponding thrust.

[0026] In some embodiments, the water spray mechanism 50 simultaneously possesses the functions of water flow outlets in different directions and rotation, allowing the water spray mechanism 50 to provide thrust in different directions more flexibly. For example, in conjunction with the foregoing embodiments, when the water spray mechanism 50 includes a multi-port pipe, the direction of water flow out of the multi-port pipe can be changed by rotating the multi-port pipe, thereby generating thrust in different directions; when the water spray mechanism 50 includes a motor with forward or reverse drive functions, the direction of thrust can be changed by rotating the motor; when the water spray mechanism 50 includes a motor assembly, the direction of thrust can also be changed by rotating the motor assembly.

[0027] In some embodiments, the number of water spray mechanisms 50 is even, and the even number of water spray mechanisms 50 are distributed on both sides of the body 10. This arrangement facilitates the achievement of mechanical balance in the layout design. Furthermore, the number of water spray mechanisms 50 can be selected as 2, 4, 6, or 8, etc. The even number of water sprayers can be distributed in pairs along the axis of symmetry (such as the central axis of the cleaning device or the direction of travel) to achieve thrust and torque balance. The control logic is simplified. In an even number of symmetrically arranged water sprayers, the water sprayers on the same side or opposite side can be translated by control (such as equal flow rate, equal direction) or steered by differential control (such as flow rate difference, direction difference), making the algorithm design simpler. When the number of water spray mechanisms 50 is selected as four and the projected outline of the cleaning device in the height direction is approximately rectangular, the four water spray mechanisms 50 can be respectively set in the corner areas of the rectangle (i.e., the four corners of the cleaning device). This arrangement allows for greater torque generation when the water spray mechanisms 50 are working; furthermore, when the water spray mechanisms 50 rotate and / or the water outlets are located on different sides, the water spray mechanisms 50 can provide thrust from different sides, further improving the cleaning device's ability to adapt to complex terrain. When the water spray mechanism 50 is located in the corner area, its axis of rotation can be set to rotate along the line connecting the corners in mutually diagonal directions, thereby maximizing the rotation space for the water spray mechanism 50 and facilitating its placement.

[0028] The control method for the water spray mechanism 50 can be to synchronously control all water spray mechanisms 50. In this case, all water spray mechanisms 50 can be connected to the same circuit board, and a single main control chip (such as an MCU) or relay outputs a control signal to control the water spray mechanism 50. This setup makes the circuit design compact, the control simple, and the synchronization of the water spray mechanisms 50 high. In some embodiments, the control method for the water spray mechanism 50 can be to synchronously control the water spray mechanisms 50 on the same side. For example, the water spray mechanisms 50 can be grouped by position (such as left side, right side, front side, rear side), with synchronous control within each group and independent operation control between groups. In this case, the circuit can be designed to isolate the signals of different groups, and the main control chip can assign independent control pins to each group, controlling each group through a multi-channel drive module (such as a multi-channel relay). The control circuit for same-side control can be integrated into the same circuit board, and grouping can be achieved by partitioning the circuit board (such as left drive area, right drive area), or the control circuit can adopt a modular design (main control board + drive board), thereby realizing the use of the water spray mechanism 50 to control the cleaning device to achieve attitude control such as turning and pitch. In some embodiments, each water spraying mechanism 50 is controlled independently, and the main control chip assigns independent pins to each water spraying mechanism 50. If the number of pins on the chip allows, the control circuit can be integrated on the same circuit board, thereby achieving flexible control of the water spraying mechanism 50 and greatly improving the cleaning device's ability to adapt to complex terrain.

