Automatic pool cleaning device and pool cleaning system
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- SHENZHEN AIPER INTELLIGENT CO LTD
- Filing Date
- 2025-07-18
- Publication Date
- 2026-08-07
AI Technical Summary
目前的清洁装置在进行上浮下潜时，需要寻找水池墙壁爬墙后实现上浮，上浮效率低
[0022]本申请提供的水池自动清洁装置包括清洁本体和过滤装置，清洁主体上设有进水口以及出水口，过滤装置至少部分设于所述主体的内部，在需要进行清洁时，驱动水池中的液体从进水口流入，并经过过滤装置，再从出水口排出。在需要进行上浮或下潜时，通过电控组件控制浮潜控制结构，改变所述清洁装置的头部或尾部在竖直方向的受力，以使在上浮过程或下潜过程中所述清洁主体的头部或尾部相对于水平方向倾斜，从而清洁装置以头部或尾部相对于水平方向倾斜的姿态进行上浮或下潜，并且图像采集装置可以采集上浮过程和下潜过程，清洁装置前进方向或远离方向的图像情况，提高了上浮和下潜的效率。
Smart Images
Figure CN224606141U_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of cleaning device technology, and in particular to an automatic water tank cleaning device and water tank cleaning system. 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 to perform pool cleaning tasks. Current cleaning systems, however, require climbing over the pool walls to surface, resulting in low surfacing efficiency. Summary of the Invention
[0003] This application addresses the shortcomings of the prior art by providing an automatic water tank cleaning device for cleaning the bottom, walls, and surface of a water tank. The automatic water tank cleaning device includes:
[0004] The cleaning body and the filter device are provided. The body is provided with an inlet and an outlet. The filter device is at least partially located inside the body. The liquid in the pool flows in from the inlet, passes through the filter device, and is discharged from the outlet.
[0005] A snorkeling control structure is provided on the cleaning body to change the force on the head and / or tail of the cleaning body in the vertical direction.
[0006] An electronic control component, electrically connected to the snorkeling control structure, controls the snorkeling control structure to change the vertical force on the head or tail of the cleaning device when the automatic pool cleaning device needs to rise or descend, so that the head or tail of the cleaning body tilts relative to the horizontal direction during the rising or descending process; and
[0007] An image acquisition device is located at the head or tail of the cleaning body.
[0008] In some embodiments of this application, the automatic pool cleaning device further includes a water outlet detection device. When the water outlet detection device detects that at least a portion of the cleaning device is exposed above the water surface, the buoyancy control structure continues to adjust the force on the head or tail of the cleaning device in the vertical direction so that the cleaning body is parallel to the water surface.
[0009] In some embodiments of this application, the image acquisition device can identify dirt on the surface of the pool during the ascent process; or, during the descent process, the image acquisition device can identify dirt on the bottom of the pool.
[0010] In some embodiments of this application, the automatic pool cleaning device further includes a motion control module, which is capable of planning the movement path of at least a portion of the cleaning device after it emerges from the water surface based on images acquired by the image acquisition device during the ascent process, or planning the movement path of at least a portion of the cleaning device after it contacts the bottom of the pool based on images acquired by the image acquisition device during the descent process.
[0011] In some embodiments of this application, the image acquisition device is rotatably configured relative to the cleaning body.
[0012] In some embodiments of this application, the automatic pool cleaning device further includes an attitude control component, which is used to control the position angle of the cleaning body to be within a preset angle range during the surfacing process, diving process, surface cleaning process, or pool bottom cleaning process.
[0013] In some embodiments of this application, the snorkeling control structure includes at least one of a propeller assembly, a volume adjustment assembly, and a gravity adjustment assembly.
[0014] In some embodiments of this application, the snorkeling control structure includes:
[0015] A buoyancy chamber configured to contain at least one of gas and liquid, the buoyancy chamber providing buoyancy or descent to the front or rear side of the cleaning body, such that the cleaning body floats from the bottom of the pool to the surface or descends from the surface to the bottom; and
[0016] An adjustment mechanism, electrically connected to the electronic control assembly, is configured to adjust the volume of at least one of the gas and liquid within the snorkeling chamber.
