Automatic pool cleaning device

Abstract

The application provides a pool automatic cleaning device, which comprises a shell, an opening and a chamber are arranged on the shell, a water pump is arranged in communication with the opening and the chamber, when the opening is exposed to the water surface, the water pump can suck external air into the chamber in the shell through the opening to change the pitch angle of the pool automatic cleaning device, a buoyancy adjusting mechanism comprises an air pump, an air inlet, an air suction pipeline and an air bag, the air inlet is arranged on the head of the shell, the air pump is used for inflating the air bag through the air inlet and the air suction pipeline or discharging water in the air bag and / or the air suction pipeline, a timer is further arranged in the shell, the timer is used for recording the discharging time of the water in the air bag and / or the air suction pipeline discharged by the air pump, so that the water in the air suction pipeline and / or the air bag is discharged when the air pump inflates the air bag. The application avoids that the water in the air suction pipeline enters the air pump when the air pump inflates the air bag, and improves the service life of the air pump and the safety of inflation.

Description

Technical Field

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

[0002] With the development of computer technology, robotics technology has also developed rapidly. Currently, underwater robots are being used more and more widely in various fields, assisting people in carrying out work in water, such as underwater cleaning.

[0003] The robot that cleans the pool can clean the bottom, walls and surface of the pool. This requires adjusting the position of the robot in the water according to the operation requirements. For example, when the machine switches from cleaning the bottom of the pool to cleaning the surface, it needs to be controlled to switch the machine from the bottom of the pool to a floating state on the surface. Utility Model Content

[0004] According to one aspect of this disclosure, an automatic pool cleaning device is provided, comprising: A housing having openings and chambers; A water pump is connected to the opening and the chamber. When the opening is exposed above the water surface, the water pump can draw outside air into the chamber inside the housing through the opening to change the pitch angle of the automatic water tank cleaning device. A buoyancy adjustment mechanism includes an air pump, an air inlet, an air inlet pipe, and an air bladder. The air inlet is located at the head of the shell. The air pump is used to inflate the air bladder or discharge water from the air bladder and / or the air inlet pipe through the air inlet and the air inlet pipe. The housing is also equipped with a timer, which is used to record at least the duration of water discharge from the air pump in the airbag and / or the air intake tube, so that the water in the air intake tube and / or the airbag has been discharged when the air pump inflates the airbag.

[0005] Furthermore, the position of the air intake on the housing is higher than the position of the opening on the housing.

[0006] Furthermore, when the air pump inflates the airbag through the air inlet and the air inlet pipe to expel the water in the airbag and / or the air inlet pipe, the air inlet is located above the water surface.

[0007] Furthermore, the housing is also equipped with a water outlet detection sensor, which is used to detect whether the opening and / or the air intake is exposed above the water surface.

[0008] Furthermore, it also includes an inertial measurement unit for detecting the pitch angle of the automatic water tank cleaning device, so that when the air pump discharges gas and / or water from the airbag, the air intake is above the water surface.

[0009] Furthermore, the opening includes at least one of the following: a water inlet at the head of the fuselage, a water inlet at the bottom of the fuselage, an exhaust port on the fuselage, and a gap on the housing.

[0010] Furthermore, the air intake is located at the handle on the head of the housing.

[0011] Furthermore, it also includes: a water surface drive mechanism and a walking mechanism, wherein, The water surface driving mechanism is used to drive the automatic cleaning device of the pool to move on the water surface; The walking mechanism is at least used for moving the machine upward along the pool wall until the opening is exposed above the water surface.

[0012] Furthermore, the airbag is located at the head and tail of the shell.

[0013] Furthermore, it also includes a controller for controlling the water pump and the air pump to turn on or off.

