Automatic pool cleaning apparatus and control method therefor

Abstract

Provided in the present application is an automatic pool cleaning apparatus, comprising: a gas storage chamber, a buoyancy adjustment chamber and an air pump, wherein the gas storage chamber can store a first high-pressure gas; the volume of the buoyancy adjustment chamber is adjustable; the air pump is connected to both the gas storage chamber and the buoyancy adjustment chamber, and the air pump has an inflation mode and a deflation mode; in the inflation mode, the air pump transfers the first high-pressure gas from the gas storage chamber to the buoyancy adjustment chamber, thereby increasing the volume of the buoyancy adjustment chamber; in the deflation mode, the air pump transfers the gas from the buoyancy adjustment chamber to the gas storage chamber, thereby reducing the volume of the buoyancy adjustment chamber.

Description

Automatic pool cleaning device and control method thereof

[0001] This application claims priority to Chinese Patent Application No. 2025100725201 filed on January 16, 2025, Chinese Patent Application No. 2025201371924 filed on January 17, 2025, Chinese Patent Application No. 202520171822X filed on January 24, 2025, Chinese Patent Application No. 2025101254821 filed on January 25, 2025, and Chinese Patent Application No. 202520175859X filed on January 26, 2025, the contents of which are incorporated herein by reference in their entirety as part of this application. TECHNICAL FIELD

[0002] The present application relates to the technical field of cleaning devices, in particular to an automatic pool cleaning device and a control method thereof. BACKGROUND

[0003] With the development of computer technology, robot technology has also developed rapidly. Current underwater robots are increasingly widely used in various fields and can assist people in working in water, including underwater cleaning, underwater exploration, underwater sightseeing, etc.

[0004] Robots for cleaning pools, such as automatic pool cleaning devices, need to stop cleaning work after cleaning the pool. Currently, robots for cleaning pools mostly use hooks to pull the robots out of the pool after completing the cleaning task. However, this method lacks intelligence and causes certain recovery difficulties for customers. SUMMARY

[0005] The present application provides an automatic pool cleaning device to address the deficiencies of the prior art. The automatic pool cleaning device includes a gas storage cabin, a buoyancy adjusting cabin, and a gas pump. The gas storage cabin can store a first high-pressure gas. The volume of the buoyancy adjusting cabin is adjustable. The gas pump is connected to the gas storage cabin and the buoyancy adjusting cabin, and the gas pump has a gas charging mode and a gas discharging mode. In the gas charging mode, the gas pump delivers the first high-pressure gas in the gas storage cabin to the buoyancy adjusting cabin, thereby increasing the volume of the buoyancy adjusting cabin. In the gas discharging mode, the gas pump delivers the gas in the buoyancy adjusting cabin to the gas storage cabin, thereby decreasing the volume of the buoyancy adjusting cabin.

[0006] Further, the gas storage cabin is provided with a water pump motor, or the gas storage cabin is provided with a controller of the automatic pool cleaning device.

[0007] Further, the automatic pool cleaning device further includes a gas pressure detection unit capable of detecting the gas pressure of the gas storage cabin.

[0008] Further, the first high-pressure gas is pre-stored in the gas storage cabin;

[0009] Further, the pool automatic cleaning device further comprises a gas storage tank, which is arranged outside the gas storage cabin, wherein the second high-pressure gas is pre-stored in the gas storage tank;

[0010] Further, the gas storage tank is connected with the buoyancy adjusting cabin, and the gas storage tank is controllable to deliver the second high-pressure gas to the buoyancy adjusting cabin; or the gas storage tank is connected with the gas storage cabin, and the gas storage tank is controllable to deliver the second high-pressure gas to the gas storage cabin;

[0011] Further, the controller is capable of selecting the working mode of the air pump according to the operation progress of the pool automatic cleaning device, the fault condition of the pool automatic cleaning device, the power condition, or the user instruction;

[0012] Further, after the volume of the buoyancy adjusting cabin is increased, the buoyant force received by the pool automatic cleaning device in water is greater than its gravity;

[0013] Further, the buoyancy adjusting cabin is located at the tail of the pool automatic cleaning device;

[0014] Further, at least a part of the buoyancy adjusting cabin is made of a flexible material, and the flexible material is capable of adjusting the volume of the buoyancy adjusting cabin;

[0015] Further, the gas storage cabin is a sealed cabin;

[0016] The application also provides a control method of a pool automatic cleaning device, wherein the pool automatic cleaning device comprises an image acquisition device, and the control method comprises: in the case that the pool automatic cleaning device receives a recall instruction, acquiring image information around the pool automatic cleaning device through the image acquisition device; performing recall target object identification on the image information; in the case that a recall target object is identified, controlling the pool automatic cleaning device to move to the recall target object; according to the control method of the pool automatic cleaning device provided by the present application, the recall target object comprises a movable target object or a fixed target object; according to the control method of the pool automatic cleaning device provided by the present application, the issuing of the recall instruction comprises automatic issuing after task execution, artificial issuing according to needs, or the pool automatic cleaning device issuing according to its own state;

[0017] Further, in the case that the pool automatic cleaning device receives the recall instruction, the image information around the pool automatic cleaning device is collected by the image collection device, comprising: in the case that the pool automatic cleaning device receives the recall instruction, after the pool automatic cleaning device floats to the water surface, the image information around the pool automatic cleaning device is collected by the image collection device;

[0018] Further, the control of the pool automatic cleaning device moving to the recall target object comprises: in the case that the recall target object moves, the pool automatic cleaning device is controlled to always move towards the recall target object during the movement;

[0019] Further, the collection of the image information around the pool automatic cleaning device by the image collection device comprises: the pool automatic cleaning device or the image collection device is controlled to rotate by a first predetermined angle; during the rotation of the pool automatic cleaning device or the image collection device, the image information around the pool automatic cleaning device is collected by the image collection device;

[0020] Further, the control of the pool automatic cleaning device moving to the recall target object comprises: the position information of the recall target object is determined; based on the position information, the pool automatic cleaning device is controlled to move to the recall target object;

[0021] Further, the control of the pool automatic cleaning device moving to the recall target object based on the position information comprises: based on the position information, the rotation angle to be rotated by the pool automatic cleaning device is determined; based on the rotation angle to be rotated, the pool automatic cleaning device is controlled to rotate, so that the advancing direction of the pool automatic cleaning device is directly opposite to the recall target object; the pool automatic cleaning device is controlled to move to the recall target object along the direction directly opposite to the advancing direction;

[0022] Further, in the case that the image collection device is a monocular image collection device, the determination of the position information of the recall target object comprises: based on the calibration parameters of the monocular image collection device, the position information of the recall target object is determined;

[0023] Further, the collection direction of the image collection device is consistent with the advancing direction of the pool automatic cleaning device, and the control of the pool automatic cleaning device moving to the recall target object comprises: during the movement of the pool automatic cleaning device, the steering of the pool automatic cleaning device is adjusted so that the recall target object is within the collection range of the image collection device;

[0024] Further, the method further comprises: determining that the pool automatic cleaning device is in contact with the recall target object; or, in a case where a distance between the pool automatic cleaning device and the recall target object is less than a predetermined distance, controlling the pool automatic cleaning device to stop moving.

[0025] Further, the image acquisition device is arranged at a position where the pool automatic cleaning device is located on the water surface.

[0026] The application further provides a pool automatic cleaning device comprising an image acquisition device, wherein the pool automatic cleaning device can execute the control method according to any one of the above.

[0027] The application further provides a computer storage medium, wherein a computer program is stored in the storage medium, and the computer program is executed by a processor to implement the method according to any one of the above.

[0028] The application provides a pool automatic cleaning device, comprising: a filter basket for filtering water entering the filter basket; and a filter basket containing bin, the filter basket being detachably installed into the filter basket containing bin, the filter basket containing bin comprising a frame; wherein a first water outlet is arranged at the bottom of the frame, wherein the first water outlet is closed when water flow is driven to enter the filter basket; and the first water outlet is opened to drain water in the filter basket containing bin when the pool automatic cleaning device is lifted out of water.

[0029] Further, a first one-way valve piece for water drainage is arranged at the first water outlet.

[0030] Further, a second water outlet is arranged at the side of the frame, and water filtered by the filter basket can be drained through the second water outlet.

[0031] Further, a first water inlet is arranged at the bottom of the frame, and the first water outlet is closer to the second water outlet than the first water inlet.

[0032] Further, the pool automatic cleaning device further comprises: a water flow driving mechanism for driving water flow to enter the filter basket for filtering; and a housing, wherein the filter basket containing bin is installed in the housing; wherein a second water inlet is arranged at the housing, and a second one-way valve piece for water flow into the filter basket is arranged at the first water inlet or the second water inlet; when the water flow is driven to enter the filter basket, the second one-way valve piece is opened to connect the first water inlet and the second water inlet; and when the water flow is stopped to enter the filter basket, the second one-way valve piece is closed.

[0033] Further, a third water outlet is arranged at the bottom of the shell, and the third water outlet is in communication with the first water outlet.

[0034] Further, the third water outlet comprises a plurality of water outlet holes.

[0035] Further, the second water inlet is arranged at the bottom of the shell.

[0036] Further, a gap is formed between the bottom of the shell and the bottom of the filter basket accommodating bin, and the height of the gap determines the opening degree of the first one-way valve plate.

[0037] Further, the material of the first one-way valve plate comprises rubber.

[0038] The application further provides a filtering device for a pool cleaning robot, which comprises a body structure having a filtering cavity member, and a suction structure rotatably arranged on the body structure, wherein the suction structure is provided with a suction material.

[0039] Further, the filtering device comprises a body structure and a suction structure, the body structure has a filtering cavity member, and the suction structure is rotatably arranged on the body structure, and the suction structure is provided with a suction material; in this way, the suction material can be in contact with the water flow when the suction structure rotates, and can effectively absorb the dirt on the water surface, and the suction material can simultaneously absorb the oil stains and microorganisms on the water surface when the suction structure sweeps the garbage on the water surface, so that the water surface is cleaned to a higher degree, and the dirt on the water surface can be effectively prevented from leaking with the water flow.

[0040] Further, the suction structure comprises a rolling member and a blade member, and the blade member is rotatably connected to the body structure through the rolling member.

[0041] Further, the suction structure comprises at least two blade members, and the at least two blade members are arranged in a circumferential direction of the rolling member.

[0042] Further, the body structure comprises a water surface water inlet, and the suction structure can guide the water flow to flow into the water surface water inlet.

[0043] Further, the suction structure further comprises at least two support members, and the at least two support members are arranged in an axial direction of the rolling member.

[0044] Further, the blade member comprises at least two blade units, and the blade units are located between adjacent support members.

[0045] Further, the support member is connected with the suction material.

[0046] Further, the adsorbing material is connected to the vane member by a connecting member, or the adsorbing material is connected to the vane member by adhesion;

[0047] Further, the adsorbing material is made of adsorbing sponge, paper material or oil absorbing felt;

[0048] The application also provides a pool cleaning robot, which comprises a filtering device located at least partially inside the pool cleaning robot, the filtering device comprising a water surface inlet through which water flow can be filtered by the filtering device, and an adsorbing structure provided on a shell of the pool cleaning robot or on the filtering device, the adsorbing structure comprising adsorbing material;

[0049] Further, the pool cleaning robot comprises a filtering device located at least partially inside the pool cleaning robot, the filtering device comprising a water surface inlet through which water flow can be filtered by the filtering device, and an adsorbing structure provided on a shell of the pool cleaning robot, so that the pool cleaning robot can adsorb dirt through the adsorbing structure of the shell; or the adsorbing structure is provided on the filtering device, and the adsorbing structure comprises adsorbing material, so that the adsorbing material can be in contact with water flow when the adsorbing structure rotates, effectively adsorbing dirt on the water surface, and the adsorbing material can adsorb oil stains and microorganisms on the water surface at the same time, achieving higher degree of water surface cleaning and effectively avoiding leakage of water surface dirt along with water flow;

[0050] Further, the adsorbing structure can rotate to guide water flow into the water surface inlet;

[0051] Further, the adsorbing structure comprises a vane member, and the adsorbing material is provided on a surface of the vane member;

[0052] The application also provides a filtering device of an automatic pool cleaning apparatus, which comprises a main body and a filtering assembly configured to be detachably mounted on the main body and comprising a first fixing structure configured at an edge of the filtering assembly, the filtering assembly being mounted on and fixed to the main body by the first fixing structure;

[0053] Further, the first fixing structure comprises a buckle structure or a magnetic attraction structure;

[0054] Further, the filtering assembly further comprises a second fixing structure configured at an edge of the filtering assembly, the filtering assembly being fixed to an adjacent filtering assembly by the second fixing structure;

[0055] Further, the second fixing structure comprises a buckle structure.