[0017] In some embodiments of this application, the cleaning body includes at least one opening, which is located at the head of the cleaning body in the vertical direction during buoyancy and is connected to the snorkeling cavity. The opening allows at least one of external gas and external liquid to enter the snorkeling cavity.
[0018] After at least one opening of the cleaning body is partially exposed above the liquid surface, the adjustment mechanism regulates the gas entering the snorkeling chamber through at least one of the openings, causing the portion of the cleaning body below the high side to move toward the liquid surface.
[0019] In some embodiments of this application, the cleaning body is spaced apart from the pool wall during the buoyancy and descent processes.
[0020] This application also provides a pool cleaning system, which includes a base station and an automatic pool cleaning device, wherein the automatic pool cleaning device can move toward the base station according to a return command.
[0021] The embodiments described in this application have the following beneficial effects:
[0022] The automatic pool cleaning device provided in this application includes a cleaning body and a filtering device. The cleaning body has an inlet and an outlet. The filtering device is at least partially located inside the body. When cleaning is required, liquid in the pool is driven to flow in through the inlet, pass through the filtering device, and then be discharged from the outlet. When surfacing or diving is required, the snorkeling control structure is controlled by an electronic control component to change the vertical force on the head or tail of the cleaning device, so that the head or tail of the cleaning body tilts relative to the horizontal direction during the surfacing or diving process. Thus, the cleaning device surfaces or dives in an attitude with its head or tail tilted relative to the horizontal direction. Furthermore, the image acquisition device can capture images of the surfacing and diving processes, as well as the forward or backward direction of the cleaning device, improving the efficiency of surfacing and diving. Attached Figure Description
[0023] 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.
[0024] Figure 1 This is a schematic diagram illustrating the structure of an automatic water tank cleaning device according to an embodiment of this application;
[0025] Figure 2 This is a schematic diagram showing the internal structure of an automatic water tank cleaning device according to an embodiment of this application;
[0026] Figure 3 This is a schematic diagram illustrating an embodiment of the automatic pool cleaning device of this application, in which the device floats up in the pool via a buoyancy control device.
[0027] Figure label:
[0028] label name label name 100 Automatic pool cleaning device 30 marching organization 10 Cleaning body 50 snorkeling control structure 11 Inlet 70 Image acquisition device 13 water pump 90 Cleaning unit 15 Filtration device 200 pool bottom 17 water outlet 300 pool wall 19 Water surface suction port 400 water surface Detailed Implementation
[0029] 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.
[0030] Reference Figures 1 to 3This application discloses an automatic water tank cleaning device 100 for cleaning the bottom 200, walls 300, and surface 400 of a water tank. The device includes a cleaning body 10 and a filter 15. The cleaning body 10 has an inlet 11 and an outlet 17. The filter 15 is at least partially located inside the cleaning body 10. Liquid in the tank flows in through the inlet 11, passes through the filter 15, and is discharged through the outlet 17. It is understood that the shape of the cleaning body 10 can include a circle, a square, or a combination of other shapes. For example, a portion of the cleaning body 10 can be circular, and another portion can be square. Figure 1 As shown, the automatic pool cleaning device 100 may also include a traveling mechanism 30, a cleaning unit 90, and other structures / components. In one possible implementation, the cleaning unit 90 may include a roller brush, a cleaning roller, or a wheel. The roller brush can gather foreign objects and move them towards the bottom inlet 11 of the automatic pool cleaning device 100, and it can also scrape foreign objects away from the bottom 200 of the pool. The cleaning roller or wheel can be used to guide dirt on the surface 400 in the surface 400 mode, improving the efficiency of the automatic pool cleaning device 100 in collecting dirt. The automatic pool cleaning device 100 can perform cleaning operations on the bottom, pool walls 300, water, and surface 400 of a pool (e.g., a swimming pool) as needed, for example, to remove garbage from the water, bottom, and surface 400, and to clean dirt from the bottom 200 and pool walls 300. During water surface cleaning operations, the automatic pool cleaning device 100 can collect contaminants through its surface suction port 19, which can be located above the image acquisition device 70 and is opened or closed by a rotatable baffle. In some embodiments, the traveling mechanism 30 is a tracked traveling mechanism 30; however, the automatic pool cleaning device 100 can also use a wheeled traveling mechanism 30, and there is no limitation on this.