[0014] The embodiments described in this application have the following beneficial effects: The automatic pool cleaning device provided in this application has an opening, an air intake, a water pump, and a buoyancy adjustment mechanism on its casing. The water pump is connected to the opening and the chamber inside the casing. The pump's suction action draws outside air into the chamber through the opening, displacing the water inside. This increases the buoyancy of the machine and reduces its weight, causing a change in the machine's pitch angle. Furthermore, more air is intake at the head than at the tail, allowing the machine to float on the water surface with its head higher than its tail. Simultaneously, a timer is installed on the machine. When the machine's pitch angle changes, the air pump in the buoyancy adjustment mechanism activates the exhaust mode. The timer records the duration of the exhaust mode, ensuring that the air pump expels water from the intake pipe and / or the air bladder before inflating it. This ensures that there is no water in the intake pipe each time the air pump inflates, preventing water from entering the air pump during inflation and affecting its lifespan and inflation safety. This also prevents water from entering the airbag from the air intake pipe, which would cause excessive water accumulation in the airbag and affect the machine's attitude adjustment on the water surface. Attached Figure Description

[0015] To more clearly illustrate the technical solutions of the embodiments of this disclosure, the accompanying drawings used in the description of the embodiments will be briefly introduced below. The accompanying drawings in the following description are merely exemplary embodiments of this disclosure.

[0016] Figure 1 This invention provides a schematic diagram of the structure of an automatic water tank cleaning device according to an embodiment of the present application. Figure 2 This illustration shows a structural schematic of an automatic pool cleaning device provided in another embodiment of this application; Figure 3 A cross-sectional schematic diagram of the automatic water tank cleaning device provided in this application is shown; Figure 4 A schematic diagram of the floating process of the automatic water tank cleaning device provided in this application is shown; Figure 5 This illustration shows a scenario where the automatic pool cleaning device provided in this application floats to the surface of the water via the pool wall.

[0017] The above figures include the following reference numerals: 100. Automatic water tank cleaning device; 101. Housing; 102. Water inlet at the head of the machine body; 103. Exhaust port; 104. Water inlet at the bottom of the machine body; 105. Drain port; 106. Air intake port; 107. Walking mechanism; 108. Water pump; 109. Airbag; 110. Filter basket; 111. Chamber. Detailed Implementation

[0018] To make the objectives, technical solutions, and advantages of this application clearer, the technical solutions of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0019] Unless otherwise specified, the following description will use a robot as an example of the automatic pool cleaning device and a swimming pool as an example of a pool or pool-shaped structure.

[0020] Automatic pool cleaning devices can be designed to move along a pre-planned route or predetermined rules on the bottom, walls, and / or surface of a pool, driven by electricity or other means, via their travel mechanism (e.g., may include travel wheels, tracks, or water jet nozzles), while simultaneously operating their cleaning mechanism (e.g., may include roller brushes, suction inlets, etc.) to clean dirt, filter pool water, and absorb waste in the current area.

[0021] like Figures 1-3As shown in the figure, this specification provides an automatic water tank cleaning device 100. The automatic water tank cleaning device 100 may include a housing 101, a filter device (e.g., a filter basket 110), a buoyancy adjustment mechanism, and a water pump 108 at least partially located within the housing 101. When the automatic water tank cleaning device 100 is in a water tank, the water pump 108 draws water from the tank through the machine's inlet and the filter basket 110's inlet into the filter basket 110. The water filtered by the filter basket 110 is discharged from the drain outlet, thereby achieving the function of cleaning the water tank. Figure 1 and Figure 3 As shown, the housing 101 is provided with an opening and a chamber 111. The opening can be understood as a hole, cavity, or gap that allows the chamber 111 inside the housing 101 to communicate with the external environment. The chamber 111 can be understood as a space inside the housing 101 that can contain gas or liquid. The opening is located at the head or middle of the automatic water tank cleaning device 100, such as... Figure 1 As shown, the openings may include at least one of the following on the body of the automatic pool cleaning device 100: an exhaust port 103, a drain port 105, a head inlet 102, and a bottom inlet 104. The exhaust port 103 is located on the housing 101 and can be multiple. Generally, the exhaust ports 103 are relatively small. After the machine is submerged in water, air inside the housing 101 can be discharged through the exhaust port 103, accelerating the machine's descent. Similarly, when the exhaust port 103 is on the water surface, the pump's suction can draw external air into the housing 101 through the exhaust port 103. The drain port 105 is used to drain water from inside the machine after it is retrieved from the pool and is generally located at the bottom of the housing 101. The head inlet 102 can be understood as the inlet for external water to enter the filter device when the machine is cleaning the water surface. The bottom inlet 104 can be understood as the inlet for external water to enter the filter device when the machine is moving underwater.