[0056] Further, the second fixing structure of the filter assembly comprises a male buckle, the second fixing structure of the adjacent filter assembly comprises a female buckle, and the filter assembly and the adjacent filter assembly are fixed to each other through the male buckle and the female buckle.

[0057] Further, the filter assembly comprises a frame structure and a filter screen assembly, and the frame structure and the filter screen assembly are integrally formed or separately arranged.

[0058] Further, the first fixing structure and / or the second fixing structure of the filter assembly are arranged on the frame structure of the filter assembly.

[0059] Further, the frame structure has a groove matching the outer contour of the filter screen assembly, so as to allow the filter screen assembly to be detachably mounted on the frame structure by embedding in the groove.

[0060] Further, the filter screen assembly comprises a first filter screen assembly and a second filter screen assembly, and the first filter screen assembly has a higher filtering level than the second filter screen assembly.

[0061] Further, the first filter screen assembly is closer to the inner cavity of the filter device than the second filter screen assembly.

[0062] Further, at least one of the first filter screen assembly and the second filter screen assembly is mounted on the frame structure.

[0063] The application further provides a pool automatic cleaning device, comprising a shell and a filter device as described above, which is detachably mounted in the shell. BRIEF DESCRIPTION OF DRAWINGS

[0064] FIG. 1 shows a block diagram of a pool automatic cleaning device according to an embodiment of the application;

[0065] FIG. 2 shows a schematic diagram of a pool automatic cleaning device according to an embodiment of the application;

[0066] FIG. 3 shows a flowchart of a control method of a pool automatic cleaning device according to an embodiment of the application;

[0067] FIGS. 4A-4D respectively show schematic diagrams of a target object to be recalled according to an embodiment of the application;

[0068] FIG. 5 shows an external shape of a pool automatic cleaning device according to an embodiment of the application;

[0069] FIGS. 6A-6C show a structure of a pool automatic cleaning device and a filter basket containing bin according to an embodiment of the application;

[0070] Figure 7 shows the structure of the bottom of the pool automatic cleaning device according to an embodiment of the present application;

[0071] Figure 8 shows a view of the filter basket containing bin of the pool automatic cleaning device according to an embodiment of the present application, viewed from the bottom;

[0072] Figure 9 shows a partial sectional view of the pool automatic cleaning device according to an embodiment of the present application;

[0073] Figure 10 shows a perspective view of the filter device according to an embodiment of the present application;

[0074] Figure 11 shows a perspective view of a filter member of the filter device according to an embodiment of the present application;

[0075] Figure 12 shows another perspective view of a filter member according to an embodiment of the present application;

[0076] Figure 13 shows an exploded view of a filter member according to an embodiment of the present application;

[0077] Figure 14 shows a filter device according to an embodiment of the present application;

[0078] Figure 15 shows the assembly of a filter assembly of a filter device according to an embodiment of the present application;

[0079] Figure 16 shows the structure of a filter assembly of a filter device according to an embodiment of the present application;

[0080] Figure 17 shows the structure of a filter assembly of a filter device according to an embodiment of the present application;

[0081] Figure 18 shows the structure of a filter assembly of a filter device according to an embodiment of the present application;

[0082] Figure 19 shows a pool automatic cleaning device according to an embodiment of the present application.

[0083]

[0084] Figure 1-2 Label Explanation: 10, pool automatic cleaning device; 11, gas storage cabin; 12, buoyancy adjusting cabin.

[0085] Figure 5-9 Label Explanation: 13, air pump; 110, housing; 120, traveling mechanism; 130, cleaning mechanism; 20, pool automatic cleaning device; 210, filter basket containing bin; 220, first drain; 230, first water inlet; 240, second drain; 260, water flow driving mechanism; 270, housing; 2210, first one-way valve piece; 2710, second water inlet; 310, third drain; 3710, second water inlet; 410, filter basket containing bin; 420, drain; 430, water inlet; 440, drain; 50, pool automatic cleaning device; 510, filter basket containing bin; 520, water inlet; 530, drain; 540, one-way valve piece; 550, drain; 560, internal chamber.

[0086] Figure 10-13 Label Explanation: 100, filter device; 110, body structure; 111, filter cavity member; 112, first wall member; 113, second wall member; 120, adsorption structure; 130, rolling member; 131, gear unit; 132, shaft unit; 133, engagement unit; 134, positioning end; 135, positioning hole; 136, positioning unit; 137, protrusion; 140, vane member; 141, first vane member; 142, second vane member; 143, vane unit; 144, first vane unit; 145, second vane unit; 146, first surface; 147, second surface; 150, support member; 151, first support member; 152, second support member; 153, third support member; 154, third surface; 155, fourth surface; 160, adsorption material.

[0087] Figure 14-19 Label Explanation: 100, filter device; 110, main body; 120, 140, 160, 180, filter assembly; 121, 141, 142, 161, 162, 181, 182, fixing structure; 143, 147, frame structure; 145, groove; 144, first filter screen assembly; 146, second filter screen assembly; 600, pool automatic cleaning equipment; 610, housing. DETAILED DESCRIPTION

[0088] In order to make the purpose, technical scheme and advantages of the present application more clear, the technical scheme of the present application will be described clearly and completely below in combination with the drawings in the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without making creative efforts fall within the scope of protection of the present application.

[0089] The application provides a control method of an automatic pool cleaning device. The automatic pool cleaning device in the application can clean a pool. The pool is for example a pool-shaped building. The pool-shaped building can be a pool, a water storage pool, a water therapy pool, a water storage tank, a water storage groove, etc. The automatic pool cleaning device can be a device such as an automatic cleaning device, a pool cleaning robot, etc. that can clean the pool-shaped building. The application does not limit the specific presentation of the automatic pool cleaning device and the pool-shaped building, as long as the principle of the application can be realized.

[0090] Hereinafter, if not specifically stated, the robot will be described as an example of the automatic pool cleaning device, and the pool will be described as an example of the pool or pool-shaped building.

[0091] The following describes the automatic pool cleaning device 10 of the application in combination with the accompanying drawings. FIG. 1 shows a block diagram of the automatic pool cleaning device according to an embodiment of the application. FIG. 2 is a schematic diagram of the automatic pool cleaning device according to an embodiment of the application. As shown in FIG. 1 and FIG. 2, the automatic pool cleaning device 10 comprises a gas storage cabin 11, a buoyancy adjusting cabin 12 and a gas pump 13. The gas storage cabin 11, the buoyancy adjusting cabin 12 and the gas pump 13 will be described below.

[0092] The gas storage cabin 11 can store a first high-pressure gas.

[0093] In an embodiment, a water pump motor (not shown) is arranged in the gas storage cabin 11, or a controller (not shown) of the automatic pool cleaning device is arranged in the gas storage cabin 11, wherein the gas storage cabin 11 is a sealed cabin, and the first high-pressure gas is pre-stored in the gas storage cabin.

[0094] For example, the gas storage cabin 11 can be composed of one or more sealed gas storage spaces (for example, a gas storage space A and a gas storage space B, etc.). The gas storage space A can be used to store components such as a water pump, a motor, a reducer, a pneumatic element, a flow meter, a solenoid valve, etc. of the robot. The gas storage space B can be used to store components such as a controller, a circuit board, an integrated circuit, a resistor, a capacitor, a transistor, a battery, a power converter, a wireless communication module, a Bluetooth module, a heat sink, a fan, etc. of the robot. In order to reduce the manufacturing complexity and design complexity between the plurality of gas storage spaces, reduce the production cost and maintenance difficulty, and improve the space utilization rate of the robot, the gas storage space A and the gas storage space B can also be combined to form one gas storage space.

[0095] It should be noted that the above description of the components stored in the gas storage cabin is only exemplary, and the components stored in the gas storage cabin 11 protected by the present application are not limited to the above-mentioned content. Those skilled in the art can adjust the components stored in the gas storage cabin 11 according to the actual situation, as long as the technical principles of the present application can be realized.

[0096] It should be noted that the above description of the components stored in the gas storage cabin is only exemplary, and the components stored in the gas storage cabin 11 protected by the present application are not limited to the above-mentioned content. Those skilled in the art can adjust the components stored in the gas storage cabin 11 according to the actual situation, as long as the technical principles of the present application can be realized.

[0097] The gas storage cabin 11 inside the robot is a sealed cabin, and its sealed space is used to store high-pressure gas (for example, the first high-pressure gas). When the robot needs to switch from the underwater state to the water surface state and float up, the gas in the gas storage cabin can be diluted to achieve water drainage and float up, in other words, the gas stored in the sealed space of the gas storage cabin 11 is used as a source of buoyancy. When the robot needs to float up, the gas density in the sealed space is adjusted to increase the buoyancy of the robot, which pushes the robot to expel the water inside and achieve floating up. This makes the robot not need to supplement gas from the air, avoiding the situation that the robot inhales foreign matter or moisture when supplementing gas.

[0098] Before the robot is shipped, high-pressure gas (for example, the first high-pressure gas) higher than atmospheric pressure can be filled in the sealed space (i.e. the gas storage cabin 11) inside the robot in advance to increase the gas pressure inside the sealed space, thereby increasing the storage amount of gas. The volume of gas decreases when the pressure increases, that is, under the same volume, more gas can be stored, so under the same mass of gas storage, the volume of the gas storage cabin 11 can be effectively reduced. This makes the gas storage cabin 11 more compact and occupy less space while meeting the required gas storage amount, which helps to optimize the layout and size of the overall device.

[0099] In another embodiment, the pool automatic cleaning device further comprises a gas pressure detection unit capable of detecting the gas pressure of the gas storage cabin 11.

[0100] For example, the air pressure in the gas storage cabin 11 can be detected in real time by the air pressure detection unit to realize dynamic management of its sealing effect, thereby preventing faults such as circuit short circuit, sensor damage, gas leakage, etc. caused by water leakage and air leakage, and ensuring normal operation and reliability of the machine. For example, an air pressure gauge can be installed on the gas storage cabin 11, which can accurately measure and display the air pressure value inside the gas storage cabin 11. During the state conversion process of the robot, by observing the reading of the air pressure gauge, it can be judged whether there is air leakage phenomenon in the gas storage cabin 11 and its sealing part. If the air pressure value remains stable, it means that the sealing effect is good and the gas has not leaked; if the air pressure value decreases, it means that there may be an air leakage point, and the sealing part needs to be further checked and repaired to ensure its sealing performance.

[0101] The volume of the buoyancy adjusting cabin 12 is adjustable.

[0102] In an embodiment, at least a part of the buoyancy adjusting cabin 12 is made of a flexible material, and the flexible material can adjust the volume of the buoyancy adjusting cabin 12, wherein the buoyancy adjusting cabin 12 is located at the tail of the pool automatic cleaning device.

[0103] For example, the buoyancy adjusting cabin 12 is an air bag or similar to an air bag, which can adjust the buoyancy of the robot by changing its volume, in other words, the buoyancy adjusting cabin 12 can change its volume by inflating or deflating, thereby changing the drainage volume to realize the adjustment of the buoyancy. Specifically, when the robot completes the cleaning task of the pool bottom, it needs to switch from the underwater state to the water surface state to complete the cleaning task of the water surface. At this time, the gas in the gas storage cabin 11 needs to be compressed and injected into the buoyancy adjusting cabin 12, and the cabin body material (for example, flexible material) of the buoyancy adjusting cabin 12 expands outward under the action of gas pressure, so that the cabin body expands, and then the drainage volume of the robot increases, and the buoyancy also increases accordingly. When the robot needs to sink again from the water surface to complete the cleaning task of the pool bottom, the gas in the buoyancy adjusting cabin 12 needs to be compressed and injected into the gas storage cabin 11, and the cabin body material (for example, flexible material) shrinks after losing the support of the gas, thereby reducing the drainage volume of the robot, and the buoyancy also decreases accordingly.

