A swimming pool cleaner and control method

Abstract

The present disclosure provides a pool cleaner and control method including an initialization step and a cleaning step. The cleaner executes one of three cleaning modes and an automatic cleaning mode according to a cleaning command. The cleaner includes a body, a traveling device including left and right motors connected to left and right wheels, a filtering device including a filter and a filtering water pump, which includes a filtering motor and an impeller driven by the filtering motor, with the impeller located inside the filter, brushes, a wall-climbing detection device, and a horizontal detection device, and a controller electrically connected to the motors, the wall-climbing detection device, and the horizontal detection device.

Description

A SWIMMING POOL CLEANER AND CONTROL METHODRELATED APPLICATIONS:

[0001] The present application claims priority to Chinese Patent Application No. CN202411005754.6 and Chinese Utility Model Application No. CN202421772342.0, the entire disclosures of which are expressly incorporated by reference herein.

[0002] The present application is further related to PCT Application No. (unknown), filed June 16, 2025, titled ELECTRIC CLEANER AND FILTER BOX, docket IRC-0192-01 -WO; PCT Application No. (unknown), filed June 16, 2025, titled BRUSH DRIVE AND MOUNTING APPARATUS FOR A POOL CLEANER, docket IRC-0194-01- WO; PCT Application No. (unknown), filed June 16, 2025, titled A DRIVE CONTROL DEVICE AND SEALING STRUCTURE FOR A POOL CLEANER, docket IRC-0196-01- WO; Chinese Patent Application No. CN202410878353.5 (priority application for IRC- 0192-01 -WO); Chinese Utility Model Application No. CN202421548554.0 (priority application for IRC-0192-01 -WO); Chinese Patent Application No. CN202421545018.5 (priority application for IRC-0192-01 -WO); Chinese Patent Application No.CN202410881089.0 (priority application for IRC-0194-01 -WO); Chinese Utility Model Application No. CN202421544614.1 (priority application for IRC-0194-01 -WO); Chinese Patent Application No. CN202421548568.2 (priority application for IRC-0194-01 -WO); Chinese Utility Model Application No. CN202421544538.4 (priority application for IRC- 0196-01 -WO); and Chinese Utility Model Application No. CN202421544882.3 (priority application for IRC-0196-01 -WO), the entire disclosures of which are expressly incorporated by reference herein.FIELD OF THE DISCLOSURE:

[0003] The present disclosure relates to swimming pool cleaners, and more particularly to a swimming pool cleaner and its control method.BACKGROUND:

[0004] After long-term use, swimming pools accumulate dirt on the bottom and walls, necessitating regular cleaning. Currently, many users employ swimming pool cleaners that can move freely within the pool to clean the bottom and walls. Thesecleaners are equipped with brushes and filters, with the filters containing a filtering water pump that causes water to flow through the filter to collect debris from the pool.

[0005] However, many existing swimming pool cleaners clean the pool in a disorderly manner, resulting in poor cleaning effectiveness and many areas remaining uncleaned. Given the above-mentioned problems, it is desirable to provide a swimming pool cleaner and control method that can effectively improve the cleaning performance of the pool.SUMMARY:

[0006] In an exemplary embodiment of the present disclosure, a swimming pool cleaner may be provided. The swimming pool cleaner may comprise a cleaner body, a traveling device, a filtering device, a controller, and brushes. The traveling device may include a left traveling motor, a right traveling motor, a left traveling wheel connected to the left traveling motor, and a right traveling wheel connected to the right traveling motor. The filtering device may include a filter and a filtering water pump, which may include a filtering motor and a filtering impeller located inside the filter and driven by the filtering motor. The controller may be electrically connected to the left traveling motor and the right traveling motor and to the filtering motor. The brushes may be installed on the cleaner body. The cleaner may further comprise a wall-climbing detection device and a horizontal detection device installed on the cleaner body. The controller may be electrically connected to the wall-climbing detection device and the horizontal detection device.

[0007] In an example thereof, the wall-climbing detection device may include a wall-climbing detection body installed on the cleaner body, a rotatable detection arm installed on the wall-climbing detection body, and two wall-climbing sensors installed on the wall-climbing detection body on either side thereof. The rotatable detection arm may include a wall-climbing detection element that passes through sensing areas of the two wall-climbing sensors. The controller may be electrically connected to the two wallclimbing sensors of the wall-climbing detection device. In a variation thereof, the wallclimbing detection element may be a magnet. The wall-climbing sensor may be a Hall effect proximity switch.

[0008] In another example thereof, the horizontal detection device may include a horizontal detection body installed on the cleaner body, a horizontal detection ball, and two horizontal sensors. The horizontal detection body may include a horizontal detection chamber, which includes a buffer section and two offset sections connected to ends of the buffer section. A hole diameter of the two offset sections may be smaller than a hole diameter of the buffer section. A step may be formed at a connection between the buffer section and the two offset sections. The two horizontal sensors may be installed on the horizontal detection body and correspond to the two offset sections, respectively, with the horizontal detection ball movably contained in the horizontal detection chamber and passing through the sensing areas of the two horizontal sensors. In a variation thereof, the horizontal detection ball may be magnetic, and the horizontal sensor may be a Hall effect proximity switch. In another variation thereof, a surface of the horizontal detection ball may be reflective and the horizontal sensor may be a reflective photoelectric proximity switch.

[0009] In yet another example thereof, the swimming pool cleaner further may comprise a left speed detection device for detecting a rotational speed of the left traveling wheel and a right speed detection device for detecting a rotational speed of the right traveling wheel. The left speed detection device and the right speed detection device may be electrically connected to the controller and installed on the cleaner body.

[0010] In still another example thereof, the swimming pool cleaner further may comprise an orientation identification device installed on the cleaner body and electrically connected to the controller. In a variation thereof, the orientation identification device may include an identification body installed on the cleaner body, a rotatable identification disc cooperating with the identification body, and an orientation sensing device installed on the identification body. The identification disc may include a permanent magnet. The orientation sensing device may be electrically connected to the controller and configured to sense whether the identification disc may be in one of at least three set orientations. In another variation thereof, the orientation sensing device may include at least three Hall sensors corresponding to ends of the permanent magnet. In a further variation thereof, the orientation sensing device may include at least three through-beam photoelectric switches. The identification disc may include ashading part configured to dynamically block a light-emitting part of the one of the at least three through-beam photoelectric switches. In yet another variation thereof, the orientation sensing device may include at least three reflective photoelectric switches housed within the identification disc. An inner wall of the identification disc having at least one reflective piece that may be dynamically opposite to one of the at least three reflective photoelectric switches.

[0011] In yet another example thereof, a control method for the exemplary swimming pool cleaner embodiments described herein may comprise an initialization step which may include performing a system initialization and inputting a cleaning command to the controller and a cleaning step may include executing one of a plurality of cleaning modes corresponding to the cleaning command. The plurality of cleaning modes may include at least one of a first cleaning mode, a second cleaning mode, and a third cleaning mode. In a variation thereof, the cleaner further includes an orientation identification device installed on the cleaner body and electrically connected to the controller. The control method further may comprise a span detection step performed between the initialization step and the cleaning step. The span detection step may include performing span detection to obtain spans in six directions of the swimming pool. An angle between adjacent directions of the six directions may be 30°. The six directions may be, in clockwise order, a first direction (L1), a second direction (L2), a third direction (L3), a fourth direction (L4), a fifth direction (L5), and a sixth direction (L6). An automatic cleaning step may include determining whether a relationship between L1 , L2, L3, L4, L5, and L6 is a first relationship or a second relationship; executing the first cleaning mode if the relationship is the first relationship; executing the first cleaning mode or the second cleaning mode if the relationship is the second relationship; and executing the third cleaning mode if the relationship is neither the first relationship nor the second relationship. The first relationship may be that L1 , L2, L3, L4, L5, and L6 are equal, and the second relationship may be that L2 is equal to L6, L3 is equal to L5, and both L2 and L3 are not equal to L1 or L4. In another variation thereof, the orientation identification device includes an identification body installed on the cleaner body, a rotatable identification disc cooperating with the identification body, and an orientation sensing device installed on the identification body. The identificationdisc may include a permanent magnet. The orientation sensing device may be electrically connected to the controller and configured to sense whether the identification disc may be in one of at least three set orientations. The control method further may comprise a debugging method. The debugging method may include placing the cleaner so that its direction of travel may be parallel to one axis of the swimming pool and inputting a debugging command to the controller; rotating the identification body of the orientation identification device; sensing, by the controller, whether the identification disc may be in an initial set orientation through the orientation sensing device of the orientation identification device; and sending, by the controller, a debugging completion signal to confirm completion of the debugging method in response to sensing that the identification disc may be in the initial set orientation. In yet another variation thereof, the first cleaning mode may include (1) activating the filtering water pump; (2) driving, by the controller, the left traveling motor and the right traveling motor to move the cleaner forward while simultaneously using the wallclimbing detection device to check if the cleaner enters a wall-climbing state; (3) responding to the cleaner entering the wall-climbing state by adjusting speeds of the left traveling motor and the right traveling motor until the horizontal detection device indicates that the cleaner may be level, and timing, by the controller, how long the cleaner remains in the wall-climbing state; (4) responding to the cleaner remaining in the wall-climbing state for a set wall-climbing cleaning time, by driving, by the controller, the left traveling motor and the right traveling motor to move the cleaner backward while simultaneously using the wall-climbing detection device to check if the cleaner exits the wall-climbing state; (5) responding to the cleaner exiting the wall-climbing state by determining, by the controller, whether the cleaner meets a turning condition; (6) responding to the cleaner meeting the turning condition by driving, by the controller, the left and right traveling motors of the traveling device to turn the cleaner; (7) responding to the cleaner not meeting the turning condition by driving, by the controller, the left and right traveling motors to move the cleaner backward in a lateral direction; (8) driving, by the controller, the left and right traveling motors to move the cleaner backward in a straight line and simultaneously using the wall-climbing detection device to check if the cleaner enters a reverse wall-climbing state; (9) responding to the cleaner entering thereverse wall-climbing state by adjusting, by the controller, speeds of the left and right traveling motors until the horizontal detection device indicates that the cleaner may be level and timing, by the controller, how long the cleaner remains in the reverse wallclimbing state; (10) responding to the cleaner remaining in the reverse wall-climbing state for a set reverse wall-climbing cleaning time by driving, by the controller, the left and right traveling motors to move the cleaner forward in a straight line and simultaneously using the wall-climbing detection device to check if the cleaner exits the reverse wall-climbing state; (11) responding to the cleaner exiting the reverse wallclimbing state by determining, by the controller, whether a number of turns made by the cleaner has reached a first turning threshold, which may be greater than or equal to 4; (12) responding to the number of turns not reaching the first turning threshold by driving, by the controller, the left and right traveling motors to move the cleaner forward in a lateral direction and repeating steps (2) through (11). In still a further variation thereof, the first turning threshold may be an integer obtained by rounding up a result of 360° divided by the turning angle. In yet still a further variation thereof, the first turning threshold may be 4 and the turning angle may be 90°. In yet another variation thereof, the control method further may comprise: performing a span detection step between the initialization step and the cleaning step. The span detection step may include performing detection to obtain a first span in a first length direction of the pool and a second span in a second length direction of the pool. The first length direction being perpendicular to the second length direction. The second cleaning mode may include (1) activating, by the controller, the filtering water pump; (2) driving, by the controller, the left and right traveling motors to move the cleaner forward along the first length direction or the second length direction and simultaneously using the wall-climbing detection device to check if the cleaner enters a wall-climbing state; (3) responding to the cleaner entering the wall-climbing state by adjusting, by the controller, speeds of the left and right traveling motors until the horizontal detection device indicates that the cleaner may be level and timing, by the controller, how long the cleaner remains in the wall-climbing state; (4) responding to the cleaner remaining in the wall-climbing state for a set wallclimbing cleaning time by driving, by the controller, the left and right traveling motors to move the cleaner backward in a straight line and simultaneously using the wall-climbingdetection device to check if the cleaner exits the wall-climbing state; (5) responding to the cleaner exiting the wall-climbing state by determining, by the controller, whether the cleaner meets a turning condition; (6) responding to the cleaner meeting the turning condition by driving, by the controller, the left and right traveling motors to continue moving the cleaner forward along a current direction to half a span of the current direction; (7) driving, by the controller, the cleaner to turn 90° and changing the direction of travel from either the first length direction to the second length direction or the second length direction to the first length direction; (8) responding to the cleaner not meeting the turning condition by driving, by the controller, the left and right traveling motors to move the cleaner backward in a lateral direction; (9) driving, by the controller, the left and right traveling motors to move the cleaner backward in a straight line and simultaneously using the wall-climbing detection device to check if the cleaner enters a reverse wall-climbing state; (10) responding to the cleaner entering the reverse wallclimbing state by adjusting, by the controller, speeds of the left and right traveling motors until the horizontal detection device indicates that the cleaner may be level and timing, by the controller, how long the cleaner remains in the reverse wall-climbing state; (11) responding to the cleaner remaining in the reverse wall-climbing state for a set reverse wall-climbing cleaning time by driving, by the controller, the left and right traveling motors to move the cleaner forward in a straight line and simultaneously using the wall-climbing detection device to check if the cleaner exits the reverse wall-climbing state; (12) responding to the cleaner exiting the reverse wall-climbing state by determines whether the number of turns made by the cleaner has reached a second turning threshold, which may be greater than or equal to 4; and (13) responding to the number of turns not reaching the second turning threshold by driving, by the controller, the left and right traveling motors to move the cleaner forward in a lateral direction and repeating steps (2) through (12). In yet still a further variation thereof, determining whether the cleaner meets the turning condition may include determining that the cleaner meets the turning condition when a current number of lateral movements of the cleaner equals a current lateral movement threshold and resetting the current number of lateral movements, and determining that the cleaner does not meet the turning condition when the current number of lateral movements does not equal the current lateralmovement threshold. The current lateral movement threshold may be an integer obtained by rounding down a result of dividing half a span in a direction perpendicular to the current direction of travel by a lateral movement step size of the cleaner. In yet still another variation thereof, the cleaner further may include an orientation identification device installed on the cleaner body and electrically connected to the controller. The third cleaning mode may include (1) activating, by the controller, the filtering water pump; (2) sequentially setting, by the controller, a direction of travel of the cleaner to at least three directions of travel; (3) after each sequential setting, performing the following steps (4) using, by the controller, the orientation identification device to check if a direction of travel may be in a currently set direction, and if not, driving, by the controller, the left and right traveling motors to turn the cleaner to the currently set direction; (5) driving, by the controller, the left and right traveling motors to move the cleaner forward while simultaneously using the wall-climbing detection device to check if the cleaner enters a wall-climbing state; (6) responding to the cleaner entering the wall-climbing state by adjusting, by the controller, speeds of the left and right traveling motors until the horizontal detection device indicates that the cleaner may be level and timing, by the controller, how long the cleaner remains in the wall-climbing state; (7) responding to the cleaner remaining in the wall-climbing state for a set wall-climbing cleaning time by driving, by the controller, the left and right traveling motors to move the cleaner backward while simultaneously using the wall-climbing detection device to check if the cleaner exits the wall-climbing state; (8) responding to the cleaner exiting the wallclimbing state by determining, by the controller, whether the cleaner meets a turning condition; (9) responding to the cleaner reaching the turning condition by performing step (2) to set the direction of travel to a next sequential direction of travel; (10) responding to the cleaner not meeting the turning condition by driving, by the controller, the left and right traveling motors to move the cleaner backward in a lateral direction and using the orientation identification device to check if the direction of travel of the cleaner may be in a currently set direction and if not, driving, by the controller, the left and right traveling motors to turn the cleaner to the currently set direction; (11) responding to the direction of travel being the currently set direction by driving, by the controller, the left and right traveling motors to move the cleaner backward whilesimultaneously using the wall-climbing detection device to check if the cleaner enters a reverse wall-climbing state; (12) responding to the cleaner entering the reverse wallclimbing state by adjusting, by the controller, speeds of the left and right traveling motors until the horizontal detection device indicates that the cleaner may be level and timing, by the controller, how long the cleaner remains in the reverse wall-climbing state; (13) responding to the cleaner remaining in the reverse wall-climbing state for a set reverse wall-climbing cleaning time by driving, by the controller, the left and right traveling motors to move the cleaner forward while simultaneously using the wallclimbing detection device to check if the cleaner exits the reverse wall-climbing state; and (14) responding to the cleaner exiting the reverse wall-climbing state by driving, by the controller, the left and right traveling motors to move the cleaner forward in a lateral direction and performing step (2). In still yet a further variation thereof, determining whether the cleaner meets the turning condition may include using the wall-climbing detection device and the horizontal detection device to check if the cleaner may be in a flat state; determining that the cleaner does not meet the turning condition if the cleaner may be in the flat state; and determining that the cleaner meets the turning condition if the cleaner is not in the flat state. In another variation thereof, the cleaner further comprises a left speed detection device for detecting a rotational speed of the left traveling wheel and a right speed detection device for detecting a rotational speed of the right traveling wheel. The left speed detection device and the right speed detection device may be electrically connected to the controller and installed on the cleaner body. When the controller drives the left and right traveling motors to move the cleaner forward or backward in a straight line, the controller uses the left and right speed detection devices to detect the rotational speeds of the left and right traveling wheels, respectively, and adjusts speeds of the left and right traveling motors so that the rotational speeds of the left and right traveling wheels may be the same. In a further variation thereof, the cleaner further may comprise a power supply battery and a BMS battery management module installed on the cleaner body. The power supply battery may be configured to provide power to the left traveling motor, the right traveling motor, the filtering motor, and the controller. The BMS battery management module may be electrically connected to the power supply battery and the controller. During thecleaning step, while the cleaner executes the corresponding cleaning mode according to the cleaning command, the controller may detect through the BMS battery management module whether a level of the power supply battery is below a set level, terminates the current cleaning mode if the level is below the set level, drives the left and right traveling motors to move the cleaner to a wall-climbing state detected by the wall-climbing detection device, and enters a standby mode. In yet another variation thereof, the cleaner further may comprise a power supply battery and a BMS battery management module installed on the cleaner body. The power supply battery may be configured to provide power to the left traveling motor, the right traveling motor, the filtering motor, and the controller. The BMS battery management module may be electrically connected to the power supply battery and the controller. During the initialization step, after the cleaner performs system initialization and inputs a cleaning command to the controller, the controller may detect through the BMS battery management module whether the power supply battery is charging and enters the cleaning step if the power supply battery is not charging. In response to detecting that the power supply battery is charging, the controller detects through the BMS battery management module whether the power supply battery is fully charged. In response to detecting that the power supply battery is fully charged, the controller stops charging of the power supply battery. In a further variation thereof, the cleaner further may include a water ingress sensor installed on the cleaner body and electrically connected to the controller. During the initialization step, when the controller detects that the power supply battery is not charging, the controller detects through the water ingress sensor whether the cleaner is in water and enters the cleaning step if the cleaner is in water. In yet a further variation thereof, during the cleaning step, while the cleaner executes the corresponding cleaning mode according to the cleaning command, the controller times whether an execution time of the corresponding cleaning mode exceeds a set maximum cleaning time and the stops executing the corresponding cleaning mode and enters standby mode in response to the execution time exceeding the set maximum cleaning time. In still a further variation thereof, during the cleaning step, while the cleaner executes the corresponding cleaning mode according to the cleaning command, the controller detects whether a working current of any of the left traveling motor, the righttraveling motor, or the filtering motor is abnormal, and stops executing the corresponding cleaning mode if the working current if abnormal.