[0022] As can be seen, the exhaust port 103, the drain port 105, the head inlet 102, and the bottom inlet 104 all enable communication between the interior of the housing 101 and the external environment. Alternatively, the opening can be a gap on the housing 101 that allows communication with the outside, such as a gap at the joint of different components of the housing 101 or a gap between the baffle of the head inlet 102 and the housing. The head inlet 102 and the bottom inlet 104 are generally equipped with baffles that can open or close the corresponding inlets. When an opening includes the head inlet 102 and / or the bottom inlet 104, and an opening is detected above the water surface, the head inlet 102 and / or the bottom inlet 104 can be opened. This increases the speed at which external air is drawn into the housing through the opening, thereby increasing the speed at which the machine subsequently floats to the surface.

[0023] The water pump 108 is connected to the opening and the chamber 111. When the machine is in the water and the opening is above the water surface, the suction action of the water pump 108 can draw air from outside the machine into the chamber 111 inside the housing 101 through the opening. After the air is trapped in the chamber 111, the water in the housing 101 is discharged, thereby reducing the weight of the machine and increasing the buoyancy. At this time, the attitude of the machine will change, that is, the pitch angle will change.

[0024] The automatic pool cleaning device 100 also includes a buoyancy adjustment mechanism, which adjusts the buoyancy of the machine, allowing it to float to the surface. The buoyancy adjustment mechanism may include an air pump (not shown), an air intake 106, an air intake pipe (not shown), and an airbag 109. The air pump can be located within the machine's control compartment and is connected to the airbag 109 and the air intake pipe, which is connected to the air intake 106. The air pump draws in external air through the air intake 106 and the air intake pipe, inflating the airbag 109. The airbag 109 can be made of a flexible, deformable material. When inflated, the airbag 109 deforms, increasing its drainage volume and thus increasing the buoyancy of the machine, allowing it to float. Furthermore, the air pump can also expel gas from the airbag 109 and / or the air intake pipe, and can also expel water from the airbag 109 and / or the air intake pipe.

[0025] Typically, the opening is located at the head of the machine. The machine climbs the pool wall or uses a propeller to bring the head above the water surface. Once the opening is above the water, the water pump 108 draws outside air through the opening into the chamber 111 inside the housing 101. This causes the water in the chamber 111 to be expelled by the air, especially the water at the head of the machine, which is expelled first, reducing the machine's weight and increasing buoyancy. Furthermore, the openings are generally large or numerous, and the water pump 108 is also powerful. When the opening is above the water surface, the water pump 108 draws in a large amount of air quickly, increasing the machine's buoyancy, especially the buoyancy experienced by the head, in a short time. Consequently, the height of the machine head in the pool is higher than that of the tail, thus changing the machine's pitch angle and keeping the part of the machine head above the water surface. The air intake 106 is located at the head of the machine, so that the air intake 106 of the buoyancy adjustment mechanism can be kept on the water surface. The air pump can inflate the air bag 109 through the air intake 106 and the air intake pipe to further enhance the buoyancy of the machine, so that the machine can float stably on the water surface and perform cleaning tasks on the water surface.

[0026] After the water pump 108 draws in outside air and it enters the chamber 111 of the housing 101 through the opening, the head of the machine can float stably above the water surface. However, the tail of the machine may still be underwater, which is not conducive to the machine moving on the water surface to clean up garbage.Figure 2 As shown, the airbag 109 can be located at the rear of the machine. When the airbag at the rear inflates, the rear of the machine can float, allowing both the head and tail of the machine to float on the water surface. Alternatively, at least one airbag 109 can also be located at the head of the machine. After both the head and tail airbags 109 are inflated, the water pump can be turned off, and the machine can maintain its floating posture on the water surface. The water surface drive mechanism then controls the machine to move on the water surface for cleaning. A high-powered water pump with strong suction would cause significant water ripples around the machine, washing away surface debris and hindering the machine's ability to clean surface debris. Positioning the airbags at the head and tail of the machine makes it easier to control the machine's posture on the water surface, allowing the water inlet 102 at the head of the machine to be partially above and partially below the water surface, thus enabling the machine to suck surface debris into the filter basket 110 during movement.