[0104] It should be noted that at least part of the structure of the buoyancy adjusting cabin 12 is made of flexible materials, including but not limited to: thermoplastic elastomer (TPE), silicone rubber, polyurethane, shape memory polymer (SMP), shape memory alloy (SMA), magneto-rheological fluid (MRF), composite materials, etc. Due to the good elasticity and deformability of the flexible materials, the buoyancy adjusting cabin 12 can change its volume size accordingly when external force is applied or internal pressure is changed. By adjusting the volume of the buoyancy adjusting cabin 12, the size of the buoyancy experienced by the robot can be changed, thereby achieving precise control of its floating and sinking state underwater. In addition, the buoyancy adjusting cabin 12 is arranged at the tail of the robot, which helps to optimize the overall center of gravity distribution and motion stability of the equipment. The buoyancy adjusting cabin 12 at the tail position can provide more stable and flexible buoyancy support when the robot performs underwater cleaning tasks, enabling it to move and turn more smoothly in the water, thereby improving the efficiency and effectiveness of cleaning operations. It should be noted that the buoyancy adjusting cabin 12 can also be arranged at other positions of the robot, such as the head, sides, top, etc. of the robot, as long as the technical principles of the present application can be realized.

[0105] In another embodiment, after the volume of the buoyancy adjusting cabin 12 increases, the water pool automatic cleaning device experiences a buoyancy in water that is greater than its gravity.

[0106] For example, when the volume of the buoyancy adjusting cabin 12 increases, its displacement volume also increases accordingly. According to Archimedes' principle, the buoyancy experienced by an object in a fluid is equal to the weight of the fluid displaced by the object. Therefore, as the displacement volume increases, the buoyancy experienced by the robot in water also increases. Buoyancy and gravity are a pair of action and reaction forces, and when the volume of the buoyancy adjusting cabin 12 increases to a certain extent, the overall buoyancy experienced by the robot exceeds its own gravity, the net force experienced by the robot in water is upward, pushing it to rise in water and showing a floating state.

[0107] It should be noted that the difference between the buoyancy and the gravity of the robot, i.e. the net buoyancy, determines the speed and stability of its floating. When the buoyancy of the robot is greater than its gravity, the net buoyancy acts upward, pushing the robot to float upward. According to Newton's second law, the acceleration generated by the net buoyancy is proportional to the net buoyancy and inversely proportional to the mass of the robot. Therefore, the greater the net buoyancy, the greater the acceleration obtained by the robot, and the faster the floating speed. If the net buoyancy is small, the acceleration obtained by the robot is also small, and the floating speed is also slowed down accordingly. In some cases, if the net buoyancy is close to zero, the robot may only slowly rise, or even be difficult to overcome the resistance and friction of water.

[0108] Similarly, when the net buoyancy of the robot is moderate, it can provide sufficient upward thrust to the robot to offset the gravity of the robot, while not generating excessive acceleration, avoiding the robot from losing control or turning over, and keeping the robot in a relatively stable posture during the floating process. If the net buoyancy is too large, the robot may be subjected to a large acceleration during the floating process, causing its posture to be unstable, prone to turning over or deviating from the predetermined trajectory, and also making it difficult to control the speed when approaching the water surface, and prone to collision or damage. However, if the net buoyancy is small, the robot will be greatly affected by the water resistance and friction during the floating process, making it difficult to maintain a stable rising path.

[0109] In another embodiment, the pool automatic cleaning device further comprises a gas storage tank (not shown) disposed outside the gas storage cabin 11, wherein the gas storage tank pre-stores a second high-pressure gas. The gas storage tank is connected with the buoyancy adjusting cabin 12, and the gas storage tank can be controlled to deliver the second high-pressure gas to the buoyancy adjusting cabin 12; or the gas storage tank is connected with the gas storage cabin 11, and the gas storage tank can be controlled to deliver the second high-pressure gas to the gas storage cabin 11.

[0110] For example, in the pool automatic cleaning device, the gas storage tank is provided to provide additional high-pressure gas to achieve precise control of the buoyancy adjusting cabin 12 or the gas storage cabin 11, while reducing the storage of high-pressure gas (e.g., first high-pressure gas) in the gas storage cabin 11 to prevent the high-pressure gas in the gas storage cabin 11 from affecting the normal use of internal circuitry or sensors and other components. The gas storage tank pre-stores high-pressure gas (e.g., second high-pressure gas) that can be quickly released when needed to meet the buoyancy adjusting requirements. The gas storage tank is connected with the buoyancy adjusting cabin 12 or the gas storage cabin 11 through a pipeline, when it is needed to increase the buoyancy, the control system opens the corresponding valve to make the high-pressure gas in the gas storage tank delivered to the buoyancy adjusting cabin 12 through the pipeline to make up for the insufficient buoyancy provided by the buoyancy adjusting cabin 12 due to the insufficient gas in the gas storage cabin 11. When it is needed to reduce the buoyancy, the control system delivers the gas in the buoyancy adjusting cabin 12 back to the gas storage cabin 11 and the gas storage tank, so that the gas storage tank shares part of the high-pressure gas with the gas storage cabin 11, avoiding the gas pressure in the gas storage cabin 11 from being too large to affect the normal use of internal circuitry or sensors and other components in the gas storage cabin 11.

[0111] In addition, by precisely controlling the opening and closing degree and time of the valve, the amount of gas delivered to the buoyancy adjusting cabin 12 or the gas storage cabin 11 can be adjusted, thereby precisely controlling the volume change of the buoyancy adjusting cabin 12, and realizing precise adjustment of the buoyancy. By supplementing high-pressure gas, the volume change range of the buoyancy adjusting cabin 12 can also be expanded, so that the robot can adapt to a wider range of working environments and task requirements. At the same time, when it is necessary to maintain the specific buoyancy state of the robot, the gas tank can provide stable gas supply to ensure that the volume of the buoyancy adjusting cabin 12 remains within the set range, thereby improving the stability of the device.

[0112] Specifically, when the robot completes the cleaning task underwater, it needs to quickly float to the water surface for cleaning or maintenance or charging. At this time, the control system will open the connecting valve between the gas tank and the buoyancy adjusting cabin 12. The high-pressure gas stored in the gas tank is quickly delivered to the buoyancy adjusting cabin 12 through the pipeline. Due to the injection of high-pressure gas, the volume of the buoyancy adjusting cabin 12 increases rapidly, the drainage volume increases, and according to the Archimedes principle, the buoyancy of the robot also increases. When the buoyancy is greater than the weight of the robot, the robot can quickly float to the water surface. The high-pressure gas provided by the gas tank makes the floating process more rapid and efficient, saving the floating time and improving the working efficiency of the robot. When the robot is performing a cleaning task on the water surface, if the buoyancy adjusting cabin 12 or the gas storage cabin 11 has a slight gas leakage or other faults, its buoyancy will also decrease, causing the robot to sink. At this time, the control system detects the abnormal decrease of the buoyancy of the robot, and can start the emergency buoyancy supplement program of the gas tank. The gas tank quickly delivers high-pressure gas to the buoyancy adjusting cabin 12 or the gas storage cabin 11 to supplement the lost buoyancy due to gas leakage. The timely supplement of high-pressure gas enables the robot to quickly recover to the normal buoyancy state, avoiding sinking due to insufficient buoyancy, and ensuring the safety and continuity of the robot's work.

[0113] The gas pump 13 is connected to the gas storage cabin 11 and the buoyancy adjusting cabin 12, respectively, and has a gas charging mode and a gas discharging mode. In the gas charging mode, the gas pump 13 delivers the first high-pressure gas in the gas storage cabin 11 to the buoyancy adjusting cabin 12, thereby increasing the volume of the buoyancy adjusting cabin 12. In the gas discharging mode, the gas pump 13 delivers the gas in the buoyancy adjusting cabin 12 to the gas storage cabin 11, thereby reducing the volume of the buoyancy adjusting cabin 12.

[0114] For example, the air pump 13 is connected with the gas storage cabin 11 and the buoyancy adjusting cabin 12 through pipelines, and has two working modes: inflation mode and exhaust mode. In the inflation mode, the air pump 13 starts to deliver the high-pressure gas (for example, the first high-pressure gas) stored in the gas storage cabin 11 to the buoyancy adjusting cabin 12 through the pipelines. With the injection of the high-pressure gas, the volume of the buoyancy adjusting cabin 12 gradually increases, and the displacement of water also increases accordingly. According to the Archimedes principle, the buoyancy of the robot also increases, which is used to realize the upward floating or adjustment of the robot to a specific buoyancy state. In the exhaust mode, the air pump 13 changes the working direction to exhaust the gas in the buoyancy adjusting cabin 12 and deliver it back to the gas storage cabin 11. With the reduction of the gas, the volume of the buoyancy adjusting cabin 12 decreases, and the displacement of water also decreases accordingly. The buoyancy of the robot also decreases, which is used to realize the downward diving or adjustment of the robot to a required buoyancy state.

[0115] Through the inflation mode and the exhaust mode of the air pump 13, the volume of the buoyancy adjusting cabin 12 is accurately controlled, and the buoyancy of the robot is accurately adjusted, so that the robot can flexibly perform the actions of upward floating, downward diving and stable suspension in the underwater environment, and meet different cleaning task requirements and environmental adaptation requirements.

[0116] In an embodiment, the gas storage cabin 11 is provided with a controller of the pool automatic cleaning device, wherein the controller can select the working mode of the air pump 13 according to the operation progress of the pool automatic cleaning device, the fault condition of the pool automatic cleaning device, or a user instruction.

[0117] For example, the gas storage cabin 11 is provided with a controller of the robot, which has an intelligent decision function and can select the working mode of the air pump 13 according to multiple conditions.

[0118] The controller can select the working mode of the air pump 13 according to the operation progress of the robot. For example, when the robot completes the cleaning task on the bottom of the water and is ready to perform the cleaning task on the water surface, the controller can instruct the air pump 13 to switch to the corresponding inflation or exhaust mode according to the preset operation process, so as to adjust the buoyancy of the robot and enable it to smoothly float up from the bottom of the water to the water surface and start to perform the cleaning task on the water surface.

[0119] The controller can also select the working mode of the air pump 13 according to the fault condition of the robot. For example, if the robot fails during the performance of the cleaning task, the controller can immediately detect this abnormal condition. In order to facilitate the user to salvage and maintain, the controller can instruct the air pump 13 to enter the inflation mode to deliver the high-pressure gas in the gas storage cabin 11 or the gas tank to the buoyancy adjusting cabin 12, rapidly increase the volume of the buoyancy adjusting cabin 12, and make the robot quickly float up to the water surface. This can facilitate the user to easily salvage the malfunctioning robot from the water and perform inspection and maintenance.

[0120] The controller can also select the working mode of the air pump 13 according to the power level of the robot. For example, when the power level of the robot is lower than a preset power threshold, in order to ensure that the robot can safely return to the base station for charging, the controller will instruct the air pump 13 to adjust the buoyancy according to the power level of the robot and the current location. If the robot needs to float back to the base station on the pool wall or the shore for charging, the controller will instruct the air pump 13 to deliver the high-pressure gas in the gas storage cabin 11 or the gas tank to the buoyancy adjusting cabin 12, rapidly increase the volume of the buoyancy adjusting cabin 12, and make the robot quickly float to the water surface, so that the robot can be charged and the power level can be restored.

[0121] The controller can also select the working mode of the air pump 13 according to the user's instruction. For example, the user can send instructions to the robot through a remote controller or other communication devices, and the controller will select the working mode of the air pump 13 according to the received user's instruction, so as to accurately control the working mode of the robot and meet the user's needs.

[0122] The pool automatic cleaning device provided by the present application comprises a gas storage cabin, a buoyancy adjusting cabin and an air pump. The air pump is connected with the gas storage cabin storing high-pressure gas and the buoyancy adjusting cabin with adjustable volume, so that the pool automatic cleaning device can deliver the high-pressure gas in the gas storage cabin to the buoyancy adjusting cabin to increase the volume of the buoyancy adjusting cabin in the inflation mode, so that the pool automatic cleaning device can float up. At the same time, the pool automatic cleaning device can deliver the gas in the buoyancy adjusting cabin to the gas storage cabin to reduce the volume of the buoyancy adjusting cabin in the deflation mode, so that the pool automatic cleaning device can sink. In this way, the pool automatic cleaning device is free from the restriction of the surface of hard objects, and the problem of unsuccessful floating up caused by the residual water in the air during air supplement is avoided, so as to ensure that the pool automatic cleaning device can efficiently and stably switch flexibly in different states.

[0123] The following content refers to FIGS. 3-4, and the control method 100 of the pool automatic cleaning device provided by the present application will be described in detail below in combination with the accompanying drawings.