[0031] In one possible implementation, the buoyancy control structure 50 of the automatic pool cleaning device 100 is disposed on the cleaning body 10, for changing the vertical force on the head and / or tail of the cleaning body 10. As an example, the buoyancy control structure 50 may include a propeller assembly, which may also be equipped with a water spray mechanism, such as a pump motor and impeller, so that the head or tail of the automatic pool cleaning device 100 is affected by the water flow force to perform buoyancy movement. It is understood that when the automatic pool cleaning device is moving normally on the pool bottom 200, the forward side is the head, and the backward side is the tail. By applying the water flow force with a vertical component to the head or tail of the cleaning body 10, the vertical force on the head or tail of the cleaning body 10 can be changed. Furthermore, the automatic pool cleaning device 100 may also utilize a water spray mechanism to spray water outward from the spray nozzle to assist the automatic pool cleaning device 100 in floating or sinking in the water and / or moving on the water surface 400. As an example, the water spraying mechanism may include a vector water spraying mechanism, that is, a water spraying mechanism that can change the direction of water spraying. For example, the nozzle of the water spraying mechanism can be rotated as needed, or the direction of the water flow sprayed from the nozzle can be changed by using a guide mechanism. According to the embodiments of this disclosure, the thrust difference generated on both sides of the axis of the automatic water cleaning device 100 body by the water spraying mechanism can be used in conjunction with the traveling mechanism 30 of the automatic water cleaning device 100 to make the automatic water cleaning device 100 rotate at the bottom 200 of the pool, move laterally on the pool wall 300, float from the bottom 200 of the pool to the surface 400, and dive from the surface 400 of the water to the bottom 200 of the pool. The water spraying mechanism can also be used to spray water from nozzles whose spraying direction is opposite to the traveling direction. It should be noted that the position, shape and / or number of the above-mentioned nozzles provided on the cleaning body 10 of the automatic water cleaning device 100 can be adjusted according to the actual operating requirements of the automatic water cleaning device 100, and are not limited here.
[0032] In one possible implementation, the electronic control components of the automatic pool cleaning device 100 are electrically connected to the snorkeling control structure 50. When the automatic pool cleaning device 100 needs to ascend or descend, the electronic control components control the snorkeling control structure 50 to change the vertical force on the head or tail of the cleaning device, so that the head or tail of the cleaning body 10 tilts relative to the horizontal direction during the ascent or descent process; and an image acquisition device 70 is disposed at the head or tail of the cleaning body 10. As an example, a control chamber, a power chamber, and a filter device 15 can be provided inside the cleaning body 10. The control chamber can be equipped with control circuits, i.e., electronic control components, such as microprocessors, digital signal processors (DSPs), or microcontrollers. For example, the electronic control components can control the propeller assembly located at the front of the cleaning body 10 to apply water flow force to the head of the cleaning body 10, so that the head tilts relative to the horizontal direction during the ascent or descent process. It is understood that tilting relative to the horizontal direction includes generating a pitch angle relative to the horizontal direction. In some embodiments, the image acquisition device 70 of the cleaning body 10 can also be disposed on the side of the cleaning body 10. In this case, the snorkeling control device can also be used to change the force on the side of the cleaning body 10 in the vertical direction, so that the head or tail tilts relative to the horizontal direction during the ascent or descent. This tilting includes generating a roll angle relative to the horizontal direction. In some embodiments, a drive mechanism such as a water pump 13 and a drive motor can be disposed in the power chamber, and a filter unit such as a filter basket can be disposed in the filter device 15 to filter and purify the water entering the filter device 15 through the inlet 11, filter out impurities, and discharge the cleaned water through the outlet 17 into the automatic cleaning device 100 of the pool.
[0033] According to some embodiments of this disclosure, the automatic pool cleaning device 100 can be equipped with various sensors to perform various operations such as detecting the underwater and surface environment 400, determining the travel route, and / or performing cleaning operations. As an example, the image acquisition device 70 according to embodiments of this disclosure may include an image sensor for acquiring image information of objects surrounding the automatic pool cleaning device 100. As an example, the image sensor may include, but is not limited to, a monocular camera, a binocular camera, and / or a panoramic camera. The automatic pool cleaning device 100 determines its state changes based on the image conditions identified by the image sensor, thereby assisting in attitude adjustments during the surfacing or diving process.