[0027] Furthermore, since the automatic water cleaning device operates in water, the air intake 106 will inevitably come into contact with water, which may enter the air intake pipe or even the airbag 109 through the air intake 106. In this embodiment, a timer is installed inside the housing 101. This timer can at least record the duration of air pump degassing the airbag 109 and / or the air intake pipe. Before inflating the airbag 109, the air pump first activates the degassing mode, such as reversing the air pump. Simultaneously, the timer records the duration of degassing in the degassing mode. When the degassing time meets a predetermined duration (e.g., 10 seconds or 15 seconds), ensuring that water has been expelled from the airbag 109 and / or the air intake pipe, the air pump then inflates the airbag 109. This prevents water from entering the air pump if water remains in the air intake pipe, which could eventually affect the buoyancy adjustment mechanism, such as the lifespan of the air pump and the safety of the machine. In addition, if the airbag is not drained before inflation, water in the air intake tube will enter the airbag 109. If the water inside the airbag 109 is not completely drained when it is deflated, water will continue to accumulate inside the airbag 109. When the water inside the airbag 109 accumulates to a certain amount, it will affect the adjustment of the machine's attitude on the water surface and may even affect the machine's buoyancy.

[0028] The timer can be a mechanical timer, an electronic timer, or a software timer, and the type of timer can be selected according to actual needs. The duration of the air pump's exhaust mode can be set according to the length of the intake tube and the power of the air pump, etc., as long as it ensures that the water in the intake tube is expelled when the air pump inflates the airbag.

[0029] The automatic water cleaning device 100 is also equipped with a water outlet detection sensor, which can be used to detect whether the machine is above or below water. To ensure that the air intake 106 is above the water surface when the air pump is working, the water outlet detection sensor can be used again to detect whether water is coming out of the air intake 106. The water outlet detection sensor can include capacitive water outlet sensors, ultrasonic water outlet sensors, light cone water outlet sensors, radar water outlet sensors, Hall effect water outlet sensors, float water outlet sensors, depth gauges, or image sensors, etc., and can be selected according to actual needs. The water outlet detection sensor can be set near the air intake 106, near the opening, or in other positions on the machine head. The water outlet detection sensor can also be used to detect whether the opening is above the water surface.

[0030] The air intake is optimally positioned near the top of the machine head. This ensures that even if only a small portion of the machine head is above the water, the air intake remains above the water, allowing outside air to enter the housing or intake port. The air intake 106 is positioned higher on the housing 101 than the opening on the housing, and furthermore, the air intake 106 is closer to the very front of the machine than the opening. For example: Figure 1 As shown, the opening can be the water inlet 102 at the head of the machine, while the air intake 106 is located on the handle at the head of the machine. The air intake 106 is higher than the water inlet 102 at the head of the machine, and at the same time, the air intake 106 is also closer to the front of the machine. In this way, when the opening is exposed above the water surface, the air intake 106 can also be exposed above the water surface. When the water pump draws external air into the chamber 111 inside the housing 101, even if there is not much air entering the housing 101, as long as the head of the machine is kept on the water surface, the air intake 106 can be kept on the water surface, thus improving the stability and safety of the machine when it floats.

[0031] It should be noted that the opening is not connected to the buoyancy adjustment mechanism in the automatic cleaning device 100 of the pool. In other words, when outside air enters the opening, it will not enter the buoyancy adjustment mechanism.