[0124] FIG. 3 shows a flowchart of the control method of the pool automatic cleaning device provided by the present application. As shown in FIG. 3, the control method comprises steps 101-103. The steps 101-103 will be described in detail below.

[0125] In step 101, when the pool automatic cleaning device receives a recall instruction, the image information around the pool automatic cleaning device is collected by the image acquisition device.

[0126] For example, when the robot cleans the pool, it can include multiple cleaning modes, such as pool bottom cleaning mode, pool wall cleaning mode, water surface edge mode, and water surface random mode. When controlling the robot to clean the pool, one cleaning mode can be used to clean part of the pool, or multiple cleaning modes or all cleaning modes can be used to clean the pool more comprehensively. The specific cleaning mode can be flexibly controlled according to the cleaning degree of the pool. After the robot completes cleaning the pool using one or more of the above cleaning modes, or in other cases where the cleaning task of the robot needs to be stopped, the robot needs to be recalled for recycling. When the pool needs to be cleaned again, the robot can be put into the pool again.

[0127] When the robot receives the recall instruction, it can be determined that the robot is currently being recalled, and the robot needs to return to the recall destination to wait for recycling. The recall instruction can be issued in various situations. In one embodiment, the recall instruction can be automatically issued after the current task is completed. For example, after the robot receives the cleaning instruction and completes the cleaning of the pool according to the requirements of the cleaning instruction, the robot can automatically trigger the generation of the recall instruction. The recall instruction can be issued by the user as needed. For example, when the cleaning degree of the pool meets the user's requirements or the user currently needs to stop cleaning the pool, the user can manually issue the recall instruction to the robot through a control device, such as a base station or a remote controller. The recall instruction can also be issued by the robot according to its own state. For example, the robot can monitor its power, fault condition, or garbage basket fullness in real time. When the robot is low on power, has a fault, or the garbage basket is full, the robot can automatically trigger the generation of the recall instruction. The manner of issuing the recall instruction protected by the present application is not limited to the above, and those skilled in the art can adjust it according to the actual situation as long as the technical principles of the present application can be achieved.

[0128] The robot also includes an image acquisition device, which can be one or more. When there are multiple image acquisition devices, they can be evenly distributed around the robot. The image acquisition device can be a monocular image acquisition device or a binocular image acquisition device, which is not limited in the present application, and those skilled in the art can adjust it according to the actual situation as long as the technical principles of the present application can be achieved.

[0129] In the case that the robot receives the recall instruction, the robot can collect image information around the robot through the image collection device, so that the robot can identify the recall target through the image information, and then the robot can move to the recall target to complete the recall action.

[0130] In one embodiment, in the case that the pool automatic cleaning device receives the recall instruction, the pool automatic cleaning device floats to the water surface, and then the image collection device collects image information around the pool automatic cleaning device.

[0131] The robot can collect image information around the robot through the image collection device on water or underwater.

[0132] For example, when the recall target is underwater, the robot can collect image information around the robot through the image collection device underwater to find or identify the recall target.

[0133] For example, when the recall target is on water, the robot can collect image information around the robot through the image collection device on water or underwater, and the image collection device can be located on water or underwater.

[0134] In one embodiment, the recall target is on water, and in order to better find the recall target, the robot can collect image information around the robot through the image collection device on water. If the robot is an underwater robot or performs cleaning operation underwater, in the case that the robot receives the recall instruction, the robot first floats to the water surface, and then collects image information around the robot through the image collection device to find or identify the recall target. If the robot is a water surface ship or performs cleaning operation on water surface, the robot itself floats on the water surface to clean the garbage on water surface, and then the image collection device directly collects image information around the robot to find or identify the recall target on water.

[0135] Of course, it can be understood that in other embodiments, the robot can collect image information around the robot through the image collection device underwater to find or identify the recall target on water, and the robot can also collect image information around the robot through the image collection device on water to find the recall target underwater, which is not limited in the present application.

[0136] It should be noted that in the present application, the term "the recall target is on the water" can mean that the recall target (or at least a part thereof) is floating on the water surface, or that the recall target (or at least a part thereof) is fixed at a certain position on the water surface, or that the recall target (or at least a part thereof) is on the pool bank, if no further description is given.

[0137] After the image information around the robot is collected, step 102 is entered, in which the image information is subjected to recall target recognition. In one embodiment, the recall target includes a movable target or a fixed target.

[0138] In one embodiment, the recall target can be a user on the pool bank, an object on the pool bank, an object on the water surface, etc.

[0139] As shown in FIG. 4A, the recall target can be a user on the pool bank, who is moving on the pool bank in the direction of the arrow shown in the figure. Of course, the user can also be a recall target when he is stationary on the pool bank.

[0140] As shown in FIG. 4B, the recall target can be a garbage can on the pool bank, which is fixed at a certain position on the pool bank. In the above case, in order to enable the robot to collect the image information of the recall target through the image collection device, the robot needs to be controlled to float to the water surface first, and then the image information is collected through the image collection device.

[0141] In one embodiment, the recall target can also be an underwater object. As shown in FIG. 4C, the recall target can be an underwater base station.

[0142] In one embodiment, the recall target can be an object located at the edge of the pool side wall, such as a base station located at the edge of the pool side wall. As shown in FIG. 4D, the recall target is a base station located at the edge of the pool side wall. In this case, the robot can collect image information through the image collection device under water and recognize the base station from the image information; or the robot can first float to the water surface, and then collect image information through the image collection device and recognize the base station from the image information.

[0143] In one embodiment, the image collection device is arranged at the position on the water surface where the pool automatic cleaning device is located.

[0144] As shown in the embodiments of FIG. 4A, FIG. 4B and FIG. 4D, the image acquisition device can be arranged at a position where the robot is located on the water surface. In this way, when the target object is located on the pool bank or on the water, the image acquisition device can be exposed to the water surface to acquire images after the robot floats on the water surface. The image acquisition device arranged in this way will not be affected by the water flow when acquiring image information, thereby making the acquired image information more accurate and clear, facilitating subsequent accurate identification of the recalled target object. Of course, in possible embodiments, the image acquisition device arranged at a position where the robot is located under the water surface can also achieve image information acquisition and identification of the recalled target object. It can be understood that the image acquisition device arranged under the water surface can avoid the interference of sunlight.

[0145] It can be understood that, in order to enable the image acquisition device to acquire the recalled target object at different positions (for example, the recalled target object on the pool bank, the recalled target object on the edge of the pool side wall, and the recalled target object on the pool bottom), the pool automatic cleaning device can include multiple image acquisition devices, or the image acquisition device can be movable on the pool automatic cleaning device. In order to satisfy that the recalled target object at different positions can be successfully acquired.

[0146] It can be understood that, before the image information is identified as a target object, the image information can be preprocessed. Image preprocessing is an important step before image analysis (feature extraction, segmentation, matching and identification, etc.), and the purpose is to eliminate irrelevant information in the image, restore useful true information, enhance the detectability of relevant information, maximize data simplification, and thus improve the reliability of feature extraction, image segmentation, matching and identification. Image preprocessing can include, but is not limited to, one or more of the following: image denoising, image geometric transformation, image filtering, image enhancement processing, image data normalization processing, image restoration processing, etc. When identifying the target object from the image information, a deep learning model can be used to identify the target object from the image information. The deep learning model includes but is not limited to: RCNN, Faster R-CNN, SSD and YOLO series models. It can be understood that the deep learning model used to identify the image information is a pre-trained deep learning model. When training the deep learning model, a large amount of image information can be pre-acquired, and the image information can be manually labeled to label the target object, and then a large amount of image information and manually labeled labels are used to construct a training set, and the deep learning model is trained based on the training set to obtain a pre-trained deep learning model that meets the identification requirements.

[0147] Further, the image acquisition device can identify the image information in real time when acquiring the image information, and can stop the acquisition of the image information when the recall target object is identified, or can identify the image information after the image acquisition device acquires all the image information around the robot. It can be understood that, in the case that the recall target object is not identified in the image information acquired by the image acquisition device, the robot can be controlled to move and / or adjust the acquisition angle of the image acquisition device, and then the image information is acquired again until the recall target object is identified in the image information.

[0148] In the case that the recall target object is identified, step 103 is performed, and the water pool automatic cleaning device is controlled to move to the recall target object.

[0149] In the case that the recall target object is identified in the image information, the robot needs to be controlled to move to the recall target object, so that the robot can return to the recall target object, facilitating the user to subsequently recycle the robot or the robot to return to the base station for charging, etc.

[0150] For example, in the process of controlling the robot to move to the recall target object, the first sensor can be used to continuously acquire obstacle information in the forward direction of the robot. In the case that it is determined according to the obstacle information that there is an obstacle in the forward direction of the robot, the robot can be difficult to continue to move based on the current forward direction. At this time, the robot is controlled to rotate by a second predetermined angle and then continue to move, and in the process of the robot continuing to move after rotating by the second predetermined angle, it is determined whether the robot has passed the obstacle. In the case that the robot has passed the obstacle, the robot can be controlled to continue to move to the recall target object. The first sensor can be, for example, an infrared sensor, a laser radar sensor, a vision sensor, or an ultrasonic sensor, etc.

[0151] The embodiments described in the present application have the following beneficial effects: the control method of the water pool automatic cleaning device provided in the present application can quickly and accurately identify the recall target object by acquiring and identifying the surrounding image information in the case that the water pool automatic cleaning device receives the recall instruction, and can control the water pool automatic cleaning device to smoothly move to the recall target object. The method can perform point or directional recall on the water pool automatic cleaning device after the cleaning task is completed, has a certain intelligence, and is convenient for smoothly recycling the water pool automatic cleaning device or charging the robot.

[0152] In one embodiment, controlling the water pool automatic cleaning device to move to the recall target object includes, in the case that the recall target object moves, controlling the water pool automatic cleaning device to always move towards the recall target object during the movement.

[0153] In the case that the recall target is a moving object, it is necessary to control the robot to always move towards the recall target when controlling the robot to move towards the recall target. For example, when controlling the robot to move towards the recall target, the image information collection by the image collection device can be continuously performed towards the direction of the recall target, and the movement trend of the recall target can be determined through the identification of the image information, and then the movement direction of the robot can be adjusted according to the movement trend of the recall target, so that the advancing direction of the robot is always towards the recall target during the movement.

[0154] In one embodiment, the image information around the pool automatic cleaning device is collected by the image collection device, including: controlling the pool automatic cleaning device or the image collection device to rotate by a first predetermined angle; during the rotation of the pool automatic cleaning device or the image collection device, collecting the image information around the pool automatic cleaning device by the image collection device.

[0155] When controlling the image collection device to collect the image information around the robot, the robot can be controlled to rotate by a first predetermined angle first, and the image information can be collected by the image collection device during the rotation of the robot. For example, the robot can rotate in place (i.e., the robot rotates around its current position), or the robot can be controlled to move a certain distance and then rotate in place. The robot can also be controlled to remain stationary, and the image collection device can be controlled to rotate by a first predetermined angle to collect the image information. The first predetermined angle can be 360 degrees or close to 360 degrees, which is not limited in the embodiments of the present application, as long as the angle of rotation of the robot or the angle of rotation of the image collection device can realize the technical principles of the present application. The rotation of the robot can be achieved by the speed difference between the left and right wheels. During the rotation of the robot or the image collection device by the first predetermined angle, the image information collection function of the image collection device is started to accurately collect the image information around the robot.

[0156] In one embodiment, the control of the pool automatic cleaning device to move towards the recall target includes:

[0157] determining the position information of the recall target; and based on the position information, controlling the pool automatic cleaning device to move towards the recall target.

[0158] In a case where the recall target object is identified through the image information, position information of the recall target object can be determined first, and then the robot is controlled to move based on the position information of the recall target object, so that the robot can accurately move to the recall target object.

[0159] In an embodiment, the controlling the pool automatic cleaning device to move to the recall target object based on the position information includes: determining a rotation angle to be rotated of the pool automatic cleaning device based on the position information; controlling the pool automatic cleaning device to rotate based on the rotation angle to be rotated, so that a moving direction of the pool automatic cleaning device is opposite to the recall target object; and controlling the pool automatic cleaning device to move to the recall target object in a direction opposite to the moving direction.