[0034] When surfacing or diving is required, the snorkeling control structure 50 is controlled by the electronic control components to change the force on the head or tail of the cleaning device in the vertical direction, so that the head or tail of the cleaning body 10 is tilted relative to the horizontal direction during the surfacing or diving process. Thus, the cleaning device surfaces or dives in an attitude in which the head or tail is tilted relative to the horizontal direction. The image acquisition device 70 can acquire images of the surfacing and diving process, as well as the forward or backward direction of the cleaning device, thereby improving the efficiency of surfacing and diving.
[0035] In some embodiments, the automatic pool cleaning device 100 further includes a water discharge detection device. When the water discharge detection device detects that at least a portion of the cleaning device is exposed above the water surface 400, the buoyancy control structure 50 continues to adjust the vertical force on the head or tail of the cleaning device so that the cleaning body 10 is parallel to the water surface 400. The water discharge detection device includes a water discharge sensor, which can obtain in real time whether the robot's position in the pool is above or below the water surface 400 through pressure or optical detection. For example, the water discharge sensor is a capacitive sensor. When tested using a pressure signal, its working principle is mainly based on the effect of pressure on the internal capacitance of the capacitive sensor. Specifically, when pressure acts on the force-bearing diaphragm of the capacitive sensor, the displacement of the force-bearing diaphragm causes a change in the distance between the sensing electrode and the reference electrode, thereby causing a change in the capacitance of the capacitive sensor. During the use of the pool robot, when the capacitive sensor is submerged in water, the pressure on the force-bearing diaphragm is atmospheric pressure and water pressure; when the capacitive sensor is exposed to water, the pressure on the force-bearing diaphragm is atmospheric pressure. In one possible implementation, when it is necessary to adjust the vertical force on the head or tail of the cleaning body 10 so that the cleaning body 10 is parallel to the water surface 400, the propeller assembly can provide the head or tail of the cleaning body 10 with a water flow force having at least a vertical direction, thereby making the cleaning body 10 parallel to the water surface 400.
[0036] In some embodiments, during the surfacing process, the image acquisition device 70 can identify dirt located on the water surface 400 of the pool; or, during the descent process, the image acquisition device 70 can identify dirt located on the pool bottom 200. During the surfacing and descent processes of the automatic pool cleaning device 100, the cleaning body 10 is spaced apart from the pool wall 300. Since it is not necessary to climb the pool wall 300 to emerge from the water surface 400, the image acquisition area of the image acquisition device 70 is not obstructed by the pool wall 300, thus effectively identifying dirt on the water surface 400 or the pool bottom 200 during surfacing or descent. The image acquisition device 70 can also be configured to rotate relative to the cleaning body 10. The image acquisition device 70 has a first position and a second position. When the image acquisition device 70 is in the first position, it acquires images of the bottom of the pool, such as whether the automatic pool cleaning device 100 is located at the edge of a cliff, the bottom 200 of the pool, and the corners of the pool, thereby determining whether there is still dirt at the bottom of the pool, or whether the automatic pool cleaning device 100 needs to perform anti-fall operations, etc. When the image acquisition device 70 is rotated to the second position, it can acquire images of the water surface 400, thereby determining whether there is still dirt on the water surface 400 of the pool.