[0032] In addition, the machine is equipped with an Inertial Measurement Unit (IMU). The IMU can be used to detect the pitch angle of the machine. After the water pump draws in external air and enters the chamber 111 inside the housing 101 through the opening, the IMU detects that the pitch angle of the machine meets the predetermined angle, such as less than 80 degrees. At this time, the head of the machine can be stably maintained above the water surface, so that the air intake 106 can be located above the water surface. The air pump of the buoyancy adjustment mechanism starts the exhaust function, which can discharge the water in the air bag 109 and the air intake pipe through the air intake 106. Then the air bag 109 is inflated. This prevents the water in the air intake pipe from entering the air pump when the air pump inflates the air bag 109, which would affect the life and safety of the air pump.

[0033] like Figures 1-2 As shown, the automatic pool cleaning device also includes a water surface drive mechanism, such as a paddle, track, or water pump with a tail nozzle. The water surface drive mechanism can be used to drive the machine to move on the water surface for cleaning. The automatic pool cleaning device also includes a walking mechanism 107, such as wheels or tracks. The walking mechanism 107 can control the machine to move on the bottom or wall of the pool. For example, the walking mechanism 107 can control the machine to move upward along the pool wall, so that the head of the machine is exposed above the water surface, and the opening is located above the water surface. The suction of the water pump allows outside air to enter the chamber 111 inside the housing 101 through the opening.

[0034] In addition, the automatic pool cleaning device 100 also includes a controller, which can be electrically connected to the sensors and drive mechanisms on the machine, and can control the machine to automatically clean the pool based on the data collected by the sensors. For example, the controller can control the air pump and water pump to turn on or off.

[0035] The specific structures of the filtration device, buoyancy adjustment mechanism, water pump, and other components are not shown in the accompanying drawings. The structure and position of the above components can be selected according to actual needs. This specification does not impose specific limitations on the embodiments.

[0036] like Figures 4-5 As shown, the entire process of the automatic water tank cleaning device floating up in the above embodiment can be referred to as follows: S402, Control the automatic cleaning device of the water tank to move upward from underwater.

[0037] For example: An automatic pool cleaning device can be controlled to move upwards along the pool wall, such as... Figure 5 As shown in Part A of the diagram.

[0038] S404. After the opening on the shell is exposed above the water surface, the automatic cleaning device for the pool continues to move upward. The water pump draws air from outside the shell into the chamber inside the shell through the opening, which causes the pitch angle of the automatic cleaning device for the pool to change.

[0039] During the machine's upward movement, a water outlet detection sensor can be used to check whether the machine head or its opening is above the water surface. If the sensor detects water discharge, the machine can be controlled to continue moving upward for a predetermined time or distance. During this process, the water pump remains operational, and its suction action draws outside air into the housing through the opening, creating an air-trapped state that increases buoyancy and consequently alters the pitch angle of the automatic water tank cleaning device. Figure 5As shown in Part A, the automatic cleaning device moves upward along the pool wall until it reaches the opening above the water surface. At this point, the water pump draws in outside air through the opening. This air displaces the water inside the pool, reducing the machine's weight and increasing buoyancy. The machine then detaches from the pool wall and floats in the water. Furthermore, with the machine's head above the water, it receives more air than the tail, resulting in greater buoyancy at the head. This causes the head to be higher than the tail, changing the machine's pitch angle and making it appear as if... Figure 5 The tilt state shown in section B.

[0040] S406. When the pitch angle of the automatic cleaning device for the water tank meets the predetermined conditions, the air pump in the buoyancy adjustment mechanism starts the exhaust function to discharge the water in the air bag and / or the air intake from the air intake.

[0041] If the pitch angle meets the predetermined conditions, such as a pitch angle less than 80 degrees, 70 degrees, or 60 degrees, or the duration the opening is above the water surface exceeds the preset duration, it indicates that the machine's pitch angle meets the predetermined conditions. Meeting the predetermined pitch angle conditions indicates that the machine has detached from the pool wall, and the trapped air inside the machine allows the machine's head to remain relatively stable above the water surface. Figure 5 As shown in Section B, after the machine is trapped in air, it detaches from the pool wall and floats on the water in an inclined position with its head above the water surface and its tail below the water surface. At this time, the air intake can be located above the water surface, and the air pump starts the exhaust mode to expel the water in the air bag and / or the air intake pipe from the air intake.