[0160] For example, after the position information of the recall target object is determined, the recall target object can be located in front of the moving direction of the robot, or can not be located in front of the moving direction of the robot. Therefore, based on the position information of the recall target object, the rotation angle to be rotated of the robot needs to be determined first, and the robot is controlled to rotate based on the rotation angle to be rotated, so that the moving direction of the robot is opposite to the recall target object. It can be understood that, in a case where the recall target object is located in front of the moving direction of the robot, the rotation angle to be rotated is 0°, and the robot is controlled to rotate based on the rotation angle to be rotated, so that the robot is kept still.

[0161] In a case where the moving direction of the robot is adjusted to be opposite to the recall target object, the robot is controlled to move in the current moving direction, so that the robot can move to the recall target object.

[0162] In an embodiment, in a case where the image acquisition device is a monocular image acquisition device, the determining the position information of the recall target object includes: determining the position information of the recall target object based on calibration parameters of the monocular image acquisition device.

[0163] In a case where the image acquisition device is a monocular image acquisition device, the position information of the recall target object can be determined based on calibration parameters of the monocular image acquisition device. The monocular image acquisition device can be calibrated before leaving the factory, and the calibration parameters of the monocular image acquisition device can include intrinsic parameters and extrinsic parameters, wherein the intrinsic parameters can include focal length, principal point (optical center) coordinates, distortion coefficients, etc., and the extrinsic parameters can include a rotation matrix and a translation vector, etc. The position information of the recall target object relative to the monocular image acquisition device can be determined through the calibration parameters of the monocular image acquisition device. Further, the position of the monocular image acquisition device on the robot is known in advance. After the position information of the recall target object relative to the monocular image acquisition device is determined, the position information of the recall target object relative to the robot can be determined through coordinate system conversion, which can include distance and direction, for example. After the position information of the recall target object relative to the robot is determined, the robot can be controlled to adjust its motion trajectory and attitude according to the position information, and move towards the position of the recall target object to perform the recall action.

[0164] It can be understood that the above description of determining the position information of the recall target object is only exemplary, and the manner of determining the position information of the recall target object protected by the present application is not limited to the above-mentioned content. Those skilled in the art can adjust it according to the actual situation, as long as the technical principles of the present application can be realized.

[0165] In one embodiment, the acquisition direction of the image acquisition device is consistent with the travel direction of the pool automatic cleaning device, and the control of the pool automatic cleaning device to move to the position of the recall target object comprises:

[0166] During the movement of the pool automatic cleaning device, the turning of the pool automatic cleaning device is adjusted so that the recall target object is within the acquisition range of the image acquisition device.

[0167] In a case where the acquisition direction of the image acquisition device is consistent with the travel direction of the robot, during the control of the robot to move to the position of the recall target object, the turning of the robot can be continuously adjusted according to the position of the recall target object, so that the recall target object is always within the acquisition range of the image acquisition device during the movement of the robot, i.e., the recall target object is always within the view window of the image acquisition device during the movement of the robot, so as to realize the "tracking" movement of the robot to the recall target object through the image acquisition device. In this case, the robot can be controlled to move to contact or approach the recall target object without the position information of the recall target object.

[0168] In one embodiment, the control method further comprises: determining that the pool cleaning robot is in contact with the recall target object; or, determining that the distance between the pool cleaning robot and the recall target object is less than a predetermined distance.

[0169] When the robot is controlled to move to the recall target object, it is possible to make the robot in contact with the recall target object or to make the distance between the robot and the recall target object less than a predetermined distance, which can be regarded as that the robot has completed the recall action. For example, when the recall target object is a base station on or under water, it is necessary to control the robot to be in contact with the recall target object to ensure that the robot can return to the base station to perform charging or other actions. When the recall target object is a user on the bank of the pool, it is only necessary to control the robot to be close to the recall target object by making the distance between the robot and the recall target object less than a predetermined distance. The size of the predetermined distance can be set as needed, which is not limited in the embodiments of the present application.

[0170] According to a second aspect of the present application, a pool cleaning robot is further provided. The pool cleaning robot can perform the control method described in the above embodiments.

[0171] According to a third aspect of the present application, a non-transitory computer readable storage medium is further provided, which stores a computer program. When the computer program is executed by a processor, the control method of the pool cleaning robot provided in the above embodiments is implemented, and the pool cleaning robot comprises an image acquisition device, and the method comprises: when the pool cleaning robot receives a recall instruction, acquiring image information around the pool cleaning robot by the image acquisition device; performing recall target object identification on the image information; and when the recall target object is identified, controlling the pool cleaning robot to move to the recall target object. The principle and scheme of the control method are described above in combination with the embodiments and the drawings, which will not be described here.

[0172] In a fourth aspect, the present application also provides a computer program product, which comprises a computer program, the computer program being stored in a non-transitory computer-readable storage medium, and the computer program being capable of executing the control method of the pool automatic cleaning device provided by each method described above when executed by a processor, the pool automatic cleaning device comprising an image acquisition device, the method comprising: in the case where the pool automatic cleaning device receives a recall instruction, acquiring image information around the pool automatic cleaning device by the image acquisition device; performing recall target object identification on the image information; in the case where a recall target object is identified, controlling the pool automatic cleaning device to move to the recall target object. The principle and scheme of the control method are described above in combination with the various embodiments and the accompanying drawings, and will not be described here again.

[0173] The device embodiments described above are merely illustrative, wherein the units illustrated as separate components can or can not be physically separated, and the components illustrated as units can or can not be physical units, i.e., can be located in one place, or can be distributed on multiple network units. Part or all of the modules can be selected to achieve the purpose of the embodiment scheme according to actual needs. Those skilled in the art can understand and implement it without creative labor.

[0174] From the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be realized by means of software plus a necessary general hardware platform, and of course can also be realized by hardware. Based on such understanding, the above technical solutions can be embodied in the form of a software product in essence or in the form of a part of the technical contribution, and the computer software product can be stored in a computer readable storage medium, such as a ROM / RAM, a magnetic disk, an optical disk, etc., and includes a plurality of instructions to make a computer device (which can be a personal computer, a server, or a network device, etc.) execute the methods described in each embodiment or some parts of the embodiments.

[0175] The following content refers to FIGS. 5-9. FIG. 5 schematically shows an outer shape of a pool automatic cleaning device 10 according to an embodiment of the present disclosure. It can perform cleaning operations on the bottom, walls, water, and water surface of a pool (e.g., a swimming pool) as needed, such as for cleaning garbage in the water, on the bottom and walls of the pool, and on the water surface, and the like. As shown in FIG. 5, the pool automatic cleaning device 10 can include a housing 110, a traveling mechanism 120, a cleaning mechanism 130, and the like. As an example, the pool automatic cleaning device 10 can also include a buoyancy adjustment mechanism, so that the pool automatic cleaning device can adjust its depth in the water as needed, such as to float on the water surface, dive into the water, and sink to the bottom of the pool, in order to perform cleaning operations on the water surface, in the water, or on the bottom of the pool. As an example, a control compartment, a power compartment, and a filtering mechanism can be provided in the housing 10, in which measurement and control circuits such as a control unit, an inertial measurement unit (IMU), and the like can be installed in the control compartment, driving mechanisms such as a water pump, a driving motor, and the like can be provided in the power compartment, and a filtering mechanism such as a filter basket can filter and purify water entering the filter basket through a water inlet, remove dirt therefrom, and discharge the cleaned water from the pool automatic cleaning device through a water outlet. As an example, FIG. 5 shows that the traveling mechanism 120 can include a caterpillar traveling mechanism on both sides of the lower part of the pool automatic cleaning device 10, so that the pool cleaning mechanism can travel in the water, on the bottom of the pool, or on the walls of the pool, thereby performing corresponding cleaning operations. However, the traveling mechanism is not limited to this type shown in FIG. 5, but can include, for example, a wheel traveling mechanism, which is not limited herein. As an example, the traveling mechanism can also include a water spraying mechanism, so that the pool automatic cleaning device 10 can use the pressure generated by the sprayed water flow to adhere to the pool wall when traveling on the pool wall, thereby maintaining the stability of the travel. As shown in FIG. 5, the cleaning mechanism 130 can include a roller brush or the like on the front and / or rear side of the pool automatic cleaning device.

[0176] According to one or more embodiments, the pool automatic cleaning device 10 can be configured to drive the traveling mechanism 120 to drive the pool automatic cleaning device 10 to travel along a specific trajectory or in a specific direction on the bottom, walls, water, and water surface of the pool under the control of the control unit inside the pool automatic cleaning device according to a specified mode; at the same time, the cleaning mechanism 130 can be activated to clean garbage, dirt, and the like on the bottom, walls, water, and water surface of the pool, so that it is sucked into the filter basket of the pool automatic cleaning device together with the water flow. Then, the garbage, dirt, and the like are retained in the filter basket by filtering through the filter basket, and the cleaned water is discharged from the pool automatic cleaning device, thereby achieving cleaning of the pool.

[0177] The pool automatic cleaning device 10 shown in FIG. 5 is only an example, and one skilled in the art can change one or more aspects of its appearance, structure, layout, components, functions, etc. according to actual needs without departing from the principles of the present disclosure.

[0178] Generally, when the pool automatic cleaning device is performing cleaning operation, water flows into the filter basket through the water inlet for filtration; and when the pool automatic cleaning device is taken out of water for maintenance by the user, such as cleaning the garbage in the filter basket, replacing the filter basket, or replacing the filter screen in the filter basket, the water remaining in the space inside the pool automatic cleaning device accommodating the filter basket is not easy to be drained, and even the entire body of the pool automatic cleaning device needs to be inverted to drain the remaining water, which causes great inconvenience to the user.

[0179] Therefore, the present disclosure proposes a pool automatic cleaning device, wherein a filter basket accommodating bin capable of detachably mounting a filter basket is arranged, and a drain port is arranged at the bottom of the filter basket accommodating bin, which is closed when water is driven into the filter basket, so that the pool automatic cleaning device can perform normal cleaning operation, and when the pool automatic cleaning device is taken out of water, the drain port is automatically opened to drain the water remaining in the filter basket accommodating bin, without the need to invert or turn over the entire body of the pool automatic cleaning device to drain the water remaining in the filter basket accommodating bin, so as to facilitate the user to maintain the pool automatic cleaning device, such as cleaning the garbage in the filter basket, replacing the filter basket, or replacing the filter screen in the filter basket, and improve the user experience.

[0180] According to an embodiment of the present disclosure, the pool automatic cleaning device comprises: a filter basket for filtering water entering the filter basket; and a filter basket accommodating bin, the filter basket being detachably mounted into the filter basket accommodating bin, the filter basket accommodating bin comprising a frame; wherein a first drain port is arranged at the bottom of the frame, and the first drain port is closed when water is driven into the filter basket; and the first drain port is opened to drain the water remaining in the filter basket accommodating bin when the pool automatic cleaning device is taken out of water.

[0181] FIG. 6A schematically shows a top view of the internal structure of a pool automatic cleaning device according to an embodiment of the present disclosure after removing the top cover, wherein some components irrelevant to the principles of the present disclosure are omitted.

[0182] As shown in FIG. 6A, the pool automatic cleaning device 20 comprises a filter basket accommodating bin 210, wherein a filter basket (not shown here for better showing the structure of the filter basket accommodating bin 210) is detachably mounted in the filter basket accommodating bin 210, and the filter basket can filter water entering the filter basket.

[0183] As shown in FIG. 6A, the filter basket containing compartment 210 includes a frame, and a first water outlet 220 is provided at the bottom of the frame, wherein the first water outlet 220 is closed when water flow is driven into the filter basket, and the first water outlet 220 is opened to drain water in the filter basket containing compartment when the pool automatic cleaning device is lifted out of water.

[0184] FIG. 6B schematically shows a perspective structure of the filter basket containing compartment 210 of the pool automatic cleaning device according to an embodiment of the present disclosure. As shown in FIG. 6B, a first one-way valve sheet 2210 for water outlet is further provided at the first water outlet 220 provided at the bottom of the filter basket containing compartment.

[0185] According to one or more embodiments of the present disclosure, as shown in FIGS. 6A-2B, a second water outlet 240 is provided at the side of the frame of the filter basket containing compartment, and water filtered through the filter basket can be drained through the second water outlet 240.

[0186] According to one or more embodiments of the present disclosure, as shown in FIGS. 6A-2B, a first water inlet 230 is provided at the bottom of the frame, and the first water outlet 220 is located closer to the second water outlet 240 than the first water inlet 230.