[0037] In some embodiments, the automatic pool cleaning device 100 further includes a motion control module, which is capable of planning the movement path and / or cleaning strategy of at least a portion of the cleaning device after it is exposed or about to be exposed above the water surface 400, based on images acquired by the image acquisition device 70 during the ascent process, or planning the movement path and / or cleaning strategy of at least a portion of the cleaning device after it is in contact with or about to contact the pool bottom 200, based on images acquired by the image acquisition device 70 during the descent process. As the automatic pool cleaning device 100 rises from the pool bottom 200 to the water surface 400, the cleaning body 10 tilts and raises its head. The image acquisition device 70 located on the head can then capture an image of the environment above the cleaning body 10, i.e., an image of the water surface 400. By identifying contaminants within this image, the device can plan its movement path or cleaning strategy on the water surface 400 in advance, either before or when only a portion of the cleaning body 10 has emerged from the water. When only a portion of the cleaning body 10 has emerged from the water, or when it has not yet emerged, the device moves closer to the contaminants according to the planned path or strategy. Because the water surface ripples less when only a portion of the cleaning body 10 has emerged from the water, or when it has not yet emerged, the pool cleaning device 100 can more easily capture the contaminants. For example, when a portion of the automatic cleaning device 100 is above the water surface 400, or when the cleaning body 10 is about to emerge from the water surface (e.g., when the distance between the cleaning body 10 and the water surface is less than 40cm), the cleaning body 10 can be controlled to move towards the contaminants according to a planned movement path, thereby approaching the contaminants to clean them. Furthermore, after a portion of the cleaning device 100 emerges from the water surface, the buoyancy of the cleaning body 10 can be adjusted to make it substantially parallel to the water surface 400, allowing the cleaning device 100 to smoothly enter a floating state, enabling the garbage on the water surface to be effectively cleaned from the device's suction port 19.
[0038] The automatic pool cleaning device 100 of this application can identify garbage information above the cleaning body 10 during the floating process. Therefore, when the cleaning body 10 is not exposed to the water surface or only a part of it is exposed, the drive device, propulsion device, or drainage device is all underwater. At this time, a movement path is planned to approach the garbage and the device moves towards the pollutants according to the movement path. The degree of garbage drift caused by water flow fluctuations is small, and the cleaning device 100 can more easily capture the garbage. If the cleaning device 100 enters a floating state, at least a part of the drive device, propulsion device, or drainage device is exposed to or close to the water surface. When it moves towards the garbage, the water surface fluctuations caused by the drive device, propulsion device, or drainage device are large, and the garbage will be displaced significantly, making it difficult for the cleaning device 100 to capture the garbage.
[0039] In addition, the above-mentioned cleaning strategy includes the pumping power of the water pump. When the cleaning body 10 is not yet exposed to the water surface or when a part of it has just emerged from the water surface, the power of the water pump adapted to the polluted area is planned in advance, and the water pump is moved closer to the pollutants according to the planned power. This can also prevent the pollutants from drifting. For pollutants with a large area or a large number of pollutants, the water pump power is increased to move closer to the pollutants. This can prevent individual pollutants that are not directly facing the suction after being sucked up from being pushed away from the cleaning device by the water flow during the approach process.
[0040] In addition, during the process of the automatic pool cleaning device descending from the water surface 400 to the pool bottom 200, the image acquisition device 70 acquires an image of the pool bottom 200 and identifies the dirt in the image. This allows for the pre-planning of the movement path of the automatic pool cleaning device 100 at or near the pool bottom (e.g., the distance between the cleaning body 10 and the pool bottom is less than 40cm). Alternatively, based on the identified dirt, different pool bottom 200 cleaning modes can be selected (e.g., full coverage mode, random cleaning mode, directional cleaning mode, or obstacle avoidance mode, etc.).
[0041] In this application, when the image acquisition device 70 identifies obstacles or pollutants in the direction of travel in advance during the descent of the cleaning device 100, it can control the cleaning device 100 to enter an obstacle avoidance mode before touching the bottom of the pool, such as turning, to avoid the cleaning device 100 getting stuck after reaching the bottom of the pool, or to move along the planned path before touching the bottom of the pool, so as to avoid the drive mechanism or water spray mechanism pushing away the pollutants after the cleaning body 10 touches the bottom of the pool.
[0042] Furthermore, the automatic pool cleaning device 100 according to embodiments of this disclosure may also be equipped with a distance sensor for acquiring distance information between the automatic pool cleaning device 100 and obstacles. As an example, the distance sensor may include, but is not limited to, at least one of the following: an ultrasonic sensor, an infrared sensor, a lidar sensor, a TOF sensor, or a 3D structured light sensor.