[0029] Reference Figure 2 The automatic water tank cleaning device 100 may include a rotary drive unit 80, which drives a water spray mechanism 50 to rotate. The water spray mechanism 50 includes a propeller 51 and a blade drive unit 53. The propeller 51 is fixed to the output end of the blade drive unit 53. The rotary drive unit 80 drives the blade drive unit 53 to rotate, thereby changing the thrust direction of the propeller 51. In some embodiments, the rotary drive unit 80 may include a motor or a first transmission member connected to the output end of the motor. A second transmission member 591 (e.g., an external gear ring) may be provided on the outer side of the blade drive unit 53. The water spray mechanism 50 is driven to rotate in a direction perpendicular to its axis through the transmission connection between the first transmission member and the second transmission member 591 (see attached figure). Figure 1 It can be seen that the rotation direction of the water spray mechanism 50 is around the rotation axis of the water spray mechanism 50, which simultaneously changes the thrust direction of the propeller 51. Below are some examples of thrust directions, taking the example of four water spray devices respectively placed at the four corners of the cleaning device, for example: 1. When the propeller 51 is facing forward or backward at the same time, the thrust is used to move the automatic cleaning device 100 of the pool back and forth. 2. When propeller 51 is facing either the left or right side at the same time, the thrust is used for the lateral translation (side thrust) of the cleaning device. 3. When propellers 51 are pointing upwards or downwards simultaneously, the thrust is used for the cleaning device to submerge (or enhance grip) or float upwards; 4. The right propeller 51 faces the rear and the left propeller 51 faces the front, or the front propeller 51 faces the left and the rear propeller 51 faces the right, and the thrust is used for yaw of the cleaning device to the right (and vice versa); in this example, it can also be used for turning around. 5. When one side propeller 51 is facing downward, it is used to lift one side of the cleaning device; when one side propeller 51 is facing upward, it is used to press down one side of the cleaning device. For example, when the front propeller 51 is facing downward, the thrust is used to lift the head of the cleaning device. Through the combined control of four water spray mechanisms 50, the cleaning device can achieve 6 degrees of freedom of movement (forward, backward, left, right, up, down, pitch, roll, yaw), adapting to complex terrain and narrow spaces.

[0030] The automatic water tank cleaning device 100 includes a conductive sliding terminal, and the blade drive unit 53 is electrically connected to the conductive sliding terminal. In some embodiments, the conductive terminal is a conductive slip ring or a slip ring, which includes a conductive mover and a conductive stator electrically connected to the conductive mover. The conductive mover can maintain its rotation while remaining electrically connected to the conductive stator, and the conductive stator is electrically connected to a power source. The blade drive unit 53 may include a motor, the output of which can rotate in either the forward or reverse direction to drive the propeller 51 to provide forward or reverse thrust. The conductive mover is electrically connected to the motor, so that when the water spray device is rotated by a control signal, the motor can maintain a good power supply while rotating with the water spray mechanism 50, thereby driving the propeller 51 to rotate normally and effectively providing thrust. Of course, connecting the power source to the conductive mover and connecting the motor of the blade drive unit 53 to the conductive stator are not described in detail here.

[0031] The blade drive unit 53 can be powered wirelessly. In some embodiments, by sealing the primary coil (transmitter) inside the body 10 and the secondary coil (receiver) inside the water spray mechanism 50, energy can be effectively provided when the water spray mechanism 50 rotates through the electromagnetic coupling of the coils.

[0032] The automatic pool cleaning device 100 includes a flexible wire that electrically connects the blade drive unit 53 to a power source. The flexible wire includes a redundant section to prevent the blade drive unit 53 from disconnecting from the power source when it rotates. In some embodiments, the blade drive unit 53 is electrically connected to the power source via a wire. Since the blade drive unit 53 rotates synchronously when the water spray mechanism 50 rotates, a redundant section is provided in the wire to prevent disconnection from the power source or the blade drive unit 53. This redundant section is wound along the axis of rotation of the water spray mechanism 50 (or the rotation path of the blade drive unit 53), and both ends of the redundant section are fixed. This ensures that the rotational deformation of the wire is entirely borne by the redundant section when the water spray mechanism 50 rotates, thereby preventing disconnection from the blade drive unit 53 and the power source.

[0033] In some embodiments, the automatic pool cleaning device 100 includes a rotary drive unit 80, and the spray mechanism 50 includes a flow channel structure 57, a propeller 51 disposed within the flow channel structure 57, and a vector nozzle 59 connected to the water outlet of the flow channel structure 57. The vector nozzle 59 is disposed on the side of the body 10, and the rotary drive unit 80 drives the vector nozzle 59 to rotate, thereby changing the thrust direction of the propeller 51. In this embodiment, the propeller 51 is integrated into the flow channel structure 57. When the spray mechanism 50 is controlled to rotate to provide thrust in different directions, the vector nozzle 59 rotates, while the propeller 51 does not rotate. Therefore, there is no need to consider the circuit design when the electrical equipment rotates, simplifying the circuit structure of the cleaning device. The water spray mechanism 50 and the flow channel structure 57 can be designed such that one flow channel structure 57 accommodates one water spray mechanism 50 or multiple water spray mechanisms 50. When one flow channel structure 57 is used to accommodate one water spray mechanism 50, there can be two flow channel structures 57. The inlets of both flow channel structures 57 are located on the front side of the cleaning device, the channel portion of the flow channel structure 57 is located on the body 10, and the outlets of the two flow channel structures 57 are located on the left and right sides of the cleaning device, respectively. In this case, one water spray mechanism 50 is installed in each flow channel, and a vector nozzle 59 is installed at the outlet of each flow channel structure 57; or, the inlets of the two flow channel structures 57 are located on the left and right sides of the cleaning device, respectively. On the side and right side, the channel portion of the flow channel structure 57 is located in the body 10, and the outlets of the two flow channel structures 57 are located on the rear side of the cleaning device. At this time, a water spraying mechanism 50 is provided in each flow channel, and a vector nozzle 59 is provided at the outlet of the flow channel structure 57 respectively. The rotary drive unit 80 in this embodiment may include a motor or a first transmission component that is connected to the output end of the motor. A second transmission component 591, such as an external gear ring, may be provided on the outside of the vector nozzle 59. In one embodiment, the end of the vector nozzle 59 may be located inside the body 10, and the end may also be provided with a second transmission component 591. The vector nozzle 59 is driven to rotate through the transmission connection between the first transmission component and the second transmission component 591.