[0187] According to one or more embodiments of the present disclosure, as shown in FIG. 6A, the pool automatic cleaning device 20 further includes a water flow driving mechanism 260, such as a water pump and an impeller shown in FIG. 6A, for driving water flow into the filter basket for filtration, and a shell 270 in which the filter basket containing compartment 260 is installed.

[0188] FIG. 6C schematically shows the internal structure of the pool automatic cleaning device after the filter basket containing compartment is removed. As shown in FIG. 6C, a second water inlet 2710 is provided at the shell 270. As an example, a second one-way valve sheet (not shown) for water flow into the filter basket is provided at the first water inlet or the second water inlet; when water flow is driven into the filter basket, the second one-way valve sheet is opened to connect the first water inlet and the second water inlet; when water flow is stopped to be driven into the filter basket, the second one-way valve sheet is closed.

[0189] FIG. 7 schematically shows the structure of the bottom of the pool automatic cleaning device according to an embodiment of the present disclosure. As shown in FIG. 7, a third water outlet 310 is further provided at the bottom of the shell of the pool automatic cleaning device, and the third water outlet can be connected with the first water outlet 220 of the filter basket containing compartment.

[0190] As an example, as shown in FIG. 7, the third water outlet 310 includes a plurality of water draining holes.

[0191] According to one or more embodiments of the present disclosure, the second water inlet of the pool automatic cleaning device is arranged at the bottom of the shell thereof. As an example, as shown in FIG. 7, the second water inlet 3710 is arranged at the bottom of the shell of the pool automatic cleaning device.

[0192] FIG. 8 is a view of the entity structure of the filter basket containing bin of the pool automatic cleaning device from the bottom view according to an embodiment of the present disclosure.

[0193] For example, as shown in FIG. 8, the bottom of the filter basket containing bin 410 is provided with a water inlet 430, and the side is provided with a water outlet 440. When the pool automatic cleaning device performs a cleaning operation, water is sucked from the pool by a water flow driving unit, and the water flow is driven to enter the water inlet 430 arranged at the bottom of the filter basket containing bin 410 through the water inlet 3710 arranged at the shell of the pool automatic cleaning device, for example, as shown in FIG. 7, so that the water can be filtered by the filter basket installed in the filter basket containing bin, and the filtered water is discharged from the filter basket containing bin through the water outlet 440 arranged at the side of the filter basket containing bin, and then is discharged from the pool automatic cleaning device by the water flow driving mechanism, such as a water pump.

[0194] As shown in FIG. 8, one or more water outlets 420 can also be arranged at the bottom of the filter basket containing bin 410, and a one-way valve piece for discharging water is arranged at the one or more water outlets. When the pool automatic cleaning device performs a normal cleaning operation, that is, when the water flow is driven to enter the filter basket, under the pressure of the water flow, the one-way valve piece is closed, so that the one or more water outlets 420 are closed; when the pool automatic cleaning device is lifted out of the water, due to the lack of pressure of the water flow, the one-way valve piece naturally sinks under the action of gravity, so that the one or more water outlets 420 are opened, so that the residual water in the filter basket containing bin can be discharged.

[0195] As an example, in combination with FIG. 7, since the water outlet 310 is arranged at the bottom of the shell of the pool automatic cleaning device, and the water outlet 310 can be communicated with the water outlet 420 arranged at the bottom of the filter basket containing bin 410, when the pool automatic cleaning device is lifted out of the water, due to the automatic opening of the one-way valve piece arranged at the bottom of the filter basket containing bin 410, the residual water in the filter basket containing bin 410 can be discharged from the pool automatic cleaning device through the water outlet 310 arranged at the bottom of the shell of the pool automatic cleaning device.

[0196] According to one or more embodiments of the present disclosure, the bottom of the shell of the pool automatic cleaning device and the bottom of the filter basket containing bin have a gap, and the height of the gap determines the opening degree of the first one-way valve piece.

[0197] As an example, according to one or more embodiments of the present disclosure, the material of the first one-way valve sheet includes a flexible material such as rubber, so that when the pool automatic cleaning device is performing normal cleaning operation, the first one-way valve sheet can be as close as possible to seal the drain port 420 at the bottom of the filter basket containing bin, so that the suction force of the water flow driving mechanism such as a water pump is concentrated inside the filter basket, improving the driving efficiency of the water flow driving mechanism.

[0198] FIG. 9 schematically shows a partial cross-sectional view of a pool automatic cleaning device according to an embodiment of the present disclosure. As shown in FIG. 9, when the pool automatic cleaning device is performing normal cleaning operation, the water flow driving mechanism can drive the water flow to enter the internal cavity 560 of the filter basket installed in the filter basket containing bin 510 via the water inlet 520 provided on the shell, at this time, due to the action of the water flow driving mechanism, there is a pressure difference between the inside and outside of the containing bin, and the one-way valve sheet 540 provided at the drain port 530 at the bottom of the filter basket containing bin 510 is adsorbed and tightly attached to the drain port 530 under the action of the pressure difference, thereby being able to block the water flow path between the bottom drain port 530 of the filter basket containing bin and the drain port 550 provided at the bottom of the shell of the pool automatic cleaning device; while the pool automatic cleaning device is lifted out of the water, the one-way valve sheet 540 provided at the drain port 530 at the bottom of the filter basket containing bin 510 is automatically opened, so that the water remaining in the filter basket containing bin 510 can be discharged out of the pool automatic cleaning device via the drain port 550 provided at the bottom of the shell of the pool automatic cleaning device.

[0199] According to the pool automatic cleaning device of the present disclosure, a separate filter basket containing bin is provided in the pool automatic cleaning device to install a detachable filter basket, and a drain port is provided at the bottom of the filter basket containing bin, which is closed when water flow is driven into the filter basket, so that the pool automatic cleaning device can perform normal cleaning operation, and when the pool automatic cleaning device is lifted out of the water, the drain port is automatically opened to discharge the water remaining in the filter basket containing bin, without the need to invert the entire body of the pool automatic cleaning device to empty the water remaining in the filter basket containing bin, so as to facilitate the user to maintain and maintain the pool automatic cleaning device, such as cleaning the garbage in the filter basket, replacing the filter basket or replacing the filter screen in the filter basket, and improve the user's experience.

[0200] The following is described with reference to FIGS. 10-13. As shown in FIG. 10, a filtration device 100 is provided, which can be used in a pool cleaning apparatus, and in particular, the filtration device 100 can be used in a pool cleaning robot. The pool cleaning robot moves in a pool to clean the pool. The filtration device 100 is at least partially located inside the pool cleaning robot, and fluid flows through the filtration device 100 to achieve the cleaning effect. A portion of the filtration device 100 is located inside the pool cleaning robot, and another portion can be located outside the pool cleaning robot. The filtration device 100 can be entirely located outside the pool cleaning robot. The filtration device 100 includes a water surface inlet, which allows water flow to pass through. In particular, dirty liquid on the water surface can enter the interior of the filtration device 100 through the water surface inlet. After the water flow enters the water surface inlet, the water flow can be filtered by the filtration device 100. In this way, the pool cleaning robot sucks in the fluid with dirt through the water surface inlet during cleaning, and after the fluid is treated by the filtration device 100 inside, the water is discharged from the water outlet.

[0201] The pool cleaning robot includes a housing, which can serve as the basis of the pool cleaning robot. The housing is usually designed in a streamlined manner to reduce underwater resistance, and the material is usually plastic or metal. The pool cleaning robot also includes a power system, which includes a drive wheel or a propeller, which can propel the housing to move, such as converting the energy of the motor into mechanical motion, so as to realize the forward movement of the pool cleaning robot in the water.

[0202] In an embodiment, the filtration device 100 is detachably connected to the housing. The filtration device 100 is used to contain dirt. The filtration device 100 can be installed inside the housing. Liquid in the pool can enter the filtration device 100 through the water surface inlet. The filtration device 100 filters the liquid, so that the dirt is located in the filtration device 100, and the pool cleaning robot discharges the filtered clean liquid from the pool cleaning robot. The filtration device 100 can also be removed from the housing. The operator can remove the dirt in the filtration device 100, so as to ensure the cleanliness of the filtration device 100.

[0203] The filtering device 100 comprises a body structure 110 for containing sundries. The body structure 110 can be configured as a substantially cubic structure or a substantially spherical structure. The body structure 110 can be made of plastic or metal or other materials to have good structural performance. The body structure 110 has a filtering cavity member 111. The filtering cavity member 111 is configured as a hollow structure. The filtering cavity member 111 is used to contain sundries in the suction fluid. The filtering device 100 can filter the sundries in the fluid so that the sundries are located in the filtering cavity member 111, and the cleaned fluid can be discharged. The body structure 110 is detachably connected with the shell. The body structure 110 and the shell can be connected together by clamping. The body structure 110 can be installed inside the shell, or the body structure 110 can be taken out of the shell.

[0204] The filtering device 100 further comprises an adsorption structure 120 rotatably arranged on the body structure 110. The rotation of the adsorption structure 120 can drive the water flow and the visible garbage on the water surface into the body structure 110. In order to be able to adsorb the sundries such as oil stains on the water surface, the adsorption structure 120 is provided with an adsorption material 160. The adsorption material 160 can adsorb the sundries on the water surface.

[0205] The adsorption material 160 can be made of various types of adsorption sponge or other materials that can adsorb oil stains. In an embodiment, the adsorption material 160 is made of adsorption sponge, paper material or oil absorption felt. In particular, the adsorption material 160 can adsorb oil stains, planktonic microorganisms and / or viscous substances on the water surface. The adsorption material 160 can be in contact with the water flow when the adsorption structure 120 rotates, and can effectively adsorb the sundries on the water surface. When the filtering device 100 is working, the leakage of the sundries on the water surface with the water flow can be effectively avoided. While the adsorption structure 120 pushes the garbage on the water surface, the adsorption material 160 can simultaneously adsorb the oil stains and microorganisms on the water surface. The adsorption material 160 is detachably connected to the adsorption structure 120. The adsorption material 160 can be easily replaced. Thus, the adsorption material 160 that has adsorbed the sundries can be detached, and a new adsorption material 160 can be replaced.

[0206] According to the filtering device 100 of the present application for a pool cleaning robot, the filtering device 100 comprises a body structure 110 and an adsorption structure 120, the body structure 110 has a filtering cavity member 111, and the adsorption structure 120 is rotatably arranged on the shell structure body structure 110 and is provided with an adsorption material 160. In this way, the adsorption material 160 can be in contact with the water flow when the adsorption structure 120 rotates, and can effectively adsorb the sundries on the water surface. While the adsorption structure 120 pushes the garbage on the water surface, the adsorption material 160 can simultaneously adsorb the oil stains and microorganisms on the water surface, so that a higher degree of water surface cleaning is achieved, and the leakage of the sundries on the water surface with the water flow can be effectively avoided.

[0207] In an embodiment of the present disclosure, as shown in FIG. 11, the adsorption structure 120 comprises a rolling member 130 and a vane member 140, the vane member 140 being rotatably connected to the body structure 110 through the rolling member 130. The rolling member 130 is rotatably connected to the body structure 110. The body structure 110 comprises a first wall member 112 and a second wall member 113, the first wall member 112 and the second wall member 113 being spaced apart along the length direction of the body structure 110. The rolling member 130 is located between the first wall member 112 and the second wall member 113. In an embodiment, the rolling member 130 is perpendicularly connected to the first wall member 112. The rolling member 130 is perpendicularly connected to the second wall member 113. The rolling member 130 is capable of rolling relative to the body structure 110. The rolling member 130 is capable of rolling relative to the first wall member 112. The rolling member 130 is capable of rolling relative to the second wall member 113.

[0208] As shown in FIG. 12 and FIG. 13, the rolling member 130 further comprises a gear unit 131, a shaft unit 132 and an engaging unit 133, the axial direction of the shaft unit 132 being parallel to the length direction of the body structure 110. The shaft unit 132 is connected to the gear unit 131 through the engaging unit 133. The center of the gear unit 131 is connected to the engaging unit 133. The engaging unit 133 is connected to the surface of the gear unit 131 facing the shaft unit 132. The gear unit 131 is capable of driving the engaging unit 133 to rotate. The engaging unit 133 is configured as a buckle. The shaft unit 132 comprises a clamping hole, the clamping hole and the buckle being clamped together. The engaging unit 133 is capable of driving the shaft unit 132 to rotate.