[0043] According to embodiments of this disclosure, the automatic pool cleaning device 100 may further include an attitude control component. This attitude control component is used to control the position and angle of the cleaning body 10 within a preset angle range during the surfacing, diving, surface 400 cleaning, or bottom 200 cleaning processes. The attitude control component may include an inertial measurement unit (IMU) for acquiring attitude data of the automatic pool cleaning device 100. For example, the automatic pool cleaning device 100 can utilize the equipped IMU to collect the acceleration and angular velocity values of the automatic pool cleaning device 100 in the three-dimensional space of the pool about the XYZ axes, thereby acquiring attitude data such as pitch angle, yaw angle, and / or roll angle, and thus determining the travel state of the automatic pool cleaning device 100 based on the attitude data.
[0044] Reference Figure 2 The snorkeling control structure 50 further includes at least one of a volume adjustment component and a gravity adjustment component. As an example, the volume adjustment component may include an air storage chamber, an air tank, and a corresponding gas adjustment mechanism, such as an air pump. The air pump adjusts the air volume in the air storage chamber using gas from the air tank or air, thereby controlling the buoyancy of the automatic pool cleaning device 100, allowing it to float and / or sink in the water. As another example, the gravity adjustment component may include a water storage structure and a corresponding water pump 13. The water pump 13 discharges water from the water storage structure, thereby giving the automatic pool cleaning device 100 buoyancy from the volume of water displaced by the water storage structure, causing the cleaning body 10 to float or sink. In some embodiments, the snorkeling control structure 50 may also include a snorkeling cavity configured to contain at least one of a gas and a liquid, the snorkeling cavity providing buoyancy or descent force to the front or rear side of the cleaning body 10, so that the cleaning body 10 floats from the bottom 200 to the surface 400 or descends from the surface 400 to the bottom 200; and an adjustment mechanism electrically connected to the electronic control component, configured to adjust the volume of at least one of the gas and liquid within the snorkeling cavity. The snorkeling cavity may be located on the front and rear side of the cleaning body 10, and may include, but is not limited to, an inflatable snorkeling cavity, a liquid container-type snorkeling cavity, a separation snorkeling cavity, etc. The volume of the snorkeling cavity can be preset. The snorkeling cavity may be made of flexible and / or rigid materials. Rigid materials may include, but are not limited to, glass, ceramics, phenolic plastics, polyurethane plastics, epoxy plastics, unsaturated polyesters, etc. The aforementioned flexible materials may include, but are not limited to, polyvinyl alcohol resin, polyethylene terephthalate, rubber, etc. When surfacing is required, an adjusting mechanism, such as a piston, can drive the liquid in the front portion of the snorkeling chamber to be discharged and / or the gas in to be introduced (the gas in this portion can be pre-stored in an air tank), so that the front of the cleaning body 10 is subjected to vertical buoyancy, thereby causing the cleaning device to float in a relatively horizontal tilted position. When diving is required, the adjusting mechanism can drive the liquid in the front portion of the snorkeling chamber to be introduced and / or the gas to be discharged, so that the front of the cleaning body 10 is subjected to vertical downward force (e.g., gravity), thereby causing the cleaning device to dive in a relatively horizontal tilted position. The automatic pool cleaning device 100 can also be equipped with a rechargeable battery as a power source to power components such as the drive motor, air pump, piston, water pump 13, and control circuit.
[0045] In some embodiments, the cleaning body 10 includes at least one opening located at the vertical head of the cleaning body 10 and connected to the snorkeling chamber. The opening allows at least one of external gas and external liquid to enter the snorkeling chamber. After at least one opening of the cleaning body 10 is at least partially exposed above the water surface, the regulating mechanism regulates the gas entering the snorkeling chamber through the at least one opening, so that the cleaning body 10 is parallel to the water surface 40°. The openings can be evenly distributed at the head of the cleaning body 10, preferably positioned at the foreground. This arrangement allows the openings to connect more quickly to external air above the water surface as the cleaning body rises. Alternatively, the opening can be directly positioned on the snorkeling chamber, which improves air / liquid exchange efficiency and saves space. It is understood that the opening, regulating mechanism, and snorkeling chamber can be connected by a pipe, which can be used to transport gas or liquid. After the automatic cleaning device 100 floats to the water surface 400 and at least one opening protrudes from the water surface 400, the snorkeling chamber can be connected to the outside through the opening, thereby replenishing the cleaning body 10 on the rear side (located below the water surface 400) with gas, so that the cleaning body 10 is parallel to the water surface 400.