[0012] In a further exemplary embodiment of the present disclosure, a swimming pool cleaner is provided. The swimming pool cleaner may comprise a cleaner body; a traveling device which may include a left wheel and a right wheel; a filtering device which may include a filter and a filtering water pump, which may include a filtering motor and an impeller driven by the filtering motor; a wall-climbing detection device; a horizontal detection device; at least one brush installed on the cleaner body; and a controller electrically connected to the wall-climbing detection device and the horizontal detection device.

[0013] In an example thereof, the wall-climbing detection device may include a detection body installed on the cleaner body. A detection arm may be installed on the detection body. Two sensors may be installed on the detection body on either side thereof and electrically connected to the controller. The detection arm may include a detection element configured to pass through sensing areas of the two sensors. In a variation thereof, the detection element may be a magnet and each of the two sensors may be a Hall effect proximity switch.

[0014] In another example thereof, the horizontal detection device may include a horizontal detection body, a horizontal detection ball, and two horizontal sensors. The horizontal detection body may include a horizontal detection chamber which may include a buffer section and two offset sections each connected an end of the buffer section. A hole diameter of the offset sections may be smaller than a hole diameter of the buffer section. Steps may be formed at connections between the buffer section and the offset sections. The two horizontal sensors may correspond to the two offset sections. The horizontal detection ball may be movably contained in the horizontal detection chamber and may be configured to pass through sensing areas corresponding to the two horizontal sensors. In a variation thereof, the horizontal detection ball may be magnetic, and each of the two horizontal sensors may be a Hall effect proximity switch. In another variation thereof, a surface of the horizontal detection ball may be reflective and each of the two horizontal sensors may be a reflective photoelectric proximity switch.

[0015] In still another example thereof, the swimming pool cleaner further may comprise a left speed detection device for detecting a rotational speed of the left wheel and a right speed detection device for detecting a rotational speed of the right wheel. The left speed detection device and the right speed detection device being electrically connected to the controller and installed on the cleaner body.

[0016] In yet still another example thereof, the swimming pool cleaner further may comprise an orientation identification device installed on the cleaner body and electrically connected to the controller. In a variation thereof, the orientation identification device may include an identification body installed on the cleaner body. A rotatable identification disc may cooperate with the identification body. An orientation sensing device may be installed on the identification body and electrically connected to the controller. The identification disc may include a permanent magnet. The orientation sensing device may be configured to sense whether the identification disc may be in one of at least three set orientations. In a variation thereof, the orientation sensing device may include at least three Hall sensors corresponding to ends of the permanent magnet. In another variation thereof, the orientation sensing device may include at least three through-beam photoelectric switches, and the identification disc may include a shading part configured to dynamically block a light-emitting part of the at least three through-beam photoelectric switches. In a further variation thereof, the orientation sensing device may include at least three reflective photoelectric switches contained within the identification disc. An inner wall of the identification disc may have at least one reflective piece configured to be positioned dynamically opposite to a reflective photoelectric switch of the at least three reflective photoelectric switches.

[0017] In yet still another example thereof, the swimming pool cleaner further may comprise at least one battery and a Battery Management System (BMS) module. The battery may be configured to provide power to a left motor connected to the left wheel, a right motor connected to the right wheel, a filtering motor, and the controller. The BMS module may be electrically connected to the battery and the controller.

[0018] In still a further example thereof, the swimming pool cleaner further may comprise a water ingress sensor installed on the cleaner body and electrically connected to the controller.

[0019] In still a further exemplary embodiment of the present disclosure, a method for controlling operation of a swimming pool cleaner may be provided. The method may comprise receiving a cleaning command; verifying that a battery of the cleaner may be not being charged; verifying that the cleaner may be in water; determining a span of the swimming pool in each of a plurality of directions; executing a pool cleaning mode corresponding to the cleaning command; and exiting the pool cleaning mode and entering a standby mode in response to a maximum cleaning time being exceeded.

[0020] In an example thereof, the method further may comprise exiting the pool cleaning mode and entering the standby mode in response to detecting a malfunction in operation of a motor of the cleaner.

[0021] In another example thereof, the method further may comprise exiting the pool cleaning mode and causing the cleaner to move to a wall of the swimming pool in response to detecting that a power level of the battery may be below a set power level; and entering the standby mode.

[0022] In still yet another example thereof, the pool cleaning mode may be one of an automatic pool cleaning mode, a first cleaning mode, a second cleaning mode or a third cleaning mode. In a variation thereof, the first cleaning mode may include performing at least two cross-cleanings of the swimming pool. In another variation thereof, the second cleaning mode may be configured for cleaning a swimming pool having a rectangular structure. In a further variation thereof, the third cleaning mode may include repeatedly resetting a direction of travel of the cleaner. In still a further variation thereof, determining a span of the swimming pool in each of a plurality of directions may include determining a span of the pool in six directions designated as L1 , L2, L3, L4, L5 and L6. The automatic pool cleaning mode may include executing the first cleaning mode in response to determining a first relationship between L1 , L2, L3, L4, L5 and L6, the first relationship may be that L1 , L2, L3, L4, L5 and L6 are equal; executing either the first cleaning mode or the second cleaning mode in response to determining a second relationship between L1 , L2, L3, L4, L5 and L6, the second relationship may be that L2 is equal to L6, L3 is equal to L5, and both L2 and L3 are not equal to L1 or L4; executing the third cleaning mode in response to determining a thirdrelationship between L1 , L2, L3, L4, L5 and L6, the third relationship being different from the first relationship and the second relationship.

[0023] An objective of the present disclosure may be to provide a swimming pool cleaner and control method, which can effectively enhance the cleaning performance of the pool. To achieve the above objective, the solution provided by the present disclosure is as follows: a swimming pool cleaner includes a cleaner body, a controller, a traveling device, a filtering device, brushes, a wall-climbing detection device, and a horizontal detection device for wall-climbing. The traveling device includes a left traveling motor, a right traveling motor, a left traveling wheel connected to the left traveling motor, and a right traveling wheel connected to the right traveling motor. The controller is electrically connected to the left traveling motor and the right traveling motor. The filtering device includes a filter and a filtering water pump, which includes a filtering motor and a filtering impeller driven by the filtering motor, with the impeller located inside the filter. The controller is electrically connected to the filtering motor. The controller is also electrically connected to the wall-climbing detection device and the horizontal detection device.

[0024] The wall-climbing detection device includes a wall-climbing detection body installed on the cleaner body, a rotatable detection arm installed on the wall-climbing detection body, and two wall-climbing sensors installed on the wall-climbing detection body on either side thereof. The detection arm is equipped with a wall-climbing detection element that passes through the sensing areas of the two wall-climbing sensors. The controller is electrically connected to the two wall-climbing sensors of the wall-climbing detection device.

[0025] The wall-climbing detection element is a magnet, and the wall-climbing sensor is a Hall effect proximity switch. The horizontal detection device for wallclimbing includes a horizontal detection body, a horizontal detection ball, and two horizontal sensors. The horizontal detection body is installed on the cleaner body and has a horizontal detection chamber, which includes a buffer section, and two offset sections connected to both ends of the buffer section. The hole diameter of the offset sections is smaller than that of the buffer section, and a step is formed at the connection between the buffer section and the offset sections. The two horizontal sensors areinstalled on the horizontal detection body and correspond to the two offset sections respectively. The horizontal detection ball is movably contained in the horizontal detection chamber and passes through the sensing areas of the two horizontal sensors.

[0026] The horizontal detection ball is magnetic, and the horizontal sensor is a Hall effect proximity switch. Alternatively, the surface of the horizontal detection ball is reflective, and the horizontal sensor is a reflective photoelectric proximity switch. The swimming pool cleaner further includes a left speed detection device for detecting the rotational speed of the left traveling wheel and a right speed detection device for detecting the rotational speed of the right traveling wheel. The left speed detection device and the right speed detection device are electrically connected to the controller and installed on the cleaner body.

[0027] The swimming pool cleaner also includes an orientation identification device installed on the cleaner body, which is electrically connected to the controller. The orientation identification device includes an identification body installed on the cleaner body, a rotatable identification disc cooperating with the identification body, and an orientation sensing device installed on the identification body. The identification disc is equipped with a permanent magnet. The orientation sensing device is used to sense whether the identification disc is in a set orientation, with at least three set orientations, and the orientation sensing device is electrically connected to the controller. The orientation sensing device includes at least three Hall sensors corresponding to the ends of the permanent magnet. Alternatively, the orientation sensing device includes at least three through-beam photoelectric switches, with the identification disc having a shading part that can dynamically block the light-emitting part of the through-beam photoelectric switch. Alternatively, the orientation sensing device includes at least three reflective photoelectric switches, which are housed within the identification disc, with the inner wall of the identification disc having at least one reflective piece that is dynamically opposite to the reflective photoelectric switch.

[0028] A control method for the swimming pool cleaner as described above includes a cleaning control method. The cleaning control method includes the following steps: Initialization Step: The swimming pool cleaner performs system initialization and inputs a cleaning command to the controller. Cleaning Step: The swimming poolcleaner executes the corresponding cleaning mode according to the cleaning command. The cleaning modes include at least one of the first cleaning mode, the second cleaning mode, and the third cleaning mode.

[0029] The cleaning control method also includes a span detection step between the initialization step and the cleaning step. The span detection step is as follows: The swimming pool cleaner performs span detection to obtain the span in six directions of the pool, with an angle of 30° between adjacent directions. The six directions, in clockwise order, are the first direction, the second direction, the third direction, the fourth direction, the fifth direction, and the sixth direction. The spans in these directions are denoted as L1 , L2, L3, L4, L5, and L6 respectively.

[0030] The cleaning modes also include an automatic cleaning mode. The automatic cleaning mode is as follows: Determine whether the relationship between L1 , L2, L3, L4, L5, and L6 is the first or second relationship. If the relationship between L1 , L2, L3, L4, L5, and L6 is the first relationship, then the first cleaning mode is executed. If the relationship between L1 , L2, L3, L4, L5, and L6 is the second relationship, then the second or first cleaning mode is executed. If the relationship between L1 , L2, L3, L4, L5, and L6 is neither the first nor the second relationship, then the third cleaning mode is executed. The first relationship is that L1 , L2, L3, L4, L5, and L6 are equal. The second relationship is that L2 is equal to L6, L3 is equal to L5, and both L2 and L3 are not equal to L1 or L4.

[0031] The control method also includes a debugging method. The debugging method is as follows: First, place the swimming pool cleaner so that its direction of travel is parallel to one axis of the pool to be cleaned, and input a debugging command to the controller. Then, rotate the identification body of the orientation identification device. The controller senses whether the identification disc is in the initial set orientation through the orientation sensing device of the orientation identification device. When the controller senses through the orientation sensing device that the identification disc is in the initial set orientation, the controller sends a debugging completion signal to confirm the completion of debugging.

[0032] The first swimming pool cleaning mode includes the following steps: Step S11 : The controller activates the filtering water pump and proceeds to Step S12. StepS12: The controller drives the left and right traveling motors to move the swimming pool cleaner forward in a straight line. Simultaneously, the controller uses the wall-climbing detection device to check if the cleaner enters a wall-climbing state. If the cleaner enters a wall-climbing state, proceed to Step S13. Step S13: The controller adjusts the speeds of the left and right traveling motors until the horizontal detection device for wallclimbing indicates that the cleaner is level. The controller also times how long the cleaner remains in the wall-climbing state. When the time reaches the set wall-climbing cleaning time, proceed to Step S14. Step S14: The controller drives the left and right traveling motors to move the swimming pool cleaner backward in a straight line. Simultaneously, the controller uses the wall-climbing detection device to check if the cleaner exits the wall-climbing state. When the cleaner exits the wall-climbing state, proceed to Step S15. Step S15: The controller determines whether the swimming pool cleaner meets the turning condition. If the cleaner meets the turning condition, the controller drives the left and right traveling motors to turn the cleaner and then proceeds to Step S16. If the cleaner does not meet the turning condition, the controller drives the left and right traveling motors to move the cleaner backward in a lateral direction and then proceeds to Step S16. Step S16: The controller drives the left and right traveling motors to move the swimming pool cleaner backward in a straight line. Simultaneously, the controller uses the wall-climbing detection device to check if the cleaner enters a reverse wall-climbing state. If the cleaner enters a reverse wall-climbing state, proceed to Step S17. Step S17: The controller adjusts the speeds of the left and right traveling motors until the horizontal detection device for wall-climbing indicates that the cleaner is level. The controller also times how long the cleaner remains in the reverse wallclimbing state. When the time reaches the set reverse wall-climbing cleaning time, proceed to Step S18. Step S18: The controller drives the left and right traveling motors to move the swimming pool cleaner forward in a straight line. Simultaneously, the controller uses the wall-climbing detection device to check if the cleaner exits the reverse wall-climbing state. When the cleaner exits the reverse wall-climbing state, proceed to Step S19. Step S19: The controller determines whether the number of turns made by the swimming pool cleaner has reached the first turning threshold, which is greater than or equal to 4. If the number of turns has not reached the first turningthreshold, the controller drives the left and right traveling motors to move the cleaner forward in a lateral direction and then repeats Steps S12 to S18. If the number of turns has reached the first turning threshold, the process ends.

[0033] The first turning threshold is an integer obtained by rounding up the result of 360° divided by the turning angle of the swimming pool cleaner. The first turning threshold is 4; the turning angle of the swimming pool cleaner is 90°. The cleaning control method also includes a span detection step between the initialization step and the cleaning step; the span detection step is as follows: The swimming pool cleaner performs span detection to obtain the span in the first length direction and the second length direction of the pool, which are perpendicular to each other.

[0034] The second swimming pool cleaning mode includes the following steps: Step S21 : The controller activates the filtering water pump and proceeds to Step S22. Step S22: The controller drives the left and right traveling motors to move the swimming pool cleaner forward along the first or second length direction. Simultaneously, the controller uses the wall-climbing detection device to check if the cleaner enters a wallclimbing state. If the cleaner enters a wall-climbing state, proceed to Step S23. Step S23: The controller adjusts the speeds of the left and right traveling motors until the horizontal detection device for wall-climbing indicates that the cleaner is level. The controller also times how long the cleaner remains in the wall-climbing state. When the time reaches the set wall-climbing cleaning time, proceed to Step S24. Step S24: The controller drives the left and right traveling motors to move the swimming pool cleaner backward in a straight line. Simultaneously, the controller uses the wall-climbing detection device to check if the cleaner exits the wall-climbing state. When the cleaner exits the wall-climbing state, proceed to Step S25. Step S25: The controller determines whether the swimming pool cleaner meets the turning condition. If the cleaner meets the turning condition, the controller drives the left and right traveling motors to continue moving the cleaner forward along the current direction to half the span of the current direction. Then, it drives the cleaner to turn 90°, changing the direction of travel from the first length direction to the second length direction or vice versa, and then proceeds to Step S26. If the cleaner does not meet the turning condition, the controller drives the left and right traveling motors to move the cleaner backward in a lateral direction andthen proceeds to Step S26. Step S26: The controller drives the left and right traveling motors to move the swimming pool cleaner backward in a straight line. Simultaneously, the controller uses the wall-climbing detection device to check if the cleaner enters a reverse wall-climbing state. If the cleaner enters a reverse wall-climbing state, proceed to Step S27. Step S27: The controller adjusts the speeds of the left and right traveling motors until the horizontal detection device for wall-climbing indicates that the cleaner is level. The controller also times how long the cleaner remains in the reverse wallclimbing state. When the time reaches the set reverse wall-climbing cleaning time, proceed to Step S28. Step S28: The controller drives the left and right traveling motors to move the swimming pool cleaner forward in a straight line. Simultaneously, the controller uses the wall-climbing detection device to check if the cleaner exits the reverse wall-climbing state. When the cleaner exits the reverse wall-climbing state, proceed to Step S29. Step S29: The controller determines whether the number of turns made by the swimming pool cleaner has reached the second turning threshold, which is greater than or equal to 4. If the number of turns has not reached the second turning threshold, the controller drives the left and right traveling motors to move the cleaner forward in a lateral direction and then repeats Steps S22 to S28. If the number of turns has reached the second turning threshold, the process ends.

[0035] The way the controller determines whether the swimming pool cleaner meets the turning condition is as follows: The controller determines whether the current number of lateral movements of the swimming pool cleaner has reached the current lateral movement threshold. If the current number of lateral movements has reached the threshold, the swimming pool cleaner meets the turning condition. If not, it does not meet the turning condition. When the swimming pool cleaner meets the turning condition, the controller resets the count of lateral movements. The current lateral movement threshold is an integer obtained by rounding down the result of dividing half the span in the direction perpendicular to the current direction of travel by the lateral movement step size of the swimming pool cleaner.

[0036] The third swimming pool cleaning mode includes the following steps: Step S31 : The controller activates the filtering water pump and proceeds to Step S32. Step S32: The controller sequentially sets the direction of travel of the swimming pool cleanerto the first direction, the second direction, ..., up to the Nth direction, and executes Steps S330 to S340 after each setting. The process ends after the last setting and completion of Steps S330 to S339. N is an integer greater than or equal to 3. Step S330: The controller uses the orientation identification device to check if the direction of travel of the swimming pool cleaner is in the currently set direction. If it is, proceed directly to Step S331 . If not, the controller drives the left and right traveling motors to turn the swimming pool cleaner to the currently set direction and then proceeds to Step S331 . Step S331 : The controller drives the left and right traveling motors to move the swimming pool cleaner forward in a straight line. Simultaneously, the controller uses the wall-climbing detection device to check if the cleaner enters a wall-climbing state. If the cleaner enters a wall-climbing state, proceed to Step S332. Step S332: The controller adjusts the speeds of the left and right traveling motors until the horizontal detection device for wall-climbing indicates that the cleaner is level. The controller also times how long the cleaner remains in the wall-climbing state. When the time reaches the set wall-climbing cleaning time, proceed to Step S333. Step S333: The controller drives the left and right traveling motors to move the swimming pool cleaner backward in a straight line. Simultaneously, the controller uses the wall-climbing detection device to check if the cleaner exits the wall-climbing state. When the cleaner exits the wallclimbing state, proceed to Step S334. Step S334: The controller determines whether the swimming pool cleaner meets the turning condition. If the cleaner meets the turning condition, return to Step S32 to reset the direction of travel of the swimming pool cleaner. If the cleaner does not meet the turning condition, the controller drives the left and right traveling motors to move the cleaner backward in a lateral direction and then proceeds to Step S335. Step S335: The controller uses the orientation identification device to check if the direction of travel of the swimming pool cleaner is in the currently set direction. If it is, proceed directly to Step S336. If not, the controller drives the left and right traveling motors to turn the swimming pool cleaner to the currently set direction and then proceeds to Step S336. Step S336: The controller drives the left and right traveling motors to move the swimming pool cleaner backward in a straight line. Simultaneously, the controller uses the wall-climbing detection device to check if the cleaner enters a reverse wall-climbing state. If the cleaner enters a reverse wall-climbing state, proceed to Step S337. Step S337: The controller adjusts the speeds of the left and right traveling motors until the horizontal detection device for wall-climbing indicates that the cleaner is level. The controller also times how long the cleaner remains in the reverse wall-climbing state. When the time reaches the set reverse wallclimbing cleaning time, proceed to Step S338. Step S338: The controller drives the left and right traveling motors to move the swimming pool cleaner forward in a straight line. Simultaneously, the controller uses the wall-climbing detection device to check if the cleaner exits the reverse wall-climbing state. When the cleaner exits the reverse wallclimbing state, proceed to Step S339. Step S339: The controller drives the left and right traveling motors to move the swimming pool cleaner forward in a lateral direction and then returns to Step S330.