[0034] In some embodiments, the automatic pool cleaning device 100 includes a rotary drive unit 80, which includes a pitch-changing mechanism. The water spraying mechanism 50 includes a propeller 51, which is a pitch-changing propeller 51. The pitch-changing mechanism drives the pitch-changing propeller 51 to rotate, changing the pitch of the pitch-changing propeller 51 to adjust the thrust direction of the pitch-changing propeller 51. The root of each pitch-changing propeller 51 is respectively mounted on the pitch-changing mechanism in the hub. The hub-mounted pitch-changing mechanism drives the blades to rotate around the root axis of the blades, changing the pitch angle and the pitch of the propeller 51, thereby changing the thrust direction and thrust magnitude of the propeller 51.

[0035] It should be noted that the order of the embodiments described above is merely for descriptive purposes and does not represent the superiority or inferiority of the embodiments.

[0036] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of those different embodiments or examples.

[0037] 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.

[0038] 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.

[0039] The above description is merely an exemplary embodiment of this application, but the scope of protection of this application is not limited thereto. Any person skilled in the art can easily conceive of various variations or substitutions within the technical scope described in this application, and these should all be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A pool automatic cleaning device for cleaning a pool, wherein, The automatic water tank cleaning device includes: ontology; A traveling mechanism, located on the main body, is used to drive the automatic water tank cleaning device to move; and A water spray mechanism, located on the side region of the body, is configured to be rotatable and / or has water outlets in different directions to provide thrust in different directions; and The automatic water tank cleaning device includes a rotary drive unit, and the water spraying mechanism includes a propeller and a blade drive unit. The propeller is fixed to the output end of the blade drive unit, and the rotary drive unit drives the blade drive unit to rotate, thereby changing the thrust direction of the propeller.

2. The pool cleaning apparatus of claim 1, wherein, The number of water spraying mechanisms is even, and the even number of water spraying mechanisms are distributed on both sides of the main body.

3. The pool cleaning apparatus of claim 1, wherein, The number of water spraying mechanisms is four, and the four water spraying mechanisms are symmetrically arranged along the travel direction of the automatic water cleaning device.

4. The pool cleaning apparatus of claim 2, wherein, All of the water spray mechanisms are controlled synchronously; or, the water spray mechanisms on the same side are controlled synchronously; or, each of the water spray mechanisms is controlled individually.

5. The pool cleaning apparatus of claim 1, wherein, The automatic water tank cleaning device includes a conductive sliding terminal, and the paddle drive unit is electrically connected to the conductive sliding terminal; or The propeller drive unit is powered wirelessly; or The automatic water tank cleaning device includes a flexible wire that electrically connects the blade drive unit to a power source. The flexible wire includes a redundant section to prevent the blade drive unit from disconnecting from the power source when it rotates.

6. The pool cleaning apparatus of claim 5, wherein, When the flexible conductor includes a redundant segment, the redundant segment is arranged along the rotation path of the blade drive unit.

7. The pool cleaning apparatus of claim 6, wherein, The output of the blade drive unit can rotate in the forward or reverse direction to drive the propeller to provide forward or reverse thrust.

8. The pool cleaning apparatus of any one of claims 1 to 4, wherein, The automatic water tank cleaning device includes a rotary drive unit, and the water spraying mechanism includes a flow channel structure, a propeller disposed in the flow channel structure, and a vector nozzle connected to the water outlet end of the flow channel structure. The vector nozzle is disposed on the side of the main body, and the rotary drive unit drives the vector nozzle to rotate to change the thrust direction of the propeller.

9. The pool cleaning apparatus of any one of claims 1 to 4, wherein, The rotary drive unit includes a pitch-changing mechanism, the water spraying mechanism includes a propeller, the propeller includes a pitch-changing propeller, the pitch-changing mechanism drives the pitch-changing propeller to rotate, changing the pitch of the pitch-changing propeller to adjust the thrust direction of the pitch-changing propeller.

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