[0209] The gear unit 131 is located outside the body structure 110. The gear unit 131 is connected to a power system. The power system is capable of driving the gear unit 131 to rotate, thereby driving the shaft unit 132 to rotate. The shaft unit 132 is located inside the body structure 110. In an embodiment, the first wall member 112 is provided with a rotating hole, the rotating hole penetrating through the first wall member 112. The rotating hole penetrates through the first wall member 112 along the length direction of the body structure 110. The engaging unit 133 is arranged in the rotating hole. The engaging unit 133 is capable of rotating in the rotating hole. Thus, the shaft unit 132 is capable of rotating in the body structure 110. The shaft unit 132 comprises a rotating end and a positioning end 134, the rotating end and the positioning end 134 being located at two ends of the shaft unit 132 along the axial direction of the shaft unit 132. The rotating end is provided with a clamping hole. The clamping hole of the rotating end is connected to the engaging unit 133. Thus, the rotating end is rotatably connected to the rotating hole.

[0210] In embodiments of the present disclosure, the rolling member 130 further comprises a positioning unit 136 connected with the body structure 110. The positioning unit 136 is capable of positioning the position of the shaft unit 132 to prevent the shaft unit 132 from deviating. The positioning unit 136 comprises a protrusion 137 connected with the second wall member 113. The protrusion 137 is connected with the second wall member 113 by welding or injection molding. The positioning unit 136 comprises a positioning hole 135 connected with the shaft unit 132. The shaft unit 132 is arranged in the positioning hole 135. The position of the positioning hole 135 corresponds to the position of the rotating hole. The positioning hole 135 corresponds to the rotating hole in the axial direction of the shaft unit 132. The positioning end 134 is connected with the positioning hole 135. The positioning end 134 is rotatably connected with the positioning hole 135.

[0211] In embodiments of the present disclosure, the second wall member 113 can also be directly provided with a positioning hole connected with the shaft unit 132. The shaft unit 132 is arranged in the positioning hole. The position of the positioning hole corresponds to the position of the rotating hole. The positioning hole corresponds to the rotating hole in the axial direction of the shaft unit 132. The positioning end 134 is connected with the positioning hole. The positioning end 134 is rotatably connected with the positioning hole.

[0212] The blade member 140 is connected to the rolling member 130. The blade member 140 is connected to the shaft unit 132. The rotation of the shaft unit 132 can drive the rotation of the blade member 140. The body structure 110 comprises a water surface water inlet. The adsorption structure 120 can guide the water flow to flow into the water surface water inlet. The rolling member 130 rotates, and the adsorption structure 120 can guide the water flow to flow into the water surface water inlet. The rolling member 130 rotates, and the liquid in the pool can enter the filter device 100 through the water surface water inlet. The adsorption material 160 filters the liquid, so that the dirt is absorbed by the adsorption material 160.

[0213] The adsorption structure 120 comprises at least two blade members 140 arranged at intervals in the circumferential direction of the rolling member 130. In embodiments of the present disclosure, the adsorption member comprises two blade members 140 arranged at intervals in the circumferential direction of the rolling member 130. In embodiments of the present disclosure, the adsorption member comprises a plurality of blade members 140 arranged at intervals in the circumferential direction of the rolling member 130. The number of adsorption members can be three, four or more. More blade members 140 are arranged at intervals in the circumferential direction of the rolling member 130.

[0214] In one embodiment, at least two vane members 140 are arranged in a circumferential direction of the shaft unit 132. For example, the adsorption member includes two vane members 140 (a first vane member 141 and a second vane member 142), and the first vane member 141 and the second vane member 142 are arranged in a circumferential direction of the shaft unit 132. Of course, the adsorption member includes a plurality of vane members 140, and the plurality of vane members 140 are arranged in a circumferential direction of the shaft unit 132. The number of the adsorption members can be three, four, or more, and the plurality of vane members 140 are arranged in a circumferential direction of the shaft unit 132.

[0215] The adsorption structure 120 further includes a support member 150 connecting the vane member 140 and the rolling member 130. The thickness direction of the support member 150 is parallel to the axial direction of the shaft unit 132. The support member 150 is configured as a substantially plate-like structure. The support member 150 is connected to the shaft unit 132 perpendicularly. The support member 150 is connected to the end portion of the shaft unit 132 perpendicularly. The support member 150 is further connected to the vane member 140. The thickness direction of the vane member 140 is parallel to the circumferential direction of the shaft unit 132. The support member 150 is connected to the vane member 140 perpendicularly. The surface of the support member 150 is connected to the vane member 140 perpendicularly. In one embodiment, the support member 150 and the shaft unit 132 are connected together by welding or injection molding. The support member 150 and the vane member 140 are connected together by welding or injection molding.

[0216] In order to ensure the structural strength of the adsorption structure 120, the adsorption structure 120 includes at least two support members 150 arranged in an axial direction of the rolling member 130. For example, the adsorption structure 120 includes two support members 150 (a first support member 151 and a second support member 152), and the first support member 151 and the second support member 152 are arranged in an axial direction of the shaft unit 132. Of course, the adsorption member includes a plurality of support members 150, and the plurality of support members 150 are arranged in an axial direction of the shaft unit 132. The number of the adsorption members can be three, four, or more, and the plurality of support members 150 are arranged in an axial direction of the shaft unit 132.

[0217] The vane member 140 includes at least two vane units 143, which are arranged in the axial direction of the shaft unit 132. For example, the adsorption member includes two vane units 143 (a first vane unit 144 and a second vane unit 145), which are arranged in the axial direction of the shaft unit 132. Of course, the adsorption member can also include a plurality of vane units 143, which are arranged in the axial direction of the shaft unit 132. The number of vane units 143 can be three, four, or more.

[0218] The vane units 143 are located between adjacent support members 150. The adsorption structure 120 includes a first support member 151, a second support member 152, and a third support member 153, which are arranged in the axial direction of the shaft unit 132. The first support member 151 and the second support member 152 are adjacent. The second support member 152 and the third support member 153 are adjacent. The vane member 140 includes a first vane unit 144 and a second vane unit 145, which are arranged in the axial direction of the shaft unit 132. The first vane unit 144 is located between the adjacent first support member 151 and the second support member 152. The second vane unit 145 is located between the adjacent second support member 152 and the third support member 153.

[0219] The adsorption material 160 is provided on the surface of the vane member 140. The adsorption material 160 is connected to the vane member 140 by a connecting member, or the adsorption material 160 is connected to the vane member 140 by adhesion. The connecting member can be a bolt or a screw, etc. In an embodiment, the adsorption material 160 can be provided on the surface of the vane unit 143. The adsorption material 160 is connected to the vane unit 143 by a connecting member, or the adsorption material 160 is connected to the vane unit 143 by adhesion. The connecting member can be a bolt or a screw, etc. The vane member 140 includes a first surface 146 and a second surface 147, which respectively face opposite directions in the thickness direction of the vane member 140. The first surface 146 can face the water flow direction. The second surface 147 can face away from the water flow direction. The adsorption material 160 can be connected to the first surface 146 by a connecting member. The adsorption material 160 can also be connected to the first surface 146 by adhesion. The vane member 140 can be connected to the second surface 147 by a connecting member. The adsorption material 160 can also be connected to the second surface 147 by adhesion.

[0220] In embodiments of the present disclosure, the support member 150 is connected with the adsorbing material 160. The adsorbing material 160 is connected to the support member 150 by a connecting member, or the adsorbing material 160 is connected to the support member 150 by adhesion. In this way, the adsorbing material 160 on the support member 150 can adsorb dirt. The adsorbing material 160 is arranged on the surface of the support member 150. The adsorbing material 160 is connected to the support member 150 by a connecting member, or the adsorbing material 160 is connected to the support member 150 by adhesion. The connecting member can be a bolt or a screw, etc. The support member 150 includes a third surface 154 and a fourth surface 155, the third surface 154 and the fourth surface 155 respectively face opposite directions along the thickness direction of the support member 150. The adsorbing material 160 can be connected to the third surface 154 by a connecting member. The adsorbing material 160 is connected to the third surface 154 by adhesion. The support member 150 can be connected to the fourth surface 155 by a connecting member. The adsorbing material 160 is connected to the fourth surface 155 by adhesion.

[0221] The present application also provides a pool cleaning robot, which comprises a filtering device 100, the filtering device 100 is at least partially located inside the pool cleaning robot, the filtering device 100 comprises a water surface water inlet, after the water flow flows into the water surface water inlet, the water flow can be filtered by the filtering device 100. The pool cleaning robot further comprises an adsorbing structure 120, the adsorbing structure 120 is arranged on the shell of the pool cleaning robot. In this way, the pool cleaning robot can adsorb dirt through the adsorbing structure 120 of the shell. Or the adsorbing structure 120 is arranged on the filtering device 100, and the adsorbing structure 120 is provided with the adsorbing material 160.

[0222] The pool cleaning robot cleans in the pool during movement. The filtering device 100 is at least partially located inside the pool cleaning robot, and the fluid flows through the filtering device 100 to achieve the cleaning effect. Part of the filtering device 100 is located inside the pool cleaning robot, and the other part can be located outside the pool cleaning robot. The filtering device 100 can be located entirely outside the pool cleaning robot. The filtering device 100 comprises a water surface water inlet, the water surface water inlet can make the water flow flow through. In particular, the dirty liquid on the water surface can enter the inside of the filtering device 100 through the water surface water inlet. After the water flow flows into the water surface water inlet, the water flow can be filtered by the filtering device 100. In this way, the pool cleaning robot sucks the fluid with dirt through the water surface water inlet during cleaning, and then discharges the water from the drain after the fluid is treated by the internal filtering device 100.

[0223] A pool cleaning robot includes a housing that can serve as the base of the pool cleaning robot. The housing is typically streamlined in design to reduce underwater drag, and is made of a material such as plastic or metal. The pool cleaning robot also includes a power system that includes a drive wheel or propeller that can propel the housing to move, such as by converting the energy of an electric motor into mechanical motion, thereby enabling the pool cleaning robot to advance through the water.

[0224] The filter device 100 is detachably connected to the housing. The filter device 100 is used to contain dirt. The filter device 100 can be installed to the interior of the housing. Liquid in the pool can enter the filter device 100 through the water surface inlet. The filter device 100 filters the liquid so that the dirt is located in the filter device 100, and the cleaned liquid is discharged from the pool cleaning robot. The filter device 100 can also be removed from the housing. An operator can remove the dirt in the filter device 100, thereby ensuring the cleanliness of the filter device 100.

[0225] As shown in FIG. 10, the filter device 100 includes a body structure 110 that is used to contain dirt and the like. The body structure 110 can be configured as a substantially cubic structure or a substantially spherical structure. The body structure 110 can be made of a material such as plastic or metal to have good structural properties. The body structure 110 has a filter cavity member 111. The filter cavity member 111 is configured as a hollow structure. The filter cavity member 111 is used to contain dirt that is sucked into the fluid. The filter device 100 can filter the dirt in the fluid so that the dirt is located in the filter cavity member 111, and the cleaned fluid can be discharged. The body structure 110 is detachably connected to the housing. The body structure 110 and the housing can be connected together by a snap-fit manner. The body structure 110 can be installed to the interior of the housing, or the body structure 110 can be removed from the housing.

[0226] The filter device 100 also includes a suction structure 120 that is rotatably provided on the body structure 110. The suction structure 120 can rotate to bring the water flow and the visible garbage on the water surface into the body structure 110. In order to be able to suck the dirt such as oil stains on the water surface, the suction structure 120 is provided with a suction material 160. The suction material 160 can suck the dirt on the water surface.

[0227] The adsorption material 160 can be made of various types of adsorption sponge or other materials that can adsorb oil stains. In an embodiment, the adsorption material 160 is made of adsorption sponge, paper material or oil absorption felt. In particular, the adsorption material 160 can adsorb oil stains, floating microorganisms and / or viscous substances on the water surface. The adsorption material 160 can be in contact with the water flow when the adsorption structure 120 rotates, and can effectively absorb the dirt on the water surface. During the filtering operation of the filtering device 100, the dirt on the water surface can be effectively prevented from leaking with the water flow. While the adsorption structure 120 pushes the garbage on the water surface, the adsorption material 160 can simultaneously adsorb the oil stains and microorganisms on the water surface. The adsorption material 160 is detachably connected to the adsorption structure 120. The adsorption material 160 can be easily replaced. Thus, the adsorption material 160 that has adsorbed dirt can be detached, and a new adsorption material 160 can be replaced.