[0037] The way the controller determines whether the swimming pool cleaner meets the turning condition is as follows: The controller uses the wall-climbing detection device and the horizontal detection device for wall-climbing to check if the swimming pool cleaner is in a flat state. If the swimming pool cleaner is in a flat state, it does not meet the turning condition. If it is not in a flat state, it meets the turning condition.

[0038] When the controller drives the left and right traveling motors to move the swimming pool cleaner forward or backward in a straight line, the controller uses the left and right speed detection devices to detect the rotational speeds of the left and right traveling wheels respectively, and adjusts the speeds of the left and right traveling motors so that the rotational speeds of the left and right traveling wheels are the same.

[0039] During the cleaning step, while the swimming pool cleaner executes the corresponding cleaning mode according to the cleaning command, the controller detects through the BMS battery management module whether the power supply battery level is below the set level. If the power supply battery level is below the set level, the current cleaning mode is terminated, and the controller drives the left and right traveling motors to move the swimming pool cleaner to a wall-climbing state detected by the wall-climbing detection device, and then enters standby mode.

[0040] In the initialization step, after the swimming pool cleaner performs system initialization and inputs a cleaning command to the controller, the controller detects through the BMS battery management module whether the power supply battery ischarging. When it is detected that the power supply battery is charging, the controller detects through the BMS battery management module whether the power supply battery is fully charged. When it is detected that the power supply battery is fully charged, charging of the power supply battery is stopped. When it is detected that the power supply battery is not charging, the cleaning step is entered.

[0041] In the initialization step, when it is detected that the power supply battery is not charging, the controller first detects through the water ingress sensor whether the swimming pool cleaner is in the water. If the swimming pool cleaner is in the water, the cleaning step is entered.

[0042] During the cleaning step, while the swimming pool cleaner executes the corresponding cleaning mode according to the cleaning command, the controller times whether the execution time of the corresponding cleaning mode exceeds the set maximum cleaning time. If the set maximum cleaning time is exceeded, the swimming pool cleaner stops executing the corresponding cleaning mode and enters standby mode. During the cleaning step, while the swimming pool cleaner executes the corresponding cleaning mode according to the cleaning command, the controller detects whether the working current of the left traveling motor, the right traveling motor, and the filtering motor is abnormal. If the working current of at least one of the left traveling motor, the right traveling motor, and the filtering motor is abnormal, the swimming pool cleaner stops executing the corresponding cleaning mode and enters standby mode.

[0043] After adopting the above solution, the present disclosure has the following features: 1 . The swimming pool cleaner of the present disclosure is equipped with a wall-climbing detection device and a horizontal detection device for wall-climbing. The controller uses the wall-climbing detection device to determine whether the swimming pool cleaner is in a wall-climbing state, thereby judging whether the swimming pool cleaner is moving on the pool floor or the pool wall. This facilitates the control of the swimming pool cleaner's trajectory within the pool, thereby enhancing the cleaning performance. The controller can also use the wall-climbing detection device to determine whether the swimming pool cleaner is level while in a wall-climbing state, allowing the swimming pool cleaner to move vertically along the pool wall to ensureeffective cleaning of the pool wall. 2. The present disclosure features multiple cleaning modes, which can effectively clean different types of swimming pools and achieve good cleaning results. Specifically: The first cleaning mode is suitable for cleaning swimming pools with circular, oval, or rectangular structures. This mode enables the swimming pool cleaner to perform at least two cross-cleanings of all areas of the pool, ensuring comprehensive cleaning. The second cleaning mode is designed for cleaning rectangular pools and also performs two cross-cleanings, providing thorough cleaning. The third cleaning mode is a universal mode that can be applied to various pool structures. It ensures comprehensive cleaning by repeatedly resetting the direction of travel of the swimming pool cleaner.

[0044] Another objective of the present disclosure is to provide a swimming pool cleaner that can effectively improve the cleaning effectiveness of the pool. To achieve the above objective, the solution provided by the present disclosure is as follows: A swimming pool cleaner includes a cleaner body, a controller, a traveling device, a filtering device, brushes, a wall-climbing detection device, and a horizontal detection device for wall-climbing. The traveling device includes a left traveling motor, a right traveling motor, a left traveling wheel connected to the left traveling motor, and a right traveling wheel connected to the right traveling motor. The controller is electrically connected to the left traveling motor and the right traveling motor. The filtering device includes a filter and a filtering water pump, which includes a filtering motor and a filtering impeller driven by the filtering motor, with the impeller located inside the filter. The controller is electrically connected to the filtering motor. The controller is also electrically connected to the wall-climbing detection device and the horizontal detection device.

[0045] The wall-climbing detection device includes a wall-climbing detection body installed on the cleaner body, a rotatable detection arm installed on the wall-climbing detection body, and two wall-climbing sensors installed on the wall-climbing detection body on either side thereof. The detection arm is equipped with a wall-climbing detection element that passes through the sensing area of the two wall-climbing sensors. The controller is electrically connected to the two wall-climbing sensors of thewall-climbing detection device. The wall-climbing detection element is a magnet, and the wall-climbing sensor is a Hall effect proximity switch.

[0046] The horizontal detection device for wall-climbing includes a horizontal detection body, a horizontal detection ball, and two horizontal sensors. The horizontal detection body is installed on the cleaner body and has a horizontal detection chamber, which includes a buffer section, and two offset sections connected to both ends of the buffer section. The hole diameter of the offset sections is smaller than that of the buffer section, and a step is formed at the connection between the buffer section and the offset sections. The two horizontal sensors are installed on the horizontal detection body and correspond to the two offset sections, respectively. The horizontal detection ball is movably contained in the horizontal detection chamber and passes through the sensing area of the two horizontal sensors. The horizontal detection ball is magnetic, and the horizontal sensor is a Hall effect proximity switch. Alternatively, the surface of the horizontal detection ball is reflective, and the horizontal sensor is a reflective photoelectric proximity switch.

[0047] The swimming pool cleaner further includes a left speed detection device for detecting the rotational speed of the left traveling wheel and a right speed detection device for detecting the rotational speed of the right traveling wheel. The left speed detection device and the right speed detection device are electrically connected to the controller and installed on the cleaner body.

[0048] The swimming pool cleaner also includes an orientation identification device installed on the cleaner body, which is electrically connected to the controller. The orientation identification device includes an identification body installed on the cleaner body, a rotatable identification disc cooperating with the identification body, and an orientation sensing device installed on the identification body. The identification disc is equipped with a permanent magnet. The orientation sensing device is used to sense whether the identification disc is in a set orientation, with at least three set orientations. The orientation sensing device is electrically connected to the controller. The orientation sensing device includes at least three Hall sensors corresponding to the ends of the permanent magnet. Alternatively, the orientation sensing device includes at least three through-beam photoelectric switches, with the identification disc having ashading part that can dynamically block the light-emitting part of the through-beam photoelectric switch. Alternatively, the orientation sensing device includes at least three reflective photoelectric switches, which are contained within the identification disc, with the inner wall of the identification disc having at least one reflective piece that is dynamically opposite to the reflective photoelectric switch.

[0049] The swimming pool cleaner further includes a power supply battery, and a Battery Management System (BMS) module installed on the cleaner body. The power supply battery provides power to the left traveling motor, the right traveling motor, the filtering motor, and the controller. The BMS module is electrically connected to the power supply battery and the controller respectively. The swimming pool cleaner also includes a water ingress sensor installed on the cleaner body, which is electrically connected to the controller.

[0050] After adopting the above solution, the present disclosure provides the following features: 1 . The swimming pool cleaner of the present utility model is equipped with a wall-climbing detection device and a horizontal detection device for wall-climbing. The controller uses the wall-climbing detection device to determine whether the cleaner is in a wall-climbing state, thereby judging whether the cleaner is moving on the pool bottom or the pool wall. This facilitates the control of the cleaner's trajectory within the pool, thereby enhancing the cleaning performance. The controller can also use the wall-climbing detection device to determine whether the cleaner is horizontal while in a wall-climbing state, allowing the cleaner to move vertically along the pool wall to ensure effective cleaning of the pool wall.BRIEF DESCRIPTION OF THE DRAWINGS:

[0051] The above mentioned and other features of the present disclosure, and the manner of attaining them, will become more apparent and the disclosure itself will be better understood by reference to the following description of embodiments taken in conjunction with the accompanying drawings, wherein:

[0052] FIG. 1 is a structural schematic diagram of a swimming pool cleaner according to one embodiment of the present disclosure;

[0053] FIG. 2 is a cross-sectional view I of the swimming pool cleaner of FIG. 1 ;

[0054] FIG. 3 is a cross-sectional view II of the swimming pool cleaner of FIG. 1 ;

[0055] FIG. 4 is a schematic diagram of a electrical circuit principle of the swimming pool cleaner of the present disclosure;

[0056] FIG. 5 is a structural exploded view of a wall-climbing detection device of the present disclosure;

[0057] FIG. 6 is a structural schematic diagram of a wall-climbing detection device of the present disclosure;

[0058] FIG. 7 is a partial structural schematic diagram of the wall-climbing detection device of FIG. 6;

[0059] FIG. 8 is a structural schematic diagram I of a horizontal detection device for wall-climbing of the present disclosure;

[0060] FIG. 9 is a structural schematic diagram II of the horizontal detection device for wall-climbing of FIG. 8;

[0061] FIG. 10 is a structural schematic diagram III of the horizontal detection device for wall-climbing of FIG. 8;

[0062] FIG. 11 is a partial structural schematic diagram of a first embodiment of the orientation identification device of the present disclosure;

[0063] FIG. 12 is a partial structural schematic diagram of a second embodiment of the orientation identification device of the present disclosure;

[0064] FIG. 13 is a partial structural schematic diagram of a third embodiment of the orientation identification device of the present disclosure;

[0065] FIG. 14 is a flowchart of a cleaning control method for the swimming pool cleaner of the present disclosure;

[0066] FIG. 15 is a flowchart of a first cleaning mode of the swimming pool cleaner of the present disclosure;

[0067] FIG. 16 is a flowchart of a second cleaning mode of the swimming pool cleaner of the present disclosure;

[0068] FIG. 17 is a flowchart of a third cleaning mode of the swimming pool cleaner of the present disclosure;

[0069] FIG. 18 is a flowchart of an automatic cleaning mode of the swimming pool cleaner of the present disclosure;

[0070] FIG. 19 is a flowchart of a debugging method for the swimming pool cleaner of the present disclosure; and

[0071] FIG. 20 is a flowchart of a span calculation method for the swimming pool cleaner of the present disclosure.DESCRIPTION OF EMBODIMENTS OF THE DISCLOSURE:

[0072] Referring now to FIGS. 1 to 13, the present disclosure provides a swimming pool cleaner, which includes a cleaner body A, a controller B, a traveling device C, a filtering device D, and brushes E installed on the cleaner body A. The traveling device C includes a left traveling motor C1 , a right traveling motor C2, a left traveling wheel C3 connected to the left traveling motor C1 , and a right traveling wheel C4 connected to the right traveling motor C2. The controller B is electrically connected to the left traveling motor C1 and the right traveling motor C2. The filtering device D includes a filter D1 and a filtering water pump D2 including a filtering motor D21 and a filtering impeller D22 driven by the filtering motor D21 . The filtering impeller D22 is input into the filter D1 . The controller B is electrically connected to the filtering motor D21 . The controller B controls the movement of the swimming pool cleaner of the present disclosure and enables the brushes E to scrub the dirt on the pool bottom and walls by driving the left traveling motor C1 and the right traveling motor C2. The controller B causes the water in the pool to flow through the filter D1 to collect the dirt in the pool by driving the filtering motor D21 .Wall Climbing and Horizontal Detection Structure:

[0073] In embodiments of the present disclosure, the swimming pool cleaner of the present disclosure also includes a wall-climbing detection device F (FIGS. 5-7) and a horizontal detection device for wall-climbing G (FIGS. 8-10) installed on the cleaner body A. The controller B is electrically connected to the wall-climbing detection device F and the horizontal detection device for wall-climbing G. The controller B detects whether the swimming pool cleaner of the present disclosure is in a wall-climbing state through the wall-climbing detection device F, thereby determining whether the swimming pool cleaner of the present disclosure is moving on the pool bottom or thepool wall, which facilitates the control of the movement trajectory of the swimming pool cleaner of the present disclosure in the pool, so as to improve the cleaning performance of the pool. The controller B can also detect whether the swimming pool cleaner of the present disclosure is level when it is in a wall-climbing state through the wall-climbing detection device F, so that the swimming pool cleaner of the present disclosure can move vertically along the pool wall to ensure the cleaning performance of the pool wall.

[0074] In embodiments of the present disclosure, the wall-climbing detection device F includes a wall-climbing detection body F1 installed on the cleaner body A, a rotatable detection arm F2 installed on the wall-climbing detection body F1 , and two wall-climbing sensors F3 installed on the wall-climbing detection body F1 on either side thereof, the detection arm F2 is equipped with a wall-climbing detection element F4, the wall-climbing detection element F4 passes through the sensing areas of the two wallclimbing sensors F3. The controller B is electrically connected to the two wall-climbing sensors F3 of the wall-climbing detection device F. When the swimming pool cleaner of the present disclosure is on the pool bottom, the wall-climbing detection element F4 is in the sensing areas of the two wall-climbing sensors F3, and the two wall-climbing sensors F3 cannot sense the wall-climbing detection element F4 at this time. When the swimming pool cleaner of the present disclosure is on the pool wall, the wall-climbing detection element F4 is in the sensing area of one of the two wall-climbing sensors F3, so that one wall-climbing sensor F3 can sense the wall-climbing detection element F4. Therefore, the controller B can detect whether the swimming pool cleaner of the present disclosure is in a wall-climbing state through the signals of the two wall-climbing sensors F3, and can also determine whether the swimming pool cleaner of the present disclosure is in a forward wall-climbing state (i.e., the front end of the swimming pool cleaner is facing up) or a reverse wall-climbing state (i.e., the rear end of the swimming pool cleaner is facing up). The wall-climbing detection element F4 can be a magnet, and the wall-climbing sensor F3 can be a Hall effect proximity switch that can sense the magnetic field of the wall-climbing detection element F4. The two wall-climbing sensors F3 can be set on a wall-climbing detection circuit board F5, and the wall-climbing detection circuit is installed in the wall-climbing detection body F1.

[0075] In the embodiments of the present disclosure, the horizontal detection device for wall-climbing G includes a horizontal detection body G1 , a horizontal detection ball G2, and two horizontal sensors G3. The horizontal detection body G1 is installed on the cleaner body A, and the horizontal detection body G1 has a horizontal detection chamber G11 , which has a buffer section G111 and two offset sections G112 connected to both ends of the buffer section G111 , the hole diameter of the offset sections G112 is smaller than that of the buffer section G111 , and a step is formed at the connection between the buffer section G111 and the offset sections G112. The two horizontal sensors G3 are installed on the horizontal detection body G1 and correspond to the two offset sections G112, respectively. The horizontal detection ball G2 is movably contained in the horizontal detection chamber G11 and passes through the sensing areas of the two horizontal sensors G3. When the swimming pool cleaner of the present disclosure is in a wall-climbing state, if the swimming pool cleaner of the present disclosure is level, the horizontal detection ball G2 is located in the buffer section G111 , and neither of the two horizontal sensors G3 can sense the horizontal detection ball G2. When the swimming pool cleaner of the present disclosure is in a wall-climbing state, if the swimming pool cleaner of the present disclosure is not level, the horizontal detection ball G2 is located in one of the two offset sections G112, causing one of the two horizontal sensors G3 to sense the horizontal detection ball G2. The step formed at the connection between the buffer section G111 and the offset sections G112 can act as a certain stop to prevent the horizontal detection ball G2 from entering the horizontal detection ball G2 incorrectly when the swimming pool cleaner turns at the pool bottom. The horizontal detection ball G2 can be magnetic, and the horizontal sensor G3 can be a Hall effect proximity switch that can sense the magnetic field of the horizontal detection ball G2. It should be noted that the horizontal sensor G3 can also be a reflective photoelectric proximity switch, and the surface of the horizontal detection ball G2 is reflective, when the horizontal detection ball G2 reflects the light emitted by the horizontal sensor G3 back to the horizontal sensor G3, the horizontal sensor G3 senses the horizontal detection ball G2.Speed Detection Structure:

[0076] In embodiments of the present disclosure, the swimming pool cleaner of the present disclosure may also include a left speed detection device H for detecting the rotational speed of the left traveling wheel C3 and a right speed detection device I for detecting the rotational speed of the right traveling wheel C4. The left speed detection device H and the right speed detection device I are electrically connected to the controller B, and are installed on the cleaner body A. The left and right speed detection devices can use magnetic encoders. The controller B can detect the rotational speeds of the left and right traveling wheels C3 and C4 through the left and right speed detection devices H and I, and adjust the speeds of the left and right traveling motors C1 and C2 of the traveling device C so that the rotational speeds of the left and right traveling wheels C3 and C4 are the same, allowing the swimming pool cleaner of the present disclosure to maintain a straight path.Orientation Sensing Structure:

[0077] In embodiments of the present disclosure, the swimming pool cleaner of the present disclosure may also include an orientation identification device J installed on the cleaner body A, which is electrically connected to the controller B. The swimming pool cleaner can determine whether its direction of travel is in a set orientation through the orientation identification device J, with at least three set orientations, facilitating the control of the direction of travel. The orientation identification device J includes an identification body J1 installed on the cleaner body A, a rotatable identification disc J2 that cooperates with the identification body J1 , and an orientation sensing device J3 installed on the identification body J1. The identification disc J2 is equipped with a permanent magnet J4, and the orientation sensing device J3 is used to sense whether the identification disc J2 is in a set orientation and is electrically connected to the controller B. When the orientation sensing device J3 senses that the identification disc J2 is in a set orientation, the swimming pool cleaner is determined to be in the set orientation.

[0078] As shown in FIG. 11 , in the first embodiment of the orientation sensing device J3 of the present disclosure, the orientation sensing device J3 includes at least three Hall sensors J31 that correspond to the ends of the permanent magnet J4. Whena Hall sensor J31 senses the magnetic field at the end of the permanent magnet J4, it sends a signal to the controller B to determine that the swimming pool cleaner is in a set orientation.

[0079] As shown in FIG. 12, in the second embodiment of the orientation sensing device J3 of the present disclosure, the orientation sensing device J3 includes at least three through-beam photoelectric switches J32. The identification disc J2 has a shading part J21 that can dynamically block the light-emitting part of the through-beam photoelectric switch J32. When the light-emitting part of a through-beam photoelectric switch J32 is blocked by the shading part J21 , the switch sends a signal to the controller B to determine that the swimming pool cleaner is in a set orientation.