[0046] This application also proposes a pool cleaning system, which includes a base station and the aforementioned automatic pool cleaning device 100. The automatic pool cleaning device 100 can move toward the base station according to a return-to-base command. The base station can be used to transmit control signals or control commands from a mobile control device to the automatic pool cleaning device 100 to guide the cleaning device in cleaning operations or to return to its charging station.
[0047] 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.
[0048] 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.
[0049] 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.
[0050] 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.
[0051] 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. An automatic water tank cleaning device for cleaning the bottom, walls, and surface of a water tank, characterized in that, The automatic water tank cleaning device includes: The cleaning body and the filter device are provided. The body is provided with an inlet and an outlet. The filter device is at least partially located inside the body. The liquid in the pool flows in from the inlet, passes through the filter device, and is discharged from the outlet. A snorkeling control structure is provided on the cleaning body to change the force on the head and / or tail of the cleaning body in the vertical direction. An electronic control component, electrically connected to the snorkeling control structure, controls the snorkeling control structure to change the vertical force on the head or tail of the cleaning device when the automatic pool cleaning device needs to rise or descend, so that the head or tail of the cleaning body tilts relative to the horizontal direction during the rising or descending process; and An image acquisition device is located at the head or tail of the cleaning body.
2. The automatic water tank cleaning device according to claim 1, wherein, It also includes a water discharge detection device. When the water discharge detection device detects that at least a part of the cleaning device is exposed above the water surface, the buoyancy control structure continues to adjust the force on the head or tail of the cleaning device in the vertical direction so that the cleaning body is parallel to the water surface.
3. The automatic water tank cleaning device according to claim 1, wherein, During the ascent, the image acquisition device can identify debris on the surface of the pool; or, during the descent, the image acquisition device can identify debris at the bottom of the pool.
4. The automatic water tank cleaning device according to any one of claims 1-3, wherein, It also includes a motion control module, which can plan the movement path of at least a part of the cleaning device after it emerges from the water or is about to emerge from the water based on the images captured by the image acquisition device during the ascent process, or plan the movement path of at least a part of the cleaning device after it contacts the bottom of the pool or is about to touch the bottom of the pool based on the images captured by the image acquisition device during the descent process.
5. The automatic water tank cleaning device according to claim 1, wherein, The image acquisition device is rotatably mounted relative to the cleaning body.
6. The automatic water tank cleaning device according to claim 1, wherein, It also includes an attitude control component, which is used to control the position and angle of the cleaning body to be within a preset angle range during the surfacing process, diving process, surface cleaning process or bottom cleaning process.
7. The automatic water tank cleaning device according to claim 1, wherein, The snorkeling control structure includes at least one of a propeller assembly, a volume adjustment assembly, and a gravity adjustment assembly.
8. The automatic water tank cleaning device according to claim 1, wherein, The snorkeling control structure includes: A buoyancy chamber configured to contain at least one of gas and liquid, the buoyancy chamber providing buoyancy or descent to the front or rear side of the cleaning body, such that the cleaning body floats from the bottom of the pool to the surface or descends from the surface to the bottom; and An adjustment mechanism, electrically connected to the electronic control assembly, is configured to adjust the volume of at least one of the gas and liquid within the snorkeling chamber.
9. The automatic water tank cleaning device according to claim 8, wherein, The cleaning body includes at least one opening, which is located at the head of the cleaning body and connected to the snorkeling cavity during the ascent process. The opening allows at least one of external gas and external liquid to enter the snorkeling cavity. After at least one opening of the cleaning body is partially exposed above the water surface, the adjustment mechanism adjusts the gas entering the snorkeling chamber through at least one of the openings so that the cleaning body is parallel to the water surface.
10. The automatic water tank cleaning device according to any one of claims 1 to 3, 5 to 9, wherein, During the surfacing and descent processes, the cleaning unit is spaced apart from the pool wall.
11. A water tank cleaning system, characterized in that, The pool cleaning system includes a base station and an automatic pool cleaning device as described in any one of claims 1 to 10, wherein the automatic pool cleaning device can move toward the base station according to a return command.