[0042] S408. Use a timer to record the duration of the air pump in the exhaust mode. When the exhaust duration meets the predetermined duration, the air pump will then turn on the inflation mode to inflate the airbag with outside air through the air inlet and air inlet pipe.

[0043] The timer records the duration of air pump degassing. When the degassing time meets a predetermined duration, such as 15 seconds, it indicates that the water in the airbag and suction tube has been expelled. At this point, the air pump switches to inflation mode and begins inflating the airbag, further increasing the machine's buoyancy and allowing it to float stably on the water surface. Figure 5 As shown in section C. This prevents water from entering the inflation tubing when the air pump inflates the airbag, which would affect the lifespan and safety of the air pump. Alternatively, water from the suction tubing could enter the airbag, causing excessive water accumulation and affecting the buoyancy adjustment mechanism's ability to control the machine's floating posture.

[0044] The structure of the buoyancy adjustment mechanism can be referred to the description in the above embodiment. A valve can be installed on the air intake of the buoyancy adjustment mechanism. The valve can be opened when the air pump is venting or inflating, and the valve is closed when the air pump stops working. In addition, when the air pump is in venting or inflating mode, a water outlet detection sensor can be used to re-verify whether the air intake is above the water surface. If so, venting or inflating is performed again to further ensure that water does not enter the air intake pipe.

[0045] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0046] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments.

[0047] 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.

[0048] 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.

[0049] 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.

[0050] 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, comprising: The housing (101) is provided with an opening and a chamber (111). A water pump (108) is connected to the opening and the chamber (111). When the opening is exposed above the water surface, the water pump (108) can draw external air into the chamber (111) inside the housing (101) through the opening to change the pitch angle of the automatic cleaning device (100) of the pool. The buoyancy adjustment mechanism includes an air pump, an air inlet (106), an air intake pipe, and an air bag (109). The air inlet (106) is located at the head of the housing (101). The air pump is used to inflate the air bag (109) or drain water from the air bag (109) and / or the air intake pipe through the air inlet (106) and the air intake pipe. The housing (101) is also provided with a timer, which is used to record at least the duration of the time for the air pump to discharge water from the air bag (109) and / or the air intake pipe, so that the water in the air intake pipe and / or the air bag (109) has been discharged when the air pump inflates the air bag (109).

2. The automatic water tank cleaning device according to claim 1, wherein the air intake (106) is positioned on the housing (101) higher than the position of the opening on the housing (101).

3. In the automatic water tank cleaning device according to claim 1, when the air pump inflates the air bag (109) through the air inlet (106) and the air inlet pipe to discharge the water in the air bag (109) and / or the air inlet pipe, the air inlet (106) is located above the water surface.

4. The automatic water tank cleaning device according to claim 1, wherein the housing (101) is further provided with a water outlet detection sensor, the water outlet detection sensor being used to detect whether the opening and / or the air intake (106) are exposed above the water surface.

5. The automatic water tank cleaning device according to claim 1 further includes an inertial measurement unit, the inertial measurement unit being used to detect the pitch angle of the automatic water tank cleaning device so that when the air pump discharges the gas and / or water in the air bag (109), the air intake (106) is above the water surface.

6. The automatic water tank cleaning device according to claim 1, wherein the opening includes at least one of the following: a water inlet (102) at the head of the body, a water inlet (104) at the bottom of the body, an exhaust port (103) on the body, and a gap on the housing (101).

7. The automatic water tank cleaning device according to claim 1, wherein the air intake (106) is located at the handle at the head of the housing (101).

8. The automatic water tank cleaning device according to claim 1 further includes: The surface drive mechanism and the walking mechanism (107), wherein, The water surface driving mechanism is used to drive the automatic cleaning device of the pool to move on the water surface; The walking mechanism is at least used for the automatic cleaning device of the pool to move upward along the pool wall until the opening is exposed above the water surface.

9. The automatic water tank cleaning device according to claim 1, wherein the airbag (109) is located at the head and tail of the housing (101).

10. The automatic water tank cleaning device according to any one of claims 1-9 further includes a controller for controlling the opening or closing of the water pump (108) and the air pump.

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