[0080] As shown in FIG. 13, in the third embodiment of the orientation sensing device J3 of the present disclosure, the orientation sensing device J3 includes at least three reflective photoelectric switches J33, which are housed within the identification disc J2. The inner wall of the identification disc J2 has at least one reflective piece J22 that is dynamically opposite to the reflective photoelectric switch J33. When the light emitted by a reflective photoelectric switch J33 is reflected back to the switch by the reflective piece J22, the switch sends a signal to the controller B to determine that the swimming pool cleaner is in a set orientation.Battery, Water Ingress and Electrical Installation Structure:

[0081] In embodiments of the present disclosure, the swimming pool cleaner of the present disclosure may also include a power supply battery L and a BMS battery management module M installed on the cleaner body A. As shown in FIGS. 2 and 4, the power supply battery L provides power to the left traveling motor C1 , the right traveling motor C2, the filtering motor D21 , and the controller B. The BMS battery management module M is electrically connected to the power supply battery L and the controller B, respectively. The controller B monitors the state of the power supply battery L through the BMS battery management module M.

[0082] In embodiments of the present disclosure, the swimming pool cleaner of the present disclosure may also include a water ingress sensor K installed on thecleaner body A, which is electrically connected to the controller B. The controller B uses this sensor K to detect whether the swimming pool cleaner is submerged in water.

[0083] The cleaner body A of the swimming pool cleaner of the present disclosure has a sealed electrical installation room AO, where the controller B, the left traveling motor C1 , the right traveling motor C2, the filtering motor D21 , the wallclimbing detection device F, the horizontal detection device for wall-climbing G, the left speed detection device H, the right speed detection device I, the orientation identification device J, the water ingress sensor K, the power supply battery L, and the BMS battery management module M are installed to ensure the safety of the components, with the output shafts of the left traveling motor C1 , the right traveling motor C2, and the filtering motor D21 , as well as the detection electrodes of the water ingress sensor K, extending outside the electrical installation room AO.CONTROL METHODS:

[0084] As shown in FIGS. 14 to 19, the present disclosure also provides a control method for the swimming pool cleaner of the present disclosure, which includes a cleaning control method. The cleaning control method includes the following steps in sequence: Initialization Step: The swimming pool cleaner performs system initialization and inputs a cleaning command to the controller B. Span Detection Step: The swimming pool cleaner performs span detection to obtain the span in at least two different directions of the pool. Cleaning Step: The swimming pool cleaner executes the corresponding cleaning mode according to the cleaning command. The cleaning modes include the first cleaning mode, the second cleaning mode, and the third cleaning mode.First Cleaning Mode:

[0085] Specifically, as shown in FIG. 15, the first cleaning mode includes the following steps: Step S11 : The controller B activates the filtering water pump and proceeds to Step S12. Step S12: The controller B drives the left and right traveling motors C1 and C2 to move the swimming pool cleaner forward in a straight line. Simultaneously, at Step S121 , the controller B uses the wall-climbing detection device Fto check if the cleaner enters a wall-climbing state. If the cleaner enters a wall-climbing state, proceed to Step S13. Step S13: The controller B adjusts the speeds of the left and right traveling motors C1 and C2 until the horizontal detection device for wallclimbing G indicates that the cleaner is level. At Step S131 , the controller B also times how long the cleaner remains in the wall-climbing state. When the time reaches the set wall-climbing cleaning time, proceed to Step S14. Step S14: The controller B drives the left and right traveling motors C1 and C2 to move the swimming pool cleaner backward in a straight line. Simultaneously, at Step S141 , the controller B uses the wall-climbing detection device F to check if the cleaner exits the wall-climbing state. When the cleaner exits the wall-climbing state, proceed to Step S15. Step S15: The controller B determines whether the swimming pool cleaner meets the turning condition. If the cleaner meets the turning condition, the controller B drives the left and right traveling motors C1 and C2 at Step S151 to turn the cleaner, and then proceeds to Step S16. If the cleaner does not meet the turning condition, the controller B drives the left and right traveling motors C1 and C2 to move the cleaner backward in a lateral direction, and then proceeds to Step S16. Step S16: The controller B drives the left and right traveling motors C1 and C2 to move the swimming pool cleaner backward in a straight line. Simultaneously, the controller B uses the wall-climbing detection device F to check if the cleaner enters a reverse wall-climbing state. If the cleaner enters a reverse wallclimbing state, proceed to Step S17. Step S17: The controller B adjusts the speeds of the left and right traveling motors C1 and C2 until the horizontal detection device for wall-climbing G indicates that the cleaner is level. At Step S171 , the controller B also times how long the cleaner remains in the reverse wall-climbing state. When the time reaches the set reverse wall-climbing cleaning time, proceed to Step S18. Step S18: The controller B drives the left and right traveling motors C1 and C2 to move the swimming pool cleaner forward in a straight line. Simultaneously, at Step 181 , the controller B uses the wall-climbing detection device F to check if the cleaner exits the reverse wall-climbing state. When the cleaner exits the reverse wall-climbing state, proceed to Step S19. Step S19: The controller B determines whether the number of turns made by the swimming pool cleaner has reached the first turning threshold, which in certain embodiments is greater than or equal to 4. If the number of turns has notreached the first turning threshold, than at Step 191 the controller B drives the left and right traveling motors C1 and C2 to move the cleaner forward in a lateral direction and then repeats Steps S12 to S18. If the number of turns has reached the first turning threshold, the process ends.

[0086] The first cleaning mode is suitable for cleaning swimming pools with circular, oval, or rectangular structures. This mode enables the swimming pool cleaner to perform at least two cross-cleanings of all areas of the pool (when the first turning threshold is set to 4, it performs two cleanings), ensuring comprehensive cleaning of the pool. In the first cleaning mode, the first turning threshold is an integer obtained by rounding up the result of 360° divided by the turning angle of the swimming pool cleaner. In certain embodiments, the first turning threshold is 4. The turning angle of the swimming pool cleaner is 90°, which may achieve the highest cleaning efficiency.

[0087] In the first cleaning mode, the way the controller B determines whether the swimming pool cleaner meets the turning condition is as follows: The controller B uses the wall-climbing detection device F and the horizontal detection device for wall-climbing G to check if the swimming pool cleaner is in a flat state. If the swimming pool cleaner is in a flat state (i.e. , on the pool floor), the two wall-climbing sensors F3 of the wallclimbing detection device F do not detect the wall-climbing detection element F4, and the two horizontal sensors G3 of the horizontal detection device G do not detect the horizontal detection ball G2. Therefore, when the controller B determines whether the swimming pool cleaner meets the turning condition, it only needs to determine that the wall-climbing detection device F and the horizontal detection device G are not in the state where "the two wall-climbing sensors F3 of the wall-climbing detection device F do not detect the wall-climbing detection element F4 and the two horizontal sensors G3 of the horizontal detection device G do not detect the horizontal detection ball G2" to conclude that the swimming pool cleaner is not in a flat state. Conversely, it is considered that the swimming pool cleaner is in a flat state.Second Cleaning Mode:

[0088] As shown in FIG. 16, the second cleaning mode of the swimming pool cleaner includes the following steps: Step S21 : The controller B activates the filteringwater pump and proceeds to Step S22. Step S22: The controller B drives the left and right traveling motors C1 and C2 to move the swimming pool cleaner forward along the first or second length direction. Simultaneously, at Step S221 , the controller B uses the wall-climbing detection device F to check if the cleaner enters a wall-climbing state. If the cleaner enters a wall-climbing state, proceed to Step S23. Step S23: The controller B adjusts the speeds of the left and right traveling motors C1 and C2 until the horizontal detection device for wall-climbing G indicates that the cleaner is level. At Step S231 , the controller B also times how long the cleaner remains in the wall-climbing state. When the time reaches the set wall-climbing cleaning time, proceed to Step S24. Step S24: The controller B drives the left and right traveling motors C1 and C2 to move the swimming pool cleaner backward in a straight line. Simultaneously, at Step S241 , the controller B uses the wall-climbing detection device F to check if the cleaner exits the wall-climbing state. When the cleaner exits the wall-climbing state, proceed to Step S25. Step S25: The controller B determines whether the swimming pool cleaner meets the turning condition. If the cleaner meets the turning condition, then at Step S251 the controller B drives the left and right traveling motors C1 and C2 to continue moving the cleaner forward along the current direction to half the span of the current direction.Then, at Step S252 it drives the cleaner to turn 90°, changing the direction of travel from the first length direction to the second length direction or vice versa, and then proceeds to Step S26. If the cleaner does not meet the turning condition, then at Step S253 the controller B drives the left and right traveling motors C1 and C2 to move the cleaner backward in a lateral direction and then proceeds to Step S26. Step S26: The controller B drives the left and right traveling motors C1 and C2 to move the swimming pool cleaner backward in a straight line. Simultaneously, the controller B uses the wallclimbing detection device F to check if the cleaner enters a reverse wall-climbing state. If the cleaner enters a reverse wall-climbing state, proceed to Step S27. Step S27: The controller B adjusts the speeds of the left and right traveling motors C1 and C2 until the horizontal detection device for wall-climbing G indicates that the cleaner is level. The controller B also times (Step S271) how long the cleaner remains in the reverse wallclimbing state. When the time reaches the set reverse wall-climbing cleaning time, proceed to Step S28. Step S28: The controller B drives the left and right travelingmotors C1 and C2 to move the swimming pool cleaner forward in a straight line. Simultaneously, at Step S281 , the controller B uses the wall-climbing detection device F to check if the cleaner exits the reverse wall-climbing state. When the cleaner exits the reverse wall-climbing state, proceed to Step S29. Step S29: The controller B determines whether the number of turns made by the swimming pool cleaner has reached the second turning threshold, which may be greater than or equal to 4. If the number of turns has not reached the second turning threshold, then at Step S291 the controller B drives the left and right traveling motors C1 and C2 to move the cleaner forward in a lateral direction and then repeats Steps S22 to S28. If the number of turns has reached the second turning threshold, the process ends.

[0089] The second cleaning mode is suitable for cleaning swimming pools with a rectangular structure. This mode can also perform two cross-cleanings of the pool, ensuring comprehensive cleaning. Corresponding to the second cleaning mode, during the span detection step, the swimming pool cleaner performs span detection to obtain the span in the first length direction and the second length direction of the pool, which are perpendicular to each other. These two directions correspond to the two mutually perpendicular length directions of a rectangular pool.

[0090] In the second cleaning mode, the way the controller B determines whether the swimming pool cleaner meets the turning condition is as follows: The controller B determines whether the current number of lateral movements of the swimming pool cleaner has reached the current lateral movement threshold. If the current number of lateral movements has reached the threshold, the swimming pool cleaner meets the turning condition. If not, it does not meet the turning condition. When the swimming pool cleaner meets the turning condition, the controller B resets the count of lateral movements. The current lateral movement threshold may be an integer obtained by rounding down the result of dividing half the span in the direction perpendicular to the current direction of travel by the lateral movement step size of the swimming pool cleaner.Third Cleaning Mode:

[0091] As shown in FIG. 17, the third cleaning mode includes the following steps: Step S31 : The controller B activates the filtering water pump and proceeds to Step S32. Step S32: The controller B sequentially sets the direction of travel of the swimming pool cleaner to the first direction, the second direction, ..., up to the Nth direction, and executes Steps S330 to S340 after each setting. The process ends after the last setting and completion of Steps S330 to S339. N is an integer greater than or equal to 3. Step S330: The controller B uses the orientation identification device J to check if the direction of travel of the swimming pool cleaner is in the currently set direction. If it is, proceed directly to Step S331 . If not, the controller B drives the left and right traveling motors C1 and C2 to turn the swimming pool cleaner to the currently set direction and then proceeds to Step S331 . Step S331 : The controller B drives the left and right traveling motors C1 and C2 to move the swimming pool cleaner forward in a straight line. Simultaneously, at Step 3311 , the controller B uses the wall-climbing detection device F to check if the cleaner enters a wall-climbing state. If the cleaner enters a wallclimbing state, proceed to Step S332. Step S332: The controller B adjusts the speeds of the left and right traveling motors C1 and C2 until the horizontal detection device for wall-climbing G indicates that the cleaner is level. At Step S3321 the controller B also times how long the cleaner remains in the wall-climbing state. When the time reaches the set wall-climbing cleaning time, proceed to Step S333. Step S333: The controller B drives the left and right traveling motors C1 and C2 to move the swimming pool cleaner backward in a straight line. Simultaneously, the controller B uses the wall-climbing detection device F to check if the cleaner exits the wall-climbing state. When the cleaner exits the wall-climbing state, proceed to Step S334. Step S334: The controller B determines whether the swimming pool cleaner meets the turning condition. If the cleaner meets the turning condition, return to Step S32 to reset the direction of travel of the swimming pool cleaner. If the cleaner does not meet the turning condition, then at Step S3341 the controller B drives the left and right traveling motors C1 and C2 to move the cleaner backward in a lateral direction and then proceeds to Step S335. Step S335: The controller B uses the orientation identification device J to check if the direction of travel of the swimming pool cleaner is in the currently set direction. If it is, proceed directly to Step S336. If not, the controller B drives the left and right traveling motors C1and C2 to turn the swimming pool cleaner to the currently set direction and then proceeds to Step S336. Step S336: The controller B drives the left and right traveling motors C1 and C2 to move the swimming pool cleaner backward in a straight line. Simultaneously, at Step S3361 , the controller B uses the wall-climbing detection device F to check if the cleaner enters a reverse wall-climbing state. If the cleaner enters a reverse wall-climbing state, proceed to Step S337. Step S337: The controller B adjusts the speeds of the left and right traveling motors C1 and C2 until the horizontal detection device for wall-climbing G indicates that the cleaner is level. At Step S3371 the controller B also times how long the cleaner remains in the reverse wall-climbing state. When the time reaches the set reverse wall-climbing cleaning time, proceed to Step S338. Step S338: The controller B drives the left and right traveling motors C1 and C2 to move the swimming pool cleaner forward in a straight line. Simultaneously, at Step S3381 the controller B uses the wall-climbing detection device F to check if the cleaner exits the reverse wall-climbing state. When the cleaner exits the reverse wall-climbing state, proceed to Step S339. Step S339: The controller B drives the left and right traveling motors C1 and C2 to move the swimming pool cleaner forward in a lateral direction and then proceeds to Step S330.

[0092] The third cleaning mode is a universal mode that can be applied to various pool structures. This mode ensures comprehensive cleaning by repeatedly resetting the direction of travel of the swimming pool cleaner. In the third cleaning mode, the way the controller B determines whether the swimming pool cleaner meets the turning condition is as follows: The controller B uses the wall-climbing detection device F and the horizontal detection device for wall-climbing G to check if the swimming pool cleaner is in a flat state. If the swimming pool cleaner is in a flat state, it does not meet the turning condition. If it is not in a flat state, it meets the turning condition.

[0093] It should be noted that the cleaning modes described above can include at least one of the first, second, and third cleaning modes, depending on the specific usage requirements.Automatic Cleaning Mode:

[0094] In embodiments of the present disclosure, the cleaning mode may also include an automatic cleaning mode. The automatic cleaning mode can automatically select one of the first, second, or third cleaning modes to clean the pool. Corresponding to the automatic cleaning mode, the span detection step is as follows: The swimming pool cleaner performs span detection to obtain the span in six directions of the pool, with an angle of 30° between adjacent directions. The six directions, in clockwise order, are the first direction, the second direction, the third direction, the fourth direction, the fifth direction, and the sixth direction. The spans in these directions are denoted as L1 , L2, L3, L4, L5, and L6, respectively.

[0095] As shown in FIG. 18, the automatic cleaning mode is as follows: Determine whether the relationship between L1 , L2, L3, L4, L5, and L6 is the first or second relationship. If the relationship between L1 , L2, L3, L4, L5, and L6 is the first relationship as determined at Step S6, then the first cleaning mode is executed. If the relationship between L1 , L2, L3, L4, L5, and L6 is the second relationship as determined at Step S7, then the second or first cleaning mode is executed. If the relationship between L1 , L2, L3, L4, L5, and L6 is neither the first nor the second relationship, then the third cleaning mode is executed. The first relationship is that L1 , L2, L3, L4, L5, and L6 are equal. The second relationship is that L2 is equal to L6, L3 is equal to L5, and both L2 and L3 are not equal to L1 or L4. When the second cleaning mode is executed, L1 and L4 correspond to the spans in the first and second length directions, respectively.Debugging Method:

[0096] In the embodiments of the present disclosure, the control method also includes a debugging method for the orientation identification device, which facilitates the control of the swimming pool cleaner to move straight in the desired direction. Specifically, as shown in FIG. 19, the debugging method is as follows: First, at Step S8 place the swimming pool cleaner so that its direction of travel is parallel to one axis of the pool to be cleaned and input a debugging command to the controller B at Step S81. Then, at Step S82 rotate the identification body J1 of the orientation identification device. At Step S83 the controller B uses the orientation sensing device J3 to sensewhether the identification disc J2 is in the initial set orientation. When the controller B senses through the orientation sensing device J3 that the identification disc J2 is in the initial set orientation, at Step S84 the controller B sends a debugging completion signal (which can be a light or sound signal) to confirm the completion of debugging.

[0097] In the control method of the present disclosure, when the controller B drives the left and right traveling motors C1 and C2 to move the swimming pool cleaner forward or backward in a straight line, the controller B uses the left and right speed detection devices H and I to detect the rotational speeds of the left and right traveling wheels C3 and C4, respectively, and adjusts the speeds of the left and right traveling motors C1 and C2 so that the rotational speeds of the left and right traveling wheels C3 and C4 are the same, allowing the swimming pool cleaner to maintain a straight path.Operational Checks:

[0098] Referring now to FIG. 14, in the initial step of the control method of the present disclosure, after the swimming pool cleaner performs system initialization (Step S1A) and inputs a cleaning command to the controller B (Step S1 B), the controller B uses the BMS battery management module M to check whether the power supply battery L is charging (Step 1 SC). When it is detected that the power supply battery L is charging, the controller B uses the BMS battery management module M to check whether the power supply battery L is fully charged (Step S1 D). When it is detected that the power supply battery L is fully charged, charging of the power supply battery L is stopped. When it is detected that the power supply battery L is not charging, the cleaning step is entered. This setup prevents the swimming pool cleaner from cleaning the pool while charging, ensuring safe use. In the initial step of the control method of the present disclosure, when it is detected that the power supply battery L is not charging, the controller B first uses the water ingress sensor K to check whether the swimming pool cleaner is in the water (Step S1 E). If the swimming pool cleaner is in the water, the cleaning step is entered. This setup ensures that the swimming pool cleaner only cleans when submerged, ensuring safe use.

[0099] In the cleaning step of the control method of the present disclosure, while the swimming pool cleaner executes the corresponding cleaning mode according to thecleaning command, the controller B uses the BMS battery management module M to check whether the power supply battery L level is below the set level (Step S1 F). If the power supply battery L level is below the set level, the current cleaning mode is terminated, and the controller B drives the left and right traveling motors C1 and C2 to move the swimming pool cleaner to a wall-climbing state detected by the wall-climbing detection device F and then enters standby mode (Step S1 G). This setup ensures that when the power supply battery L level is below the set level, the swimming pool cleaner automatically moves to the pool wall, facilitating retrieval by the user. In the cleaning step of the control method of the present disclosure, while the swimming pool cleaner executes the corresponding cleaning mode according to the cleaning command, the controller B times whether the execution time of the corresponding cleaning mode exceeds the set maximum cleaning time (Step S1 H). If the set maximum cleaning time is exceeded, the swimming pool cleaner stops executing the corresponding cleaning mode and enters standby mode (Step S11). This setup prevents the swimming pool cleaner from operating unnecessarily after completing the cleaning task, reducing inefficient power consumption.

[0100] In the cleaning step of the control method of the present disclosure, while the swimming pool cleaner executes the corresponding cleaning mode according to the cleaning command, the controller B detects whether the working current of the left traveling motor C1 , the right traveling motor C2, and the filtering motor D21 is abnormal (Step S1 J). If the working current of at least one of the left traveling motor C1 , the right traveling motor C2, and the filtering motor D21 is abnormal, the swimming pool cleaner stops executing the corresponding cleaning mode and enters standby mode (Step S11). This setup allows the swimming pool cleaner to shut down promptly in case of abnormalities, effectively protecting the device.Span Detection:

[0101] The specific method for span detection by the swimming pool cleaner of the present disclosure is as follows: Step S41 : The controller B sequentially sets the direction of travel of the swimming pool cleaner for span detection. After each setting, Steps S42 to S43 are executed. The process ends after the last setting and completionof Steps S42 to S43. Step S42: The controller B drives the left and right traveling motors C1 and C2 to move the swimming pool cleaner forward in the currently set direction. Simultaneously, at Step S421 the controller B uses the wall-climbing detection device F to check if the cleaner enters a wall-climbing state. If the cleaner enters a wall-climbing state, proceed to Step S422. Step S422: The controller B drives the left and right traveling motors C1 and C2 to move the swimming pool cleaner backward in the currently set direction. Simultaneously, at Step S423 the controller B uses the wall-climbing detection device F to check if the cleaner exits the wall-climbing state. When the cleaner exits the wall-climbing state, proceed to Step S43. Step S43: The controller B continues to drive the left and right traveling motors C1 and C2 to move the swimming pool cleaner backward in the currently set direction and starts timing. At Step S431 the controller B uses the wall-climbing detection device F to check if the cleaner enters a reverse wall-climbing state. If the cleaner enters a reverse wallclimbing state, timing ends at Step S432. At Step S433 the controller B calculates the span in the currently set direction based on the timing and the rotational speeds of the left and right traveling motors C1 and C2 and then proceeds to Step S44. Step S44: The controller B drives the left and right traveling motors C1 and C2 to move the swimming pool cleaner forward in the currently set direction. Simultaneously, at Step S441 the controller B uses the wall-climbing detection device F to check if the cleaner exits the reverse wall-climbing state. When the cleaner exits the reverse wall-climbing state, proceed to Step S45. Step S45: The controller B drives the left and right traveling motors C1 and C2 to move the swimming pool cleaner forward to half the span in the currently set direction. Then, return to Step S41 to reset the direction of travel of the swimming pool cleaner.

[0102] It should be noted that in this disclosure, "forward" and "backward" indicate opposite directions. The forward and backward straight movements are not limited to specific directions but refer to the front and back directions of the cleaner body. Lateral movements in the forward and backward directions involve shifting the swimming pool cleaner to the left or right while maintaining its direction of travel. The controller adjusts the speeds of the left traveling motor C1 and the right traveling motor C2 to control these lateral movements.

[0103] The above embodiments and figures do not limit the form and style of the product of this disclosure. Any appropriate modifications or refinements made by those of ordinary skill in the relevant technical field should be considered within the scope of this disclosure's patent.

[0104] Referring again to FIGS. 1 to 13, one embodiment of a swimming pool cleaner according to the present disclosure includes a cleaner body (A), a controller (B), which manages the operation of the cleaner, a traveling device (C) including a left traveling motor (C1), a right traveling motor (C2), a left traveling wheel (C3) connected to the left traveling motor, a right traveling wheel (C4) connected to the right traveling motor, a filtering device (D) including a filter (D1), a filtering water pump (D2) including a filtering motor (D21), a filtering impeller (D22) driven by the filtering motor, and a brush (E) for cleaning the pool floor and walls. The controller (B) is electrically connected to the left traveling motor (C1), right traveling motor (C2), and filtering motor (D21). The controller (B) drives the left and right traveling motors to move the cleaner and activates the brush (E) to clean the pool floor and walls. It also drives the filtering motor (D21) to circulate water through the filter (D1) to collect debris from the pool.

[0105] In embodiments of the present disclosure, the swimming pool cleaner further comprises a wall climbing detection device F and a wall climbing horizontal detection device G installed on the cleaner body A. The controller B is electrically connected to wall climbing detection device F and the wall climbing horizontal detection device G, respectively. The controller B uses wall climbing detection device F to detect whether the water tank cleaner is in a climbing state, and then determines whether the pool cleaner is moving at the bottom or on the wall of the pool, thereby facilitating the control of the movement trajectory of the pool cleaner in the pool and improving the cleaning effect of the pool. The controller B, through wall climbing detection device F, can detect whether the pool cleaner is horizontal when it is in a climbing state to control the pool tank cleaner to move vertically and straight on the pool wall, ensuring the cleaning effect on the pool wall.

[0106] In embodiments of the present disclosure, the wall climbing detection device F comprises a wall climbing detection body F1 installed on the cleaner body A, a rotatable detection arm F2 installed on the wall climbing detection body F1 , and two wallclimbing sensors F3 installed on both sides of the wall climbing detection body F1. The detection arm F2 is matched with a wall climbing sensing element F4, which moves through the sensing areas of the two wall climbing sensors F3. The controller B is electrically connected to the two wall climbing sensors F3 of the wall climbing detection device F. When the pool cleaner is at the bottom of the pool, the wall climbing sensing element F4 is located in the sensing area of the two wall climbing sensors F3, and the two wall climbing sensors F3 cannot sense the wall climbing sensing element F4. When the pool cleaner is located on the pool wall, the wall climbing sensing element F4 is located in the sensing area of one of the two wall climbing sensors F3, so that one wall climbing sensor F3 senses the wall climbing sensing element F4. Therefore, controller B can detect whether the pool cleaner is in a climbing state through the signals of two climbing sensors F3, and can also determine whether the pool cleaner is in a forward climbing state (i.e. , the front end of the pool cleaner is facing up) or a reverse climbing state (i.e., the rear end of the pool cleaner is facing up). The wall climbing sensor F4 can use a magnet, while the wall climbing sensor F3 may be a Hall proximity switch that can sense the magnetic field of the wall climbing sensor F4. Two wall climbing sensors F3 can be installed on a wall climbing detection circuit board F5, and the wall climbing detection circuit is installed on the wall climbing detection body F1.

[0107] In embodiments of the present disclosure, the wall climbing horizontal detection device G comprises a horizontal detection body G1 , a horizontal detection ball G2, and two horizontal sensors G3. The horizontal detection body G1 is installed on the cleaner body A. The horizontal detection body G1 is equipped with a horizontal detection chamber G11 , which has a buffer section G111 and two offset sections G112 connected to both ends of the buffer section G111 . The aperture of the offset section G112 is smaller than that of the buffer section G111 , and a step is formed at the connection between the buffer section G111 and the offset section G112. Two horizontal sensors G3 are installed on the horizontal detection body G1 and corresponding to two offset s sections G112 respectively. The horizontal detection ball G2 is accommodated in the horizontal detection chamber G11 , and the horizontal detection ball G2 moves through the sensing area of the two horizontal sensors G3. When the pool cleaner of is in a climbing state, if the pool cleaner is in a horizontalstate, the horizontal detection ball G2 is located in the buffer section G111 , and neither of the two horizontal sensors G3 can sense the horizontal detection ball G2. When the pool cleaner is in a climbing state, if the pool cleaner is not in a horizontal state, the horizontal detection ball G2 is located in one of the two offset sections G112, so that one of the two horizontal sensors G3 senses the horizontal detection ball G2. The step formed at the connection between the buffer section G111 and the offset section G112 can play a certain stopping role, preventing the horizontal detection ball G2 from mistakenly entering the horizontal detection ball G2 when the pool cleaner is turning at the bottom of the pool. The horizontal detection ball G2 may have magnetism, and the horizontal sensor G3 adopts a Hall proximity switch that can sense the magnetic field of the horizontal detection ball G2. It should be noted that the horizontal sensor G3 can also use a reflective photoelectric proximity switch, and the surface of the horizontal detection ball G2 is a reflective surface. When the horizontal detection ball G2 reflects the light emitted by the horizontal sensor G3 back to the horizontal sensor G3, the horizontal sensor G3 senses the horizontal detection ball G2.

[0108] In embodiments of the present disclosure, the horizontal detection device for wall-climbing (G) includes a horizontal detection body (G1) installed on the cleaner body (A), a horizontal detection chamber (G11) with a buffer section (G111) and two offset sections (G112), a horizontal detection ball (G2) that moves within the detection chamber, and two horizontal sensors (G3) installed to detect the position of the horizontal detection ball (G2). When the cleaner is climbing a wall, the horizontal detection ball (G2) indicates whether the cleaner is level. If the ball is in the buffer section (G111), the cleaner is level. If it is in one of the offset sections (G112), the cleaner is tilted. This allows the controller (B) to ensure the cleaner moves vertically along the wall for effective cleaning. The horizontal sensors (G3) may be Hall effect proximity switches that detect the magnetic field of the horizontal detection ball (G2). The controller (B) uses the wall-climbing detection device (F) and horizontal detection device (G) to control the cleaner's movement and ensure effective cleaning. By detecting the cleaner's position and orientation, the controller B can adjust the motors to maintain a straight path and ensure the cleaner moves vertically along the pool wallwhen climbing. This comprehensive control system may enhance the cleaning performance of the swimming pool cleaner.

[0109] In embodiments of the present disclosure, the swimming pool cleaner may also include a left speed detection device (H) for detecting the rotational speed of the left traveling wheel (C3), and a right speed detection device (I) for detecting the rotational speed of the right traveling wheel (C4). These devices are electrically connected to the controller (B) and installed on the cleaner body (A). They can use magnetic encoders. The controller (B) can adjust the speeds of the left and right traveling motors (C1 and C2) to ensure that the rotational speeds of the left and right traveling wheels (C3 and C4) are the same, allowing the swimming pool cleaner to maintain a straight path.

[0110] In embodiments of the present disclosure, the swimming pool cleaner may also include an orientation identification device (J) installed on the cleaner body (A) and electrically connected to the controller (B). This device can determine whether the pool cleaner is moving in a set direction, with at least three set directions, facilitating control of the cleaner's movement direction. In embodiments of the present disclosure, the orientation identification device (J) includes an identification body (J1) installed on the cleaner body (A), a rotatable identification disc (J2) that cooperates with the identification body (J1), and an orientation sensing device (J3) installed on the identification body (J1). The identification disc (J2) includes a permanent magnet (J4), and the orientation sensing device (J3) detects whether the identification disc (J2) is in a set position. The orientation sensing device (J3) is electrically connected to the controller, when the orientation sensing device (J3) detects that the identification disc (J2) is in a set position, it indicates that the pool cleaner is moving in a set direction.

[0111] In one embodiment of the orientation sensing device (J3) as shown in FIG. 11 , the orientation sensing device (J3) includes at least three Hall sensors (J31) corresponding to the ends of the permanent magnet (J4). When a Hall sensor (J31) detects the magnetic field at the end of the permanent magnet (J4), it sends a signal to the controller (B) to determine that the swimming pool cleaner is in a set direction.

[0112] In another embodiment of the orientation sensing device (J3) as shown in FIG. 12, the orientation sensing device (J3) includes at least three through-beamphotoelectric switches (J32). The identification disc (J2) has a shading part (J21) that can block the light-emitting part of the through-beam photoelectric switch (J32). When the light-emitting part of a through-beam photoelectric switch (J32) is blocked by the shading part (J21), the switch sends a signal to the controller (B) to determine that the swimming pool cleaner is in a set direction.

[0113] In a third embodiment of the orientation sensing device (J3) as shown in FIG. 13, the orientation sensing device (J3) includes at least three reflective photoelectric switches (J33) housed within the identification disc (J2). The inner wall of the identification disc (J2) has at least one reflective piece (J22) that is opposite to the reflective photoelectric switch (J33). When the light emitted by a reflective photoelectric switch (J33) is reflected back by the reflective piece (J22), the switch sends a signal to the controller (B) to determine that the swimming pool cleaner is in a set direction.

[0114] In embodiments of the present disclosure, the swimming pool cleaner also includes a power supply battery (L) and a battery management system (BMS) module (M) installed on the cleaner body (A). The power supply battery (L) provides power to the left traveling motor (C1), the right traveling motor (C2), the filtering motor (D21 ), and the controller (B). The BMS module (M) is electrically connected to the power supply battery (L) and the controller (B) respectively. The controller (B) monitors the state of the power supply battery (L) through the BMS module (M).

[0115] In embodiments of the present disclosure, the swimming pool cleaner also includes a water Ingress sensor (K) installed on the cleaner body (A) and electrically connected to the controller (B). The controller (B) uses this sensor (K) to detect whether the swimming pool cleaner is submerged in water.

[0116] In embodiments of the present disclosure, the cleaner body (A) has a sealed electrical installation room (A0) where the controller (B), left traveling motor (C1), right traveling motor (C2), filtering motor (D21), wall-climbing detection device (F), horizontal detection device for wall-climbing (G), left speed detection device (H), right speed detection device (I), orientation identification device (J), water ingress sensor (K), power supply battery (L), and BMS module (M) are installed to ensure the safety of the components. The output shafts of the left traveling motor (C1), right traveling motor(C2), and filtering motor (D21), as well as the detection electrodes of the water ingress sensor (K), extend outside the electrical installation room (AO).

[0117] As shown in FIGS. 14 to 20, the control method for the swimming pool cleaner includes the following steps: 1. Initialization Step: The swimming pool cleaner performs system initialization and receives a cleaning command input to the controller (B). 2. Span Detection Step: The swimming pool cleaner performs span detection to obtain the pool's dimensions in at least two different directions. 3. Cleaning Step: The swimming pool cleaner executes a cleaning mode according to the cleaning command. The cleaning modes include: a First Cleaning Mode, a Second Cleaning Mode, and a Third Cleaning Mode.

[0118] Specifically, as shown in FIG. 15, the first cleaning mode includes the following steps: Step S11 : The controller (B) activates the filtering water pump and proceeds to Step S12. Step S12: The controller (B) drives the left traveling motor (C1) and right traveling motor (C2) to move the swimming pool cleaner forward while simultaneously using the wall-climbing detection device (F) to check if the cleaner has entered a wall-climbing state. If the cleaner enters a wall-climbing state, proceed to Step S13. Step S13: The controller (B) adjusts the speeds of the left traveling motor (C1) and right traveling motor (C2) until the horizontal detection device for wall-climbing (G) indicates that the cleaner is level. The controller (B) also times how long the cleaner remains in the wall-climbing state. If the time reaches the set wall-climbing cleaning time, proceed to Step S14. Step S14: The controller (B) drives the left traveling motor (C1) and right traveling motor (C2) to move the pool cleaner backward while using the wall-climbing detection device (F) to check if the cleaner exits the wallclimbing state. If the cleaner exits the wall-climbing state, proceed to Step S15. Step S15: The controller (B) determines whether the swimming pool cleaner meets the turning condition. If the cleaner meets the turning condition, the controller (B) drives the left traveling motor (C1) and right traveling motor (C2) to turn the cleaner and then proceeds to Step S16. If the cleaner does not meet the turning condition, the controller (B) drives the left traveling motor (C1) and right traveling motor (C2) to move the cleaner backward in a lateral direction and then proceeds to Step S16. Step S16: The controller (B) drives the left traveling motor (C1) and right traveling motor (C2) to movethe pool cleaner backward while using the wall-climbing detection device (F) to check if the cleaner enters a reverse wall-climbing state. If the cleaner enters a reverse wallclimbing state, proceed to Step S17. Step S17: The controller (B) adjusts the speeds of the left traveling motor (C1) and right traveling motor (C2) until the horizontal detection device for wall-climbing (G) indicates that the cleaner is level. The controller (B) also times how long the cleaner remains in the reverse wall-climbing state. If the time reaches the set reverse wall-climbing cleaning time, proceed to Step S17. Step S18: The controller (B) drives the left traveling motor (C1) and right traveling motor (C2) to move the swimming pool cleaner forward while using the wall-climbing detection device (F) to check if the cleaner exits the reverse wall-climbing state. If the cleaner exits the reverse wall-climbing state, proceed to Step S19. Step S19: The controller (B) determines whether the number of turns made by the swimming pool cleaner has reached the first turning threshold, which is greater than or equal to 4. If the number of turns has not reached the first turning threshold, the controller (B) drives the left traveling motor (C1) and right traveling motor (C2) to move the cleaner forward in a lateral direction and then repeats Steps S12 to S18. If the number of turns has reached the first turning threshold, the cleaning process ends.

[0119] The first cleaning mode is suitable for cleaning swimming pools with circular, oval, or rectangular structures. This mode enables the pool cleaner to perform at least two cross-cleanings of all areas of the pool (when the first turning threshold is set to 4, it performs two cleanings), ensuring comprehensive cleaning of the pool. In the first cleaning mode, the first turning threshold is an integer obtained by rounding up the result of 360° divided by the turning angle of the swimming pool cleaner. Preferably, the first turning threshold is set to 4, with the turning angle of the cleaner being 90°, which achieves the highest cleaning efficiency. In this mode, the controller (B) determines whether the swimming pool cleaner meets the turning condition as follows: The controller (B) uses the wall-climbing detection device (F) and the horizontal detection device for wall-climbing (G) to check if the cleaner is in a flat state. If the cleaner is in a flat state (i.e. , on the pool floor), it does not meet the turning condition. If the cleaner is not in a flat state (i.e., it encounters a wall), it meets the turning condition. Specifically, when the cleaner is in a flat state, the two wall-climbing sensors (F3) of the wall-climbing detection device (F) do not detect the wall-climbing detection element (F4), and the two horizontal sensors (G3) of the horizontal detection device (G) do not detect the horizontal detection ball (G2). Therefore, the controller (B) determines that the cleaner is not in a flat state if it does not detect this condition, and vice versa.

[0120] Specifically, as shown in FIG. 16, the second cleaning mode includes the following steps: Step S21 : The controller (B) activates the filtering water pump and proceeds to Step S22. Step S22: The controller (B) drives the left traveling motor (C1) and right traveling motor (C2) to move the pool cleaner forward along the first or second length direction while using the wall-climbing detection device (F) to check if the cleaner enters a wall-climbing state. If the cleaner enters a wall-climbing state, proceed to Step S23. Step S23: The controller (B) adjusts the speeds of the left traveling motor (C1 ) and right traveling motor (C2) until the horizontal detection device for wall-climbing (G) indicates that the cleaner is level. The controller (B) also times how long the cleaner remains in the wall-climbing state. If the time reaches the set wall-climbing cleaning time, proceed to Step S24. Step S24: The controller (B) drives the left traveling motor (C1) and right traveling motor (C2) to move the swimming pool cleaner backward while using the wall-climbing detection device (F) to check if the cleaner exits the wallclimbing state. If the cleaner exits the wall-climbing state, proceed to Step S25. Step S25: The controller (B) determines whether the pool cleaner meets the turning condition. If the cleaner meets the turning condition, the controller (B) drives the left traveling motor (C1) and right traveling motor (C2) to continue moving the cleaner forward along the current direction to half the span of the current direction. Then, it drives the cleaner to turn 90°, changing the cleaner's direction from the first length direction to the second length direction or vice versa, and then proceeds to Step S26. If the cleaner does not meet the turning condition, the controller (B) drives the left traveling motor (C1) and right traveling motor (C2) to move the cleaner backward in a lateral direction and then proceeds to Step S26. Step S26: The controller (B) drives the left traveling motor (C1) and right traveling motor (C2) to move the swimming pool cleaner backward while using the wall-climbing detection device (F) to check if the cleaner enters a reverse wall-climbing state. If the cleaner enters a reverse wallclimbing state, proceed to Step S27. Step S27: The controller (B) adjusts the speeds ofthe left traveling motor (C1) and right traveling motor (C2) until the horizontal detection device for wall-climbing (G) indicates that the cleaner is level. The controller (B) also times how long the cleaner remains in the reverse wall-climbing state. If the time reaches the set reverse wall-climbing cleaning time, proceed to Step S28. Step S28: The controller (B) drives the left traveling motor (C1) and right traveling motor (C2) to move the pool cleaner forward while using the wall-climbing detection device (F) to check if the cleaner exits the reverse wall-climbing state. If the cleaner exits the reverse wall-climbing state, proceed to Step S29. Step S29: The controller (B) determines whether the number of turns made by the swimming pool cleaner has reached the second turning threshold, which is greater than or equal to 4. If the number of turns has not reached the second turning threshold, the controller (B) drives the left traveling motor (C1) and right traveling motor (C2) to move the cleaner forward in a lateral direction and then repeats Steps S22 to S28. If the number of turns has reached the second turning threshold, the cleaning process ends.

[0121] The second cleaning mode is designed for cleaning swimming pools with a rectangular structure. This mode allows the cleaner to perform two cross-cleanings of the pool, ensuring comprehensive cleaning. During the span detection step, the swimming pool cleaner detects the span in the first length direction and the second length direction of the pool. These two directions are perpendicular to each other and correspond to the two mutually perpendicular length directions of a rectangular pool. In the second cleaning mode, the controller (B) determines whether the swimming pool cleaner meets the turning condition as follows: The controller (B) checks whether the current number of lateral movements of the swimming pool cleaner has reached the current lateral movement threshold. If the current number of lateral movements has reached the threshold, the swimming pool cleaner meets the turning condition. If not, it does not meet the turning condition. When the swimming pool cleaner meets the turning condition, the controller (B) resets the count of lateral movements. The current lateral movement threshold is an integer obtained by rounding down the result of dividing half the span in the direction perpendicular to the current direction of travel by the lateral movement step size of the swimming pool cleaner.

[0122] Specifically, as shown in FIG. 17, the third cleaning mode includes the following steps: Step S31 : The controller (B) activates the filtering water pump and proceeds to Step S32. Step S32: The controller (B) sequentially sets the direction of travel of the swimming pool cleaner to the first direction, second direction, ..., up to the Nth direction, and executes steps S330 to S340 after each setting. The process ends after the last setting and completion of Steps S330 to S339. N is an integer greater than or equal to 3. Step S330: The controller (B) uses the orientation identification device (J) to check if the direction of travel of the swimming pool cleaner is in the currently set direction. If it is, proceed directly to Step S331 . If not, the controller (B) drives the left traveling motor (C1) and right traveling motor (C2) to turn the swimming pool cleaner to the currently set direction and then proceeds to Step S331 . Step S331 : The controller (B) drives the left traveling motor (C1) and right traveling motor (C2) to move the swimming pool cleaner forward while using the wall-climbing detection device (F) to check if the cleaner enters a wall-climbing state. If the cleaner enters a wall-climbing state, proceed to Step S332. Step S332: The controller (B) adjusts the speeds of the left traveling motor (C1) and right traveling motor (C2) until the horizontal detection device for wall-climbing (G) indicates that the cleaner is level. The controller (B) also times how long the cleaner remains in the wall-climbing state. If the time reaches the set wall-climbing cleaning time, proceed to Step S333. Step S333: The controller (B) drives the left traveling motor (C1) and right traveling motor (C2) to move the swimming pool cleaner backward while using the wall-climbing detection device (F) to check if the cleaner exits the wall-climbing state. If the cleaner exits the wall-climbing state, proceed to Step S334. Step S334: The controller (B) determines whether the swimming pool cleaner meets the turning condition. If the cleaner meets the turning condition, return to step S32 to reset the direction of travel of the swimming pool cleaner. If the cleaner does not meet the turning condition, the controller (B) drives the left traveling motor (C1) and right traveling motor (C2) to move the cleaner backward in a lateral direction and then proceeds to Step S335. Step S335: The controller (B) uses the orientation identification device (J) to check if the direction of travel of the swimming pool cleaner is in the currently set direction. If it is, proceed directly to step S336. If not, the controller (B) drives the left traveling motor (C1) and right traveling motor (C2) to turn theswimming pool cleaner to the currently set direction and then proceeds to Step S336. Step S336: The controller (B) drives the left traveling motor (C1) and right traveling motor (C2) to move the swimming pool cleaner backward while using the wall-climbing detection device (F) to check if the cleaner enters a reverse wall-climbing state. If the cleaner enters a reverse wall-climbing state, proceed to Step S337. Step S337: The controller (B) adjusts the speeds of the left traveling motor (C1) and right traveling motor (C2) until the horizontal detection device for wall-climbing (G) indicates that the cleaner is level. The controller (B) also times how long the cleaner remains in the reverse wallclimbing state. If the time reaches the set reverse wall-climbing cleaning time, proceed to Step S338. Step S338: The controller (B) drives the left traveling motor (C1) and right traveling motor (C2) to move the swimming pool cleaner forward while using the wall-climbing detection device (F) to check if the cleaner exits the reverse wall-climbing state. If the cleaner exits the reverse wall-climbing state, proceed to Step S339. Step S339: The controller (B) drives the left traveling motor (C1) and right traveling motor (C2) to move the swimming pool cleaner forward in a lateral direction and then returns to Step S330.

[0123] The third cleaning mode is a universal mode suitable for cleaning various types of pools. It ensures comprehensive cleaning by repeatedly resetting the direction of travel of the swimming pool cleaner. In the third cleaning mode, the controller (B) determines whether the swimming pool cleaner meets the turning condition in the same way as described for the first cleaning mode: by checking whether the cleaner is in a flat state using the wall-climbing detection device (F) and the horizontal detection device for wall-climbing (G). If the cleaner is in a flat state, it does not meet the turning condition. If it is not in a flat state, it meets the turning condition.

[0124] It should be noted that the cleaning modes described above can include at least one of the first, second, and third cleaning modes, depending on the specific usage requirements.

[0125] In embodiments of the present disclosure, the swimming pool cleaning mode may also include an automatic cleaning mode. The automatic cleaning mode can automatically select one of the first, second, or third cleaning modes to clean the pool. Corresponding to the automatic cleaning mode, the span detection step is as follows:The swimming pool cleaner performs span detection to obtain the span in six directions of the pool, with an angle of 30° between adjacent directions. The six directions, in clockwise order, are the first direction, second direction, third direction, fourth direction, fifth direction, and sixth direction. The spans in these directions are denoted as L1 , L2, L3, L4, L5, and L6 respectively.

[0126] As shown in FIG. 18, the automatic cleaning mode is as follows: Determine whether the relationship between L1 , L2, L3, L4, L5, and L6 is the first or second relationship. If the relationship between L1 , L2, L3, L4, L5, and L6 is the first relationship, then the first cleaning mode is executed. If the relationship between L1 , L2, L3, L4, L5, and L6 is the second relationship, then the second or first cleaning mode is executed. If the relationship between L1 , L2, L3, L4, L5, and L6 is neither the first nor the second relationship, then the third cleaning mode is executed. Here, the first relationship is that L1 , L2, L3, L4, L5, and L6 are equal. The second relationship is that L2 is equal to L6, L3 is equal to L5, and both L2 and L3 are not equal to L1 or L4. When the second cleaning mode is executed, L1 and L4 correspond to the spans in the first and second length directions respectively.

[0127] The control method of the present disclosure also includes a debugging method for the orientation identification device, which facilitates the control of the swimming pool cleaner to move straight in the desired direction. Specifically, as shown in FIG. 19, the debugging method is as follows: First, place the swimming pool cleaner so that its direction of travel is parallel to one axis of the pool to be cleaned, and input a debugging command to the controller (B). Then, rotate the identification body (J1) of the orientation identification device. The controller (B) uses the orientation sensing device (J3) of the orientation identification device to sense whether the identification disc (J2) is in the initial set orientation. When the controller (B) senses through the orientation sensing device (J3) that the identification disc (J2) is in the initial set orientation, the controller (B) sends a debugging completion signal (which can be a light or sound signal) to confirm the completion of debugging is done.

[0128] In the control method of the present disclosure, when the controller (B) drives the left traveling motor (C1) and the right traveling motor (C2) of the traveling device (C) to move the swimming pool cleaner forward or backward, the controller (B)uses the left speed detection device (H) and the right speed detection device (I) to detect the rotational speeds of the left traveling wheel (C3) and the right traveling wheel (C4), respectively. The controller (B) then adjusts the speeds of the left traveling motor (C1) and the right traveling motor (C2) so that the rotational speeds of the left traveling wheel (C3) and the right traveling wheel (C4) are the same, enabling the swimming pool cleaner to maintain a straight path.

[0129] In the initial step of the control method, after the swimming pool cleaner performs system initialization and the controller (B) receives a cleaning command, the controller (B) uses the BMS battery management module (M) to check whether the power supply battery (L) is charging. If the power supply battery (L) is charging, the controller (B) uses the BMS module (M) to check whether the battery is fully charged. Once the battery is fully charged, charging is stopped. If the battery is not charging, the cleaning process begins. This setup prevents the swimming pool cleaner from cleaning the pool while charging, ensuring safe use. In the initial step of the control method, when the power supply battery (L) is not charging, the controller (B) first uses the water ingress sensor (K) to check whether the swimming pool cleaner is in the water. If the cleaner is in the water, the cleaning process begins. This setup ensures that the swimming pool cleaner only cleans when submerged, ensuring safe use.

[0130] In the cleaning step of the control method, the swimming pool cleaner executes the corresponding cleaning mode according to the cleaning command. Simultaneously, the controller (B) uses the BMS battery management module (M) to check if the power supply battery (L) level is below the set level. If the battery level is below the set level, the current cleaning mode is terminated, and the controller (B) drives the left traveling motor (C1) and the right traveling motor (C2) of the traveling device (C) to move the swimming pool cleaner to a wall-climbing state detected by the wall-climbing detection device (F). The cleaner then enters standby mode. This setup ensures that when the power supply battery (L) level is below the set level, the swimming pool cleaner automatically moves to the pool wall, facilitating retrieval by the user. During the cleaning step, the controller (B) also times the duration of the cleaning mode. If the duration exceeds the set maximum cleaning time, the swimming pool cleaner stops executing the cleaning mode and enters standby mode. This preventsthe cleaner from operating unnecessarily after completing the cleaning task, reducing inefficient power consumption.

[0131] Additionally, the controller (B) monitors the working current of the left traveling motor (C1), the right traveling motor (C2), and the filtering motor (D21). If any of these motors exhibit abnormal working current, the swimming pool cleaner stops executing the cleaning mode and enters standby mode. This setup ensures that the cleaner stops promptly in case of abnormalities, effectively protecting the device.

[0132] Referring to FIG. 20, the specific method for span detection by the swimming pool cleaner of the present disclosure is as follows: Step S41 : The controller (B) sequentially sets the direction of travel of the swimming pool cleaner for span detection. After each setting, Steps S42 to S43 are executed. The process ends after the last setting and completion of Steps S42 to S43. Step S42: The controller (B) drives the left traveling motor (C1) and the right traveling motor (C2) to move the swimming pool cleaner forward in the currently set direction. Simultaneously, the controller (B) uses the wall-climbing detection device (F) to check if the cleaner enters a wall-climbing state. If the cleaner enters a wall-climbing state, proceed to Step S42. Step S42: The controller (B) drives the left traveling motor (C1) and the right traveling motor (C2) to move the swimming pool cleaner backward in the currently set direction.Simultaneously, the controller (B) uses the wall-climbing detection device (F) to check if the cleaner exits the wall-climbing state. If the cleaner exits the wall-climbing state, proceed to Step S43. Step S43: The controller (B) continues to drive the left traveling motor (C1) and the right traveling motor (C2) to move the swimming pool cleaner backward in the currently set direction and starts timing. The controller (B) uses the wall-climbing detection device (F) to check if the cleaner enters a reverse wall-climbing state. If the cleaner enters a reverse wall-climbing state, timing ends. The controller (B) calculates the span in the currently set direction based on the timing and the rotational speeds of the left traveling motor (C1) and the right traveling motor (C2), and then proceeds to Step S44. Step S44: The controller (B) drives the left traveling motor (C1) and the right traveling motor (C2) to move the swimming pool cleaner forward in the currently set direction. Simultaneously, the controller (B) uses the wall-climbing detection device (F) to check if the cleaner exits the reverse wall-climbing state. If thecleaner exits the reverse wall-climbing state, proceed to Step S45. Step S45: The controller (B) drives the left traveling motor (C1) and the right traveling motor (C2) to move the swimming pool cleaner forward to half the span in the currently set direction. Then, return to Step S32 to reset the direction of travel of the swimming pool cleaner.

[0133] The following Examples provide non-limiting embodiments of the present disclosure.

[0134] Example 1. A swimming pool cleaner is provided. The swimming pool cleaner comprising a cleaner body, a traveling device, a filtering device, a controller, and brushes. The traveling device including a left traveling motor, a right traveling motor, a left traveling wheel connected to the left traveling motor, and a right traveling wheel connected to the right traveling motor. The filtering device including a filter and a filtering water pump, which includes a filtering motor and a filtering impeller located inside the filter and driven by the filtering motor. The controller electrically connected to the left traveling motor and the right traveling motor and to the filtering motor. The brushes are installed on the cleaner body. The cleaner further comprises a wallclimbing detection device and a horizontal detection device installed on the cleaner body. The controller is electrically connected to the wall-climbing detection device and the horizontal detection device.

[0135] Example 2. The swimming pool cleaner of Example 1 , wherein the wallclimbing detection device includes a wall-climbing detection body installed on the cleaner body, a rotatable detection arm installed on the wall-climbing detection body, and two wall-climbing sensors installed on the wall-climbing detection body on either side thereof. The rotatable detection arm including a wall-climbing detection element that passes through sensing areas of the two wall-climbing sensors. The controller is electrically connected to the two wall-climbing sensors of the wall-climbing detection device.

[0136] Example 3. The swimming pool cleaner of Example 2, wherein the wallclimbing detection element is a magnet. The wall-climbing sensor is a Hall effect proximity switch.

[0137] Example 4. The swimming pool cleaner of Example 1 , wherein the horizontal detection device includes a horizontal detection body installed on the cleanerbody, a horizontal detection ball, and two horizontal sensors. The horizontal detection body includes a horizontal detection chamber, which includes a buffer section and two offset sections connected to ends of the buffer section. A hole diameter of the two offset sections being smaller than a hole diameter of the buffer section. A step is formed at a connection between the buffer section and the two offset sections. The two horizontal sensors are installed on the horizontal detection body and correspond to the two offset sections, respectively, with the horizontal detection ball movably contained in the horizontal detection chamber and passing through the sensing areas of the two horizontal sensors.

[0138] Example s. The swimming pool cleaner of Example 4, wherein the horizontal detection ball is magnetic, and the horizontal sensor is a Hall effect proximity switch.

[0139] Example 6. The swimming pool cleaner of Example 4, wherein a surface of the horizontal detection ball is reflective and the horizontal sensor is a reflective photoelectric proximity switch.

[0140] Example 7. The swimming pool cleaner of Example 1 , further comprising a left speed detection device for detecting a rotational speed of the left traveling wheel and a right speed detection device for detecting a rotational speed of the right traveling wheel. The left speed detection device and the right speed detection device are electrically connected to the controller and installed on the cleaner body.

[0141] Example 8. The swimming pool cleaner of Example 1 , further comprising an orientation identification device installed on the cleaner body and electrically connected to the controller.

[0142] Example 9. The swimming pool cleaner of Example 8, wherein the orientation identification device includes an identification body installed on the cleaner body, a rotatable identification disc cooperating with the identification body, and an orientation sensing device installed on the identification body. The identification disc including a permanent magnet. The orientation sensing device is electrically connected to the controller and configured to sense whether the identification disc is in one of at least three set orientations.

[0143] Example 10 The swimming pool cleaner of Example 9, wherein the orientation sensing device includes at least three Hall sensors corresponding to ends of the permanent magnet.

[0144] Example 11 . The swimming pool cleaner of Example 9, wherein the orientation sensing device includes at least three through-beam photoelectric switches. The identification disc includes a shading part configured to dynamically block a lightemitting part of the one of the at least three through-beam photoelectric switches.

[0145] Example 12. The swimming pool cleaner of Example 9, wherein the orientation sensing device includes at least three reflective photoelectric switches housed within the identification disc. An inner wall of the identification disc having at least one reflective piece that is dynamically opposite to one of the at least three reflective photoelectric switches.

[0146] Example 13. A control method for the swimming pool cleaner of Example 1 , comprising an initialization step including performing a system initialization and inputting a cleaning command to the controller and a cleaning step including executing one of a plurality of cleaning modes corresponding to the cleaning command. The plurality of cleaning modes including at least one of a first cleaning mode, a second cleaning mode, and a third cleaning mode.

[0147] Example 14. The control method of Example 13, wherein the cleaner further includes an orientation identification device installed on the cleaner body and electrically connected to the controller. The control method further comprising a span detection step performed between the initialization step and the cleaning step. The span detection step including performing span detection to obtain spans in six directions of the swimming pool. An angle between adjacent directions of the six direction is 30°. The six directions are, in clockwise order, a first direction (L1), a second direction (L2), a third direction (L3), a fourth direction (L4), a fifth direction (L5), and a sixth direction (L6). An automatic cleaning step includes determining whether a relationship between L1 , L2, L3, L4, L5, and L6 is a first relationship or a second relationship; executing the first cleaning mode if the relationship is the first relationship; executing the first cleaning mode or the second cleaning mode if the relationship is the second relationship; and executing the third cleaning mode if the relationship is neither the first relationship northe second relationship. The first relationship is that L1 , L2, L3, L4, L5, and L6 are equal, and the second relationship is that L2 is equal to L6, L3 is equal to L5, and both L2 and L3 are not equal to L1 or L4.

[0148] Example 15. The control method of Example 14, wherein the orientation identification device includes an identification body installed on the cleaner body, a rotatable identification disc cooperating with the identification body, and an orientation sensing device installed on the identification body. The identification disc including a permanent magnet. The orientation sensing device is electrically connected to the controller and configured to sense whether the identification disc is in one of at least three set orientations. The control method further comprising a debugging method. The debugging method including placing the cleaner so that its direction of travel is parallel to one axis of the swimming pool and inputting a debugging command to the controller; rotating the identification body of the orientation identification device; sensing, by the controller, whether the identification disc is in an initial set orientation through the orientation sensing device of the orientation identification device; and sending, by the controller, a debugging completion signal to confirm completion of the debugging method in response to sensing that the identification disc is in the initial set orientation.

[0149] Example 16. The control method of Example 13, wherein the first cleaning mode includes: (1) activating the filtering water pump; (2) driving, by the controller, the left traveling motor and the right traveling motor to move the cleaner forward while simultaneously using the wall-climbing detection device to check if the cleaner enters a wall-climbing state; (3) responding to the cleaner entering the wall-climbing state by adjusting speeds of the left traveling motor and the right traveling motor until the horizontal detection device indicates that the cleaner is level, and timing, by the controller, how long the cleaner remains in the wall-climbing state; (4) responding to the cleaner remaining in the wall-climbing state for a set wall-climbing cleaning time, by driving, by the controller, the left traveling motor and the right traveling motor to move the cleaner backward while simultaneously using the wall-climbing detection device to check if the cleaner exits the wall-climbing state; (5) responding to the cleaner exiting the wall-climbing state by determining, by the controller, whether the cleaner meets a turning condition; (6) responding to the cleaner meeting the turning condition by driving,by the controller, the left and right traveling motors of the traveling device to turn the cleaner; (7) responding to the cleaner not meeting the turning condition by driving, by the controller, the left and right traveling motors to move the cleaner backward in a lateral direction; (8) driving, by the controller, the left and right traveling motors to move the cleaner backward in a straight line and simultaneously using the wall-climbing detection device to check if the cleaner enters a reverse wall-climbing state; (9) responding to the cleaner entering the reverse wall-climbing state by adjusting, by the controller, speeds of the left and right traveling motors until the horizontal detection device indicates that the cleaner is level and timing, by the controller, how long the cleaner remains in the reverse wall-climbing state; (10) responding to the cleaner remaining in the reverse wall-climbing state for a set reverse wall-climbing cleaning time by driving, by the controller, the left and right traveling motors to move the cleaner forward in a straight line and simultaneously using the wall-climbing detection device to check if the cleaner exits the reverse wall-climbing state; (11) responding to the cleaner exiting the reverse wall-climbing state by determining, by the controller, whether a number of turns made by the cleaner has reached a first turning threshold, which is greater than or equal to 4; (12) responding to the number of turns not reaching the first turning threshold by driving, by the controller, the left and right traveling motors to move the cleaner forward in a lateral direction and repeating steps (2) through (11).

[0150] Example 17. The control method of Example 16, wherein the first turning threshold is an integer obtained by rounding up a result of 360° divided by the turning angle.

[0151] Example 18. The control method of Example 17, wherein the first turning threshold is 4 and the turning angle is 90°.

[0152] Example 19. The control method of Example 13, further comprising: performing a span detection step between the initialization step and the cleaning step. The span detection step including performing detection to obtain a first span in a first length direction of the pool and a second span in a second length direction of the pool. The first length direction being perpendicular to the second length direction. The second cleaning mode includes (1) activating, by the controller, the filtering water pump; (2) driving, by the controller, the left and right traveling motors to move the cleanerforward along the first length direction or the second length direction and simultaneously using the wall-climbing detection device to check if the cleaner enters a wall-climbing state; (3) responding to the cleaner entering the wall-climbing state by adjusting, by the controller, speeds of the left and right traveling motors until the horizontal detection device indicates that the cleaner is level and timing, by the controller, how long the cleaner remains in the wall-climbing state; (4) responding to the cleaner remaining in the wall-climbing state for a set wall-climbing cleaning time by driving, by the controller, the left and right traveling motors to move the cleaner backward in a straight line and simultaneously using the wall-climbing detection device to check if the cleaner exits the wall-climbing state; (5) responding to the cleaner exiting the wall-climbing state by determining, by the controller, whether the cleaner meets a turning condition; (6) responding to the cleaner meeting the turning condition by driving, by the controller, the left and right traveling motors to continue moving the cleaner forward along a current direction to half a span of the current direction; (7) driving, by the controller, the cleaner to turn 90° and changing the direction of travel from either the first length direction to the second length direction or the second length direction to the first length direction; (8) responding to the cleaner not meeting the turning condition by driving, by the controller, the left and right traveling motors to move the cleaner backward in a lateral direction; (9) driving, by the controller, the left and right traveling motors to move the cleaner backward in a straight line and simultaneously using the wall-climbing detection device to check if the cleaner enters a reverse wall-climbing state; (10) responding to the cleaner entering the reverse wall-climbing state by adjusting, by the controller, speeds of the left and right traveling motors until the horizontal detection device indicates that the cleaner is level and timing, by the controller, how long the cleaner remains in the reverse wall-climbing state; (11) responding to the cleaner remaining in the reverse wall-climbing state for a set reverse wall-climbing cleaning time by driving, by the controller, the left and right traveling motors to move the cleaner forward in a straight line and simultaneously using the wall-climbing detection device to check if the cleaner exits the reverse wall-climbing state; (12) responding to the cleaner exiting the reverse wall-climbing state by determines whether the number of turns made by the cleaner has reached a second turning threshold, which is greater than or equal to 4; and (13)responding to the number of turns not reaching the second turning threshold by driving, by the controller, the left and right traveling motors to move the cleaner forward in a lateral direction and repeating steps (2) through (12).

[0153] Example 20. The control method of Example 19, wherein determining whether the cleaner meets the turning condition includes determining that the cleaner meets the turning condition when a current number of lateral movements of the cleaner equals a current lateral movement threshold and resetting the current number of lateral movements, and determining that the cleaner does not meet the turning condition when the current number of lateral movements does not equal the current lateral movement threshold. The current lateral movement threshold is an integer obtained by rounding down a result of dividing half a span in a direction perpendicular to the current direction of travel by a lateral movement step size of the cleaner.

[0154] Example 21 . The control method of Example 13, wherein the cleaner further includes an orientation identification device installed on the cleaner body and electrically connected to the controller. The third cleaning mode includes (1 ) activating, by the controller, the filtering water pump; (2) sequentially setting, by the controller, a direction of travel of the cleaner to at least three directions of travel; (3) after each sequential setting, performing the following steps: (4) using, by the controller, the orientation identification device to check if a direction of travel is in a currently set direction, and if not, driving, by the controller, the left and right traveling motors to turn the cleaner to the currently set direction; (5) driving, by the controller, the left and right traveling motors to move the cleaner forward while simultaneously using the wallclimbing detection device to check if the cleaner enters a wall-climbing state; (6) responding to the cleaner entering the wall-climbing state by adjusting, by the controller, speeds of the left and right traveling motors until the horizontal detection device indicates that the cleaner is level and timing, by the controller, how long the cleaner remains in the wall-climbing state; (7) responding to the cleaner remaining in the wallclimbing state for a set wall-climbing cleaning time by driving, by the controller, the left and right traveling motors to move the cleaner backward while simultaneously using the wall-climbing detection device to check if the cleaner exits the wall-climbing state; (8) responding to the cleaner exiting the wall-climbing state by determining, by thecontroller, whether the cleaner meets a turning condition; (9) responding to the cleaner reaching the turning condition by performing step (2) to set the direction of travel to a next sequential direction of travel; (10) responding to the cleaner not meeting the turning condition by driving, by the controller, the left and right traveling motors to move the cleaner backward in a lateral direction and using the orientation identification device to check if the direction of travel of the cleaner is in a currently set direction and if not, driving, by the controller, the left and right traveling motors to turn the cleaner to the currently set direction; (11) responding to the direction of travel being the currently set direction by driving, by the controller, the left and right traveling motors to move the cleaner backward while simultaneously using the wall-climbing detection device to check if the cleaner enters a reverse wall-climbing state; (12) responding to the cleaner entering the reverse wall-climbing state by adjusting, by the controller, speeds of the left and right traveling motors until the horizontal detection device indicates that the cleaner is level and timing, by the controller, how long the cleaner remains in the reverse wallclimbing state; (13) responding to the cleaner remaining in the reverse wall-climbing state for a set reverse wall-climbing cleaning time by driving, by the controller, the left and right traveling motors to move the cleaner forward while simultaneously using the wall-climbing detection device to check if the cleaner exits the reverse wall-climbing state; and (14) responding to the cleaner exiting the reverse wall-climbing state by driving, by the controller, the left and right traveling motors to move the cleaner forward in a lateral direction and performing step (2).

[0155] Example 22. The control method of Examples 16 or 20, wherein determining whether the cleaner meets the turning condition includes using the wallclimbing detection device and the horizontal detection device to check if the cleaner is in a flat state; determining that the cleaner does not meet the turning condition if the cleaner is in the flat state; and determining that the cleaner meets the turning condition if the cleaner is not in the flat state.

[0156] Example 23. The control method of Examples 16, 19 or 21 , wherein the cleaner further comprises a left speed detection device for detecting a rotational speed of the left traveling wheel and a right speed detection device for detecting a rotational speed of the right traveling wheel. The left speed detection device and the right speeddetection device being electrically connected to the controller and installed on the cleaner body. When the controller drives the left and right traveling motors to move the cleaner forward or backward in a straight line, the controller uses the left and right speed detection devices to detect the rotational speeds of the left and right traveling wheels, respectively, and adjusts speeds of the left and right traveling motors so that the rotational speeds of the left and right traveling wheels are the same.

[0157] Example 24. The control method of Example 13, wherein the cleaner further comprises a power supply battery and a BMS battery management module installed on the cleaner body. The power supply battery being configured to provide power to the left traveling motor, the right traveling motor, the filtering motor, and the controller. The BMS battery management module being electrically connected to the power supply battery and the controller. During the cleaning step, while the cleaner executes the corresponding cleaning mode according to the cleaning command, the controller detects through the BMS battery management module whether a level of the power supply battery is below a set level, terminates the current cleaning mode if the level is below the set level, drives the left and right traveling motors to move the cleaner to a wall-climbing state detected by the wall-climbing detection device, and enters a standby mode.

[0158] Example 25. The control method of Example 13, wherein the cleaner further comprises a power supply battery and a BMS battery management module installed on the cleaner body. The power supply battery being configured to provide power to the left traveling motor, the right traveling motor, the filtering motor, and the controller, and the BMS battery management module being electrically connected to the power supply battery and the controller. During the initialization step, after the cleaner performs system initialization and inputs a cleaning command to the controller, the controller detects through the BMS battery management module whether the power supply battery is charging and enters the cleaning step if the power supply battery is not charging. In response to detecting that the power supply battery is charging, the controller detects through the BMS battery management module whether the power supply battery is fully charged. In response to detecting that the power supply battery is fully charged, the controller stops charging of the power supply battery.

[0159] Example 26. The control method of Example 13, wherein the cleaner further includes a water ingress sensor installed on the cleaner body and electrically connected to the controller. During the initialization step, when the controller detects that the power supply battery is not charging, the controller detects through the water ingress sensor whether the cleaner is in water and enters the cleaning step if the cleaner is in water.

[0160] Example 27. The control method of Example 13, wherein, during the cleaning step, while the cleaner executes the corresponding cleaning mode according to the cleaning command, the controller times whether an execution time of the corresponding cleaning mode exceeds a set maximum cleaning time and the stops executing the corresponding cleaning mode and enters standby mode in response to the execution time exceeding the set maximum cleaning time.

[0161] Example 28. The control method of Example 13, wherein, during the cleaning step, while the cleaner executes the corresponding cleaning mode according to the cleaning command, the controller detects whether a working current of any of the left traveling motor, the right traveling motor, or the filtering motor is abnormal, and stops executing the corresponding cleaning mode if the working current is abnormal.

[0162] Example 29. A swimming pool cleaner is provided. The swimming pool cleaner comprises a cleaner body; a traveling device including a left wheel and a right wheel; a filtering device including a filter and a filtering water pump, which includes a filtering motor and an impeller driven by the filtering motor; a wall-climbing detection device; a horizontal detection device; at least one brush installed on the cleaner body; and a controller electrically connected to the wall-climbing detection device and the horizontal detection device.

[0163] Example 30. The swimming pool cleaner of Example 29, wherein the wallclimbing detection device includes a detection body installed on the cleaner body. A detection arm installed on the detection body. Two sensors installed on the detection body on either side thereof and electrically connected to the controller. The detection arm including a detection element configured to pass through sensing areas of the two sensors.

[0164] Example 31 . The swimming pool cleaner of Example 30, wherein the detection element is a magnet and each of the two sensors is a Hall effect proximity switch.

[0165] Example 32. The swimming pool cleaner of Example 29, wherein the horizontal detection device includes a horizontal detection body, a horizontal detection ball, and two horizontal sensors. The horizontal detection body includes a horizontal detection chamber which includes a buffer section and two offset sections each connected an end of the buffer section. A hole diameter of the offset sections being smaller than a hole diameter of the buffer section. Steps are formed at connections between the buffer section and the offset sections. The two horizontal sensors correspond to the two offset sections. The horizontal detection ball is movably contained in the horizontal detection chamber and configured to pass through sensing areas corresponding to the two horizontal sensors.

[0166] Example 33. The swimming pool cleaner of Example 32, wherein the horizontal detection ball is magnetic, and each of the two horizontal sensors is a Hall effect proximity switch.

[0167] Example 34. The swimming pool cleaner of Example 32, wherein a surface of the horizontal detection ball is reflective and each of the two horizontal sensors is a reflective photoelectric proximity switch.

[0168] Example 35. The swimming pool cleaner of Example 29, further comprising a left speed detection device for detecting a rotational speed of the left wheel and a right speed detection device for detecting a rotational speed of the right wheel. The left speed detection device and the right speed detection device being electrically connected to the controller and installed on the cleaner body.

[0169] Example 36. The swimming pool cleaner of Example 29, further comprising an orientation identification device installed on the cleaner body and electrically connected to the controller.

[0170] Example 37. The swimming pool cleaner of Example 36, wherein the orientation identification device includes an identification body installed on the cleaner body. A rotatable identification disc cooperating with the identification body. An orientation sensing device installed on the identification body and electrically connectedto the controller. The identification disc including a permanent magnet. The orientation sensing device being configured to sense whether the identification disc is in one of at least three set orientations.

[0171] Example 38. The swimming pool cleaner of Example 37, wherein the orientation sensing device includes at least three Hall sensors corresponding to ends of the permanent magnet.

[0172] Example 39. The swimming pool cleaner of Example 37, wherein the orientation sensing device includes at least three through-beam photoelectric switches, and the identification disc includes a shading part configured to dynamically block a light-emitting part of the at least three through-beam photoelectric switches.

[0173] Example 40. The swimming pool cleaner of Example 37, wherein the orientation sensing device includes at least three reflective photoelectric switches contained within the identification disc. An inner wall of the identification disc having at least one reflective piece configured to be positioned dynamically opposite to a reflective photoelectric switch of the at least three reflective photoelectric switches.

[0174] Example 41 . The swimming pool cleaner of Example 29, further comprising at least one battery and a Battery Management System (BMS) module. The battery is configured to provide power to a left motor connected to the left wheel, a right motor connected to the right wheel, a filtering motor, and the controller. The BMS module is electrically connected to the battery and the controller.

[0175] Example 42. The swimming pool cleaner of Examples 29 or 41 , further comprising a water ingress sensor installed on the cleaner body and electrically connected to the controller.

[0176] Example 43. A method for controlling operation of a swimming pool cleaner is provided. The method comprising receiving a cleaning command; verifying that a battery of the cleaner is not being charged; verifying that the cleaner is in water; determining a span of the swimming pool in each of a plurality of directions; executing a pool cleaning mode corresponding to the cleaning command; and exiting the pool cleaning mode and entering a standby mode in response to a maximum cleaning time being exceeded.

[0177] Example 44. The method of Example 43, further comprising exiting the pool cleaning mode and entering the standby mode in response to detecting a malfunction in operation of a motor of the cleaner.

[0178] Example 45. The method of Example 43, further comprising exiting the pool cleaning mode and causing the cleaner to move to a wall of the swimming pool in response to detecting that a power level of the battery is below a set power level; and entering the standby mode.

[0179] Example 46. The method of Example 43, wherein the pool cleaning mode is one of an automatic pool cleaning mode, a first cleaning mode, a second cleaning mode or a third cleaning mode.

[0180] Example 47. The method of Example 46, wherein the first cleaning mode includes performing at least two cross-cleanings of the swimming pool.

[0181] Example 48. The method of Example 46, wherein the second cleaning mode is configured for cleaning a swimming pool having a rectangular structure.

[0182] Example 49. The method of Example 46, wherein the third cleaning mode includes repeatedly resetting a direction of travel of the cleaner.

[0183] Example 50. The method of Example 46, wherein determining a span of the swimming pool in each of a plurality of directions includes determining a span of the pool in six directions designated as L1 , L2, L3, L4, L5 and L6. The automatic pool cleaning mode includes executing the first cleaning mode in response to determining a first relationship between L1 , L2, L3, L4, L5 and L6, the first relationship being that L1 , L2, L3, L4, L5 and L6 are equal; executing either the first cleaning mode or the second cleaning mode in response to determining a second relationship between L1 , L2, L3, L4, L5 and L6, the second relationship being that L2 is equal to L6, L3 is equal to L5, and both L2 and L3 are not equal to L1 or L4; executing the third cleaning mode in response to determining a third relationship between L1 , L2, L3, L4, L5 and L6, the third relationship being different from the first relationship and the second relationship.

[0184] The above embodiments and drawings do not limit the product form and style of the present disclosure. Any appropriate changes or modifications made by persons of skill in the art shall be deemed not to be outside the scope of the patent of the present disclosure.

Claims

CLAIMSWhat is claimed is:1 . A swimming pool cleaner, comprising: a cleaner body; a traveling device including a left traveling motor, a right traveling motor, a left traveling wheel connected to the left traveling motor, and a right traveling wheel connected to the right traveling motor; a filtering device including a filter and a filtering water pump, which includes a filtering motor and a filtering impeller located inside the filter and driven by the filtering motor; a controller electrically connected to the left traveling motor and the right traveling motor and to the filtering motor; and brushes installed on the cleaner body; wherein the cleaner further comprises a wall-climbing detection device and a horizontal detection device installed on the cleaner body; and wherein the controller is electrically connected to the wall-climbing detection device and the horizontal detection device.

2. The swimming pool cleaner of claim 1 , wherein: the wall-climbing detection device includes a wall-climbing detection body installed on the cleaner body, a rotatable detection arm installed on the wall-climbing detection body, and two wall-climbing sensors installed on the wall-climbing detection body on either side thereof, the rotatable detection arm including a wall-climbing detection element that passes through sensing areas of the two wall-climbing sensors; and the controller is electrically connected to the two wall-climbing sensors of the wall-climbing detection device.

3. The swimming pool cleaner of claim 2, wherein the wall-climbing detection element is a magnet, and the wall-climbing sensor is a Hall effect proximity switch.

4. The swimming pool cleaner of claim 1 , wherein: the horizontal detection device includes a horizontal detection body installed on the cleaner body, a horizontal detection ball, and two horizontal sensors; the horizontal detection body includes a horizontal detection chamber, which includes a buffer section and two offset sections connected to ends of the buffer section, a hole diameter of the two offset sections being smaller than a hole diameter of the buffer section, and a step is formed at a connection between the buffer section and the two offset sections; the two horizontal sensors are installed on the horizontal detection body and correspond to the two offset sections, respectively, with the horizontal detection ball movably contained in the horizontal detection chamber and passing through the sensing areas of the two horizontal sensors.

5. The swimming pool cleaner of claim 4, wherein the horizontal detection ball is magnetic, and the horizontal sensor is a Hall effect proximity switch.

6. The swimming pool cleaner of claim 4, wherein a surface of the horizontal detection ball is reflective and the horizontal sensor is a reflective photoelectric proximity switch.

7. The swimming pool cleaner of claim 1 , further comprising: a left speed detection device for detecting a rotational speed of the left traveling wheel and a right speed detection device for detecting a rotational speed of the right traveling wheel; wherein the left speed detection device and the right speed detection device are electrically connected to the controller and installed on the cleaner body.

8. The swimming pool cleaner of claim 1 , further comprising an orientation identification device installed on the cleaner body and electrically connected to the controller.

9. The swimming pool cleaner of claim 8, wherein: the orientation identification device includes an identification body installed on the cleaner body, a rotatable identification disc cooperating with the identification body, and an orientation sensing device installed on the identification body, the identification disc including a permanent magnet; and the orientation sensing device is electrically connected to the controller and configured to sense whether the identification disc is in one of at least three set orientations.10 The swimming pool cleaner of claim 9, wherein the orientation sensing device includes at least three Hall sensors corresponding to ends of the permanent magnet.11 . The swimming pool cleaner of claim 9, wherein the orientation sensing device includes at least three through-beam photoelectric switches, and the identification disc includes a shading part configured to dynamically block a light-emitting part of the one of the at least three through-beam photoelectric switches.

12. The swimming pool cleaner of claim 9, wherein the orientation sensing device includes at least three reflective photoelectric switches housed within the identification disc, an inner wall of the identification disc having at least one reflective piece that is dynamically opposite to one of the at least three reflective photoelectric switches.

13. A control method for the swimming pool cleaner of claim 1 , comprising: an initialization step including performing a system initialization and inputting a cleaning command to the controller; a cleaning step including executing one of a plurality of cleaning modes corresponding to the cleaning command, the plurality of cleaning modes including at least one of a first cleaning mode, a second cleaning mode, and a third cleaning mode.

14. The control method of claim 13, wherein the cleaner further includes anorientation identification device installed on the cleaner body and electrically connected to the controller; the control method further comprising: a span detection step performed between the initialization step and the cleaning step, the span detection step including performing span detection to obtain spans in six directions of the swimming pool, wherein an angle between adjacent directions of the six direction is 30°; wherein the six directions are, in clockwise order, a first direction (L1), a second direction (L2), a third direction (L3), a fourth direction (L4), a fifth direction (L5), and a sixth direction (L6); an automatic cleaning step including: determining whether a relationship between L1 , L2, L3, L4, L5, and L6 is a first relationship or a second relationship; executing the first cleaning mode if the relationship is the first relationship; executing the first cleaning mode or the second cleaning mode if the relationship is the second relationship; and executing the third cleaning mode if the relationship is neither the first relationship nor the second relationship; wherein the first relationship is that L1 , L2, L3, L4, L5, and L6 are equal, and the second relationship is that L2 is equal to L6, L3 is equal to L5, and both L2 and L3 are not equal to L1 or L4.

15. The control method of claim 14, wherein: the orientation identification device includes an identification body installed on the cleaner body, a rotatable identification disc cooperating with the identification body, and an orientation sensing device installed on the identification body, the identification disc including a permanent magnet; and the orientation sensing device is electrically connected to the controller and configured to sense whether the identification disc is in one of at least three set orientations; the control method further comprising a debugging method including: placing the cleaner so that its direction of travel is parallel to one axis of theswimming pool and inputting a debugging command to the controller; rotating the identification body of the orientation identification device; sensing, by the controller, whether the identification disc is in an initial set orientation through the orientation sensing device of the orientation identification device; and sending, by the controller, a debugging completion signal to confirm completion of the debugging method in response to sensing that the identification disc is in the initial set orientation.

16. The control method of claim 13, wherein: the first cleaning mode includes:(1) activating the filtering water pump;(2) driving, by the controller, the left traveling motor and the right traveling motor to move the cleaner forward while simultaneously using the wall-climbing detection device to check if the cleaner enters a wall-climbing state;(3) responding to the cleaner entering the wall-climbing state by adjusting speeds of the left traveling motor and the right traveling motor until the horizontal detection device indicates that the cleaner is level, and timing, by the controller, how long the cleaner remains in the wall-climbing state;(4) responding to the cleaner remaining in the wall-climbing state for a set wall-climbing cleaning time, by driving, by the controller, the left traveling motor and the right traveling motor to move the cleaner backward while simultaneously using the wall-climbing detection device to check if the cleaner exits the wallclimbing state;(5) responding to the cleaner exiting the wall-climbing state by determining, by the controller, whether the cleaner meets a turning condition;(6) responding to the cleaner meeting the turning condition by driving, by the controller, the left and right traveling motors of the traveling device to turn the cleaner;(7) responding to the cleaner not meeting the turning condition by driving, by the controller, the left and right traveling motors to move the cleaner backwardin a lateral direction;(8) driving, by the controller, the left and right traveling motors to move the cleaner backward in a straight line and simultaneously using the wall-climbing detection device to check if the cleaner enters a reverse wall-climbing state;(9) responding to the cleaner entering the reverse wall-climbing state by adjusting, by the controller, speeds of the left and right traveling motors until the horizontal detection device indicates that the cleaner is level and timing, by the controller, how long the cleaner remains in the reverse wall-climbing state;(10) responding to the cleaner remaining in the reverse wall-climbing state for a set reverse wall-climbing cleaning time by driving, by the controller, the left and right traveling motors to move the cleaner forward in a straight line and simultaneously using the wall-climbing detection device to check if the cleaner exits the reverse wall-climbing state;(11) responding to the cleaner exiting the reverse wall-climbing state by determining, by the controller, whether a number of turns made by the cleaner has reached a first turning threshold, which is greater than or equal to 4;(12) responding to the number of turns not reaching the first turning threshold by driving, by the controller, the left and right traveling motors to move the cleaner forward in a lateral direction and repeating steps (2) through (11).

17. The control method of claim 16, wherein the first turning threshold is an integer obtained by rounding up a result of 360° divided by the turning angle.

18. The control method of claim 17, wherein the first turning threshold is 4 and the turning angle is 90°.

19. The control method of claim 13, further comprising: performing a span detection step between the initialization step and the cleaning step, the span detection step including: performing detection to obtain a first span in a first length direction of the pool and a second span in a second length direction of the pool, the first length directionbeing perpendicular to the second length direction; wherein the second cleaning mode includes:(1) activating, by the controller, the filtering water pump;(2) driving, by the controller, the left and right traveling motors to move the cleaner forward along the first length direction or the second length direction and simultaneously using the wall-climbing detection device to check if the cleaner enters a wall-climbing state;(3) responding to the cleaner entering the wall-climbing state by adjusting, by the controller, speeds of the left and right traveling motors until the horizontal detection device indicates that the cleaner is level and timing, by the controller, how long the cleaner remains in the wall-climbing state;(4) responding to the cleaner remaining in the wall-climbing state for a set wallclimbing cleaning time by driving, by the controller, the left and right traveling motors to move the cleaner backward in a straight line and simultaneously using the wall-climbing detection device to check if the cleaner exits the wall-climbing state;(5) responding to the cleaner exiting the wall-climbing state by determining, by the controller, whether the cleaner meets a turning condition;(6) responding to the cleaner meeting the turning condition by driving, by the controller, the left and right traveling motors to continue moving the cleaner forward along a current direction to half a span of the current direction;(7) driving, by the controller, the cleaner to turn 90° and changing the direction of travel from either the first length direction to the second length direction or the second length direction to the first length direction;(8) responding to the cleaner not meeting the turning condition by driving, by the controller, the left and right traveling motors to move the cleaner backward in a lateral direction;(9) driving, by the controller, the left and right traveling motors to move the cleaner backward in a straight line and simultaneously using the wall-climbing detection device to check if the cleaner enters a reverse wall-climbing state;(10) responding to the cleaner entering the reverse wall-climbing state by adjusting, by the controller, speeds of the left and right traveling motors until thehorizontal detection device indicates that the cleaner is level and timing, by the controller, how long the cleaner remains in the reverse wall-climbing state;(11) responding to the cleaner remaining in the reverse wall-climbing state for a set reverse wall-climbing cleaning time by driving, by the controller, the left and right traveling motors to move the cleaner forward in a straight line and simultaneously using the wall-climbing detection device to check if the cleaner exits the reverse wall-climbing state;(12) responding to the cleaner exiting the reverse wall-climbing state by determines whether the number of turns made by the cleaner has reached a second turning threshold, which is greater than or equal to 4;(13) responding to the number of turns not reaching the second turning threshold by driving, by the controller, the left and right traveling motors to move the cleaner forward in a lateral direction and repeating steps (2) through (12).

20. The control method of claim 19, wherein: determining whether the cleaner meets the turning condition includes determining that the cleaner meets the turning condition when a current number of lateral movements of the cleaner equals a current lateral movement threshold and resetting the current number of lateral movements, and determining that the cleaner does not meet the turning condition when the current number of lateral movements does not equal the current lateral movement threshold; the current lateral movement threshold is an integer obtained by rounding down a result of dividing half a span in a direction perpendicular to the current direction of travel by a lateral movement step size of the cleaner.21 . The control method of claim 13, wherein the cleaner further includes an orientation identification device installed on the cleaner body and electrically connected to the controller; and the third cleaning mode includes:(1) activating, by the controller, the filtering water pump;(2) sequentially setting, by the controller, a direction of travel of the cleaner to atleast three directions of travel;(3) after each sequential setting, performing the following steps:(4) using, by the controller, the orientation identification device to check if a direction of travel is in a currently set direction, and if not, driving, by the controller, the left and right traveling motors to turn the cleaner to the currently set direction;(5) driving, by the controller, the left and right traveling motors to move the cleaner forward while simultaneously using the wall-climbing detection device to check if the cleaner enters a wall-climbing state;(6) responding to the cleaner entering the wall-climbing state by adjusting, by the controller, speeds of the left and right traveling motors until the horizontal detection device indicates that the cleaner is level and timing, by the controller, how long the cleaner remains in the wall-climbing state;(7) responding to the cleaner remaining in the wall-climbing state for a set wallclimbing cleaning time by driving, by the controller, the left and right traveling motors to move the cleaner backward while simultaneously using the wall-climbing detection device to check if the cleaner exits the wall-climbing state;(8) responding to the cleaner exiting the wall-climbing state by determining, by the controller, whether the cleaner meets a turning condition;(9) responding to the cleaner reaching the turning condition by performing step (2) to set the direction of travel to a next sequential direction of travel;(10) responding to the cleaner not meeting the turning condition by driving, by the controller, the left and right traveling motors to move the cleaner backward in a lateral direction and using the orientation identification device to check if the direction of travel of the cleaner is in a currently set direction and if not, driving, by the controller, the left and right traveling motors to turn the cleaner to the currently set direction;(11) responding to the direction of travel being the currently set direction by driving, by the controller, the left and right traveling motors to move the cleaner backward while simultaneously using the wall-climbing detection device to check if the cleaner enters a reverse wall-climbing state;(12) responding to the cleaner entering the reverse wall-climbing state by adjusting, by the controller, speeds of the left and right traveling motors until thehorizontal detection device indicates that the cleaner is level and timing, by the controller, how long the cleaner remains in the reverse wall-climbing state;(13) responding to the cleaner remaining in the reverse wall-climbing state for a set reverse wall-climbing cleaning time by driving, by the controller, the left and right traveling motors to move the cleaner forward while simultaneously using the wallclimbing detection device to check if the cleaner exits the reverse wall-climbing state;(14) responding to the cleaner exiting the reverse wall-climbing state by driving, by the controller, the left and right traveling motors to move the cleaner forward in a lateral direction and performing step (2).

22. The control method of claims 16 or 20, wherein determining whether the cleaner meets the turning condition includes: using the wall-climbing detection device and the horizontal detection device to check if the cleaner is in a flat state; determining that the cleaner does not meet the turning condition if the cleaner is in the flat state; and determining that the cleaner meets the turning condition if the cleaner is not in the flat state.

23. The control method of claims 16, 19 or 21 , wherein: the cleaner further comprises a left speed detection device for detecting a rotational speed of the left traveling wheel and a right speed detection device for detecting a rotational speed of the right traveling wheel, the left speed detection device and the right speed detection device being electrically connected to the controller and installed on the cleaner body; and when the controller drives the left and right traveling motors to move the cleaner forward or backward in a straight line, the controller uses the left and right speed detection devices to detect the rotational speeds of the left and right traveling wheels, respectively, and adjusts speeds of the left and right traveling motors so that the rotational speeds of the left and right traveling wheels are the same.

24. The control method of claim 13, wherein: the cleaner further comprises a power supply battery and a BMS battery management module installed on the cleaner body, the power supply battery being configured to provide power to the left traveling motor, the right traveling motor, the filtering motor, and the controller, the BMS battery management module being electrically connected to the power supply battery and the controller; during the cleaning step, while the cleaner executes the corresponding cleaning mode according to the cleaning command, the controller detects through the BMS battery management module whether a level of the power supply battery is below a set level, terminates the current cleaning mode if the level is below the set level, drives the left and right traveling motors to move the cleaner to a wall-climbing state detected by the wall-climbing detection device, and enters a standby mode.

25. The control method of claim 13, wherein: the cleaner further comprises a power supply battery and a BMS battery management module installed on the cleaner body, the power supply battery being configured to provide power to the left traveling motor, the right traveling motor, the filtering motor, and the controller, and the BMS battery management module being electrically connected to the power supply battery and the controller; during the initialization step, after the cleaner performs system initialization and inputs a cleaning command to the controller, the controller detects through the BMS battery management module whether the power supply battery is charging and enters the cleaning step if the power supply battery is not charging; in response to detecting that the power supply battery is charging, the controller detects through the BMS battery management module whether the power supply battery is fully charged; and in response to detecting that the power supply battery is fully charged, the controller stops charging of the power supply battery.

26. The control method of claim 13, wherein: the cleaner further includes a water ingress sensor installed on the cleaner bodyand electrically connected to the controller; and during the initialization step, when the controller detects that the power supply battery is not charging, the controller detects through the water ingress sensor whether the cleaner is in water and enters the cleaning step if the cleaner is in water.

27. The control method of claim 13, wherein, during the cleaning step, while the cleaner executes the corresponding cleaning mode according to the cleaning command, the controller times whether an execution time of the corresponding cleaning mode exceeds a set maximum cleaning time and the stops executing the corresponding cleaning mode and enters standby mode in response to the execution time exceeding the set maximum cleaning time.

28. The control method of claim 13, wherein, during the cleaning step, while the cleaner executes the corresponding cleaning mode according to the cleaning command, the controller detects whether a working current of any of the left traveling motor, the right traveling motor, or the filtering motor is abnormal, and stops executing the corresponding cleaning mode if the working current is abnormal.

29. A swimming pool cleaner, comprising: a cleaner body; a traveling device including a left wheel and a right wheel; a filtering device including a filter and a filtering water pump, which includes a filtering motor and an impeller driven by the filtering motor; a wall-climbing detection device; a horizontal detection device; at least one brush installed on the cleaner body; and a controller electrically connected to the wall-climbing detection device and the horizontal detection device.

30. The swimming pool cleaner of claim 29, wherein: the wall-climbing detection device includes a detection body installed on thecleaner body, a detection arm installed on the detection body, and two sensors installed on the detection body on either side thereof and electrically connected to the controller, the detection arm including a detection element configured to pass through sensing areas of the two sensors.31 . The swimming pool cleaner of claim 30, wherein the detection element is a magnet and each of the two sensors is a Hall effect proximity switch.

32. The swimming pool cleaner of claim 29, wherein: the horizontal detection device includes a horizontal detection body, a horizontal detection ball, and two horizontal sensors; the horizontal detection body includes a horizontal detection chamber, which includes a buffer section and two offset sections each connected an end of the buffer section, a hole diameter of the offset sections being smaller than a hole diameter of the buffer section, and steps are formed at connections between the buffer section and the offset sections; and the two horizontal sensors correspond to the two offset sections, and the horizontal detection ball is movably contained in the horizontal detection chamber and configured to pass through sensing areas corresponding to the two horizontal sensors.

33. The swimming pool cleaner of claim 32, wherein the horizontal detection ball is magnetic, and each of the two horizontal sensors is a Hall effect proximity switch.

34. The swimming pool cleaner of claim 32, wherein a surface of the horizontal detection ball is reflective and each of the two horizontal sensors is a reflective photoelectric proximity switch.

35. The swimming pool cleaner of claim 29, further comprising a left speed detection device for detecting a rotational speed of the left wheel and a right speed detection device for detecting a rotational speed of the right wheel, the left speed detection device and the right speed detection device being electrically connected to the controller andinstalled on the cleaner body.

36. The swimming pool cleaner of claim 29, further comprising an orientation identification device installed on the cleaner body and electrically connected to the controller.

37. The swimming pool cleaner of claim 36, wherein: the orientation identification device includes an identification body installed on the cleaner body, a rotatable identification disc cooperating with the identification body, and an orientation sensing device installed on the identification body and electrically connected to the controller, the identification disc including a permanent magnet, the orientation sensing device being configured to sense whether the identification disc is in one of at least three set orientations.

38. The swimming pool cleaner of claim 37, wherein the orientation sensing device includes at least three Hall sensors corresponding to ends of the permanent magnet.

39. The swimming pool cleaner of claim 37, wherein the orientation sensing device includes at least three through-beam photoelectric switches, and the identification disc includes a shading part configured to dynamically block a light-emitting part of the at least three through-beam photoelectric switches.

40. The swimming pool cleaner of claim 37, wherein the orientation sensing device includes at least three reflective photoelectric switches contained within the identification disc, an inner wall of the identification disc having at least one reflective piece configured to be positioned dynamically opposite to a reflective photoelectric switch of the at least three reflective photoelectric switches.41 . The swimming pool cleaner of claim 29, further comprising: at least one battery; and a Battery Management System (BMS) module;wherein the battery is configured to provide power to a left motor connected to the left wheel, a right motor connected to the right wheel, a filtering motor, and the controller; and wherein the BMS module is electrically connected to the battery and the controller.

42. The swimming pool cleaner of claims 29 or 41 , further comprising a water ingress sensor installed on the cleaner body and electrically connected to the controller.

43. A method for controlling operation of a swimming pool cleaner, comprising: receiving a cleaning command; verifying that a battery of the cleaner is not being charged; verifying that the cleaner is in water; determining a span of the swimming pool in each of a plurality of directions; executing a pool cleaning mode corresponding to the cleaning command; and exiting the pool cleaning mode and entering a standby mode in response to a maximum cleaning time being exceeded.

44. The method of claim 43, further comprising: exiting the pool cleaning mode and entering the standby mode in response to detecting a malfunction in operation of a motor of the cleaner.

45. The method of claim 43, further comprising: exiting the pool cleaning mode and causing the cleaner to move to a wall of the swimming pool in response to detecting that a power level of the battery is below a set power level; and entering the standby mode.

46. The method of claim 43, wherein the pool cleaning mode is one of an automatic pool cleaning mode, a first cleaning mode, a second cleaning mode or a third cleaning mode.

47. The method of claim 46, wherein the first cleaning mode includes performing at least two cross-cleanings of the swimming pool.

48. The method of claim 46, wherein the second cleaning mode is configured for cleaning a swimming pool having a rectangular structure.

49. The method of claim 46, wherein the third cleaning mode includes repeatedly resetting a direction of travel of the cleaner.

50. The method of claim 46, wherein: determining a span of the swimming pool in each of a plurality of directions includes determining a span of the pool in six directions designated as L1 , L2, L3, L4, L5 and L6; the automatic pool cleaning mode includes: executing the first cleaning mode in response to determining a first relationship between L1 , L2, L3, L4, L5 and L6, the first relationship being that L1 , L2, L3, L4, L5 and L6 are equal; executing either the first cleaning mode or the second cleaning mode in response to determining a second relationship between L1 , L2, L3, L4, L5 and L6, the second relationship being that L2 is equal to L6, L3 is equal to L5, and both L2 and L3 are not equal to L1 or L4; executing the third cleaning mode in response to determining a third relationship between L1 , L2, L3, L4, L5 and L6, the third relationship being different from the first relationship and the second relationship.

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