[0228] According to the pool cleaning robot of the present application, the filtering device 100 is at least partially located inside the pool cleaning robot, and the filtering device 100 includes a water surface inlet through which the water flow can be filtered by the filtering device 100. The pool cleaning robot further includes an adsorption structure 120 arranged on the housing of the pool cleaning robot. In this way, the pool cleaning robot can adsorb dirt through the adsorption structure 120 of the housing. Alternatively, the adsorption structure 120 is arranged on the filtering device 100, and the adsorption material 160 is arranged on the adsorption structure 120. In this way, the adsorption material 160 can be in contact with the water flow when the adsorption structure 120 rotates, and can effectively absorb the dirt on the water surface. While the adsorption structure 120 pushes the garbage on the water surface, the adsorption material 160 can simultaneously adsorb the oil stains and microorganisms on the water surface, achieving a higher degree of water surface cleaning, and effectively preventing the dirt on the water surface from leaking with the water flow.

[0229] The adsorption structure 120 can rotate to guide the water flow to flow into the water surface inlet. The rotation of the adsorption structure 120 can drive the water flow and the visible garbage on the water surface to flow into the water surface inlet. In order to adsorb the dirt such as oil stains on the water surface, the adsorption structure 120 is provided with the adsorption material 160. The adsorption material 160 can adsorb the dirt on the water surface. The adsorption material 160 can be in contact with the water flow when the adsorption structure 120 rotates, and can effectively absorb the dirt on the water surface. During the filtering operation of the filtering device 100, the dirt on the water surface can be effectively prevented from leaking with the water flow. While the adsorption structure 120 pushes the garbage on the water surface, the adsorption material 160 can simultaneously adsorb the oil stains and microorganisms on the water surface.

[0230] In embodiments of the present disclosure, the adsorption structure 120 includes a rolling member 130 and a vane member 140, the vane member 140 being rotatably connected to the body structure 110 through the rolling member 130. The rolling member 130 is rotatably connected to the body structure 110. The rolling member 130 can be rotated to drive the water flow and the visible garbage on the water surface to flow into the water surface inlet.

[0231] The adsorption material 160 is arranged on the surface of the vane member 140. The adsorption material 160 is connected to the vane member 140 through a connecting member, or the adsorption material 160 is connected to the vane member 140 by adhesion. The connecting member can be a bolt or a screw, etc. In an embodiment, the adsorption material 160 can be arranged on the surface of the vane unit 143. The adsorption material 160 is connected to the vane unit 143 through a connecting member, or the adsorption material 160 is connected to the vane unit 143 by adhesion. The connecting member can be a bolt or a screw, etc. The vane member 140 includes a first surface 146 and a second surface 147, the first surface 146 and the second surface 147 respectively facing opposite directions along the thickness direction of the vane member 140. The first surface 146 can face the water flow direction. The second surface 147 can face away from the water flow direction. The adsorption material 160 can be connected to the first surface 146 through a connecting member. The adsorption material 160 is connected to the first surface 146 by adhesion. The vane member 140 can be connected to the second surface 147 through a connecting member. The adsorption material 160 is connected to the second surface 147 by adhesion.

[0232] The following content refers to FIGS. 14-19. Embodiments of the present disclosure will be described in detail below with reference to the accompanying drawings. In the drawings, the same or similar parts are given the same symbol, and the description thereof is not repeated.

[0233] The pool automatic cleaning device can be configured with a housing, an inlet, an outlet, a filtering device, a driving mechanism, etc., wherein the driving mechanism can include, for example, a power mechanism such as a motor, a water pump, etc., and a traveling mechanism such as a traveling wheel, a track, a water jet, a propeller, etc., driven by the power mechanism. For example, the pool automatic cleaning device can move on the pool bottom, the pool wall or the water surface by using its driving mechanism, while sucking the pool water together with the garbage in the water from the inlet into the pool automatic cleaning device by the internal water pump, and then discharging the filtered pool water from the outlet to the pool.

[0234] The filter device of the pool automatic cleaning apparatus may, for example, include a main body (e.g., a box-type or basket-type main body) and a filter screen. In some embodiments, the filter screen can be directly adhered to the main body by in-mold injection or integrally formed with the main body. In such a case, the internal space of the filter device can be relatively narrow, for example, due to the limitation of the overall volume of the pool automatic cleaning apparatus, making it difficult for a user to clean the inside of the filter device and the inner side of the filter screen. In addition, in the case where the filter screen is damaged, the entire filter device can need to be replaced.

[0235] As shown in FIG. 14, the filter device 100 in embodiments of the present disclosure can include a main body 110 and filter assemblies 120, 140, 160, and 180, wherein at least one of the filter assemblies 120, 140, 160, and 180 can be configured to be detachably mounted on the main body 110.

[0236] In some embodiments, one or more of the filter assemblies 120, 140, 160, and 180 can be configured to be detachably mounted on the main body 110, while another one or more of the filter assemblies 120, 140, 160, and 180 can be configured to be fixedly mounted on the main body 110, e.g., integrally formed with the main body 110. In some embodiments, each of the filter assemblies 120, 140, 160, or 180 can be configured to be detachably mounted on the main body 110.

[0237] The filter assembly 120, 140, 160, or 180 can include a fixing structure 121, 141, 161, or 181 configured at an edge of the filter assembly 120, 140, 160, or 180. For example, in the case where each of the filter assemblies 120, 140, 160, or 180 is configured to be detachably mounted on the main body 110, the filter assembly 120 can be mounted to and fixed to the main body 110 by its fixing structure 121, the filter assembly 140 can be mounted to and fixed to the main body 110 by its fixing structure 121, the filter assembly 160 can be mounted to and fixed to the main body 110 by its fixing structure 161, and the filter assembly 180 can be mounted to and fixed to the main body 110 by its fixing structure 181.

[0238] The fixing structure 121, 141, 161, or 181 of the filter assembly 120, 140, 160, or 180 can include any suitable fixing structure, such as a snap structure or a magnetic attraction structure. In different embodiments, the fixing structures 121, 141, 161, or 181 of different filter assemblies 120, 140, 160, or 180 can be the same or different.

[0239] For example, the fixing structure 121 of the filter assembly 120 can include at least one elastic buckle configured at an upper edge of the filter assembly 120 and at least one limiting plate configured at a lower edge of the filter assembly 120. On the side of the main body 110 corresponding to the filter assembly 120, at least one clamping slot corresponding to the at least one elastic buckle of the filter assembly 120 and at least one limiting slot corresponding to the at least one limiting plate of the filter assembly 120 can be configured. The at least one limiting plate of the filter assembly 120 can be inserted into the corresponding at least one limiting slot on the side of the main body 110 corresponding to the filter assembly 120, and the at least one elastic buckle of the filter assembly 120 can be clamped with the corresponding at least one clamping slot on the side of the main body 110 corresponding to the filter assembly 120, so as to install the filter assembly 120 on the corresponding side of the main body 110.

[0240] In the filter device 100, at least one of the filter assemblies 120, 140, 160 and 180 is configured to be detachably installed on the main body 110. Thus, when the filter device 100 needs to be cleaned, the detachable at least one of the filter assemblies 120, 140, 160 and 180 can be detached from the main body 110, so as to facilitate cleaning of the inside and / or the side of the filter device 100. In addition, when each of the filter assemblies 120, 140, 160 or 180 is configured to be detachably installed on the main body 110, in the case that the filter screen of any one of the filter assemblies is damaged, only the filter assembly needs to be replaced, without the need to replace the entire filter device 100, so as to, for example, provide a better user experience and facilitate cost reduction and environmental protection.

[0241] In addition, in the above examples, the filter assemblies 120, 140, 160 and 180 are separate from each other. In other embodiments, two or more of the filter assemblies 120, 140, 160 and 180 can be formed integrally. For example, the filter assemblies 120 and 140 can be integral, and the filter assemblies 160 and 180 can be integral; for example, the filter assemblies 120, 140 and 160 can be integral, and the filter assembly 180 is separate; for example, the filter assemblies 140, 160 and 180 can be integral, and the filter assembly 120 is separate; and the like.

[0242] To secure two separate filter assemblies to each other, in some embodiments, the filter assembly 120, 140, 160, or 180 can further include another securing structure configured at an edge of the filter assembly, through which the filter assembly is secured to another filter assembly. For example, such a securing structure for securing to another filter assembly can be any structure suitable for securely or stably securing different filter assemblies to each other, such as a snap structure. With such an interlocking structure, the fit of the filter assembly to the main body is made more stable, so that the problem of partial escape of dirt from the gap due to slight deformation of the local filter assembly caused by water flow impact is avoided.

[0243] Taking the adjacent filter assemblies 160 and 180 as an example (other filter assemblies can be configured in the same or similar manner, or in different manners), as shown in FIG. 15, the filter assembly 180 can be configured with a securing structure 182 at an edge thereof, which can include, for example, at least one male snap, and the filter assembly 160 adjacent to the filter assembly 180 can be configured with a securing structure 162 at an edge thereof, which can include, for example, at least one female snap matching the at least one male snap of the securing structure 182, so that the filter assembly 180 and the filter assembly 160 can be secured to each other through the respective male and female snaps, as shown in FIG. 15.

[0244] In the above example, it is shown that the filter device 100 includes the filter assemblies 120, 140, 160, and 180, and that after the filter assemblies 120, 140, 160, and 180 are combined with the main body 110, the filter assemblies 120, 140, 160, and 180 become the sides of the filter device 100. In practice, depending on the shape or form of the main body 110, the filter device 100 can have more or fewer filter assemblies, and one or more sides of the filter device 100 can not be the filter assemblies described above, but can be, for example, other any suitable structure such as a partition. In such a case, for example, a structure capable of cooperating with a structure such as the securing structure 182 or 162 described above on the adjacent filter assembly 120, 140, 160, or 180 can be configured on such a side, so as to secure the filter assembly 120, 140, 160, or 180 to the side of the main body 110 in other forms or structures such as a partition.

[0245] The filter assembly 120, 140, 160, or 180 can include a frame structure and a screen assembly. Taking the filter assembly 140 as an example (other filter assemblies can be configured in the same or similar manner, or in different manners), as shown in FIG. 16, the filter assembly 140 can include a frame structure 143 and a screen assembly.

[0246] In different embodiments, the frame structure 143 and the filter screen assembly can be integrally formed or separately arranged. For example, the frame structure 143 can have a recess 145 matching the outer contour of the filter screen assembly, and the filter screen assembly can be detachably mounted on the frame structure 143 by embedding the filter screen assembly in the recess 145, thereby facilitating cleaning or replacement of the filter screen assembly.

[0247] For example, at least one of the fixing structure 141 for fixing with the main body 110 and the fixing structure 142 for fixing with the adjacent filter screen assembly 160 and / or 120 of the filter assembly 140 can be arranged on the frame structure 143.

[0248] As shown in FIG. 17, in some embodiments, the filter assembly 140 can include a first filter screen assembly 144 and / or a second filter screen assembly 146. For example, the filtering level of the first filter screen assembly 144 can be higher than that of the filter screen assembly 146, thereby forming a multi-stage filtering. Specifically, the first filter screen assembly 144 can be a polyester fiber filter screen, and the second filter screen assembly 146 can be a nylon filter screen. In other embodiments, the filter assembly 140 can further include more filter screen assemblies.

[0249] For example, both the first filter screen assembly 144 and the second filter screen assembly 146 can be mounted on the frame structure 143, and the first filter screen assembly 144 can be arranged closer to the inner cavity of the filter device 100 than the second filter screen assembly 146. In assembly, there can be no gap between the first filter screen assembly 144 and the second filter screen assembly 146, or there can be a small gap, or there can be a large gap.

[0250] Alternatively, one of the first filter screen assembly 144 or the second filter screen assembly 146 can be mounted on the frame structure 143 alone, forming a single filter screen to meet different filtering needs in different scenarios.

[0251] As shown in FIG. 18, the filter assembly 140 can further include a frame structure 147, wherein the frame structure 147 can have the same or similar structure as the frame structure 143, or can have a different structure from the frame structure 143. For example, the first filter screen assembly 144 can be mounted on the frame structure 143, and the second filter screen assembly 146 can be mounted on the frame structure 147.

[0252] For example, any suitable assembly structure such as a buckle can be configured at the edge of the frame structure 147 and / or the frame structure 143 so as to assemble the frame structure 147 and the frame structure 143 into one body, or the frame structure 143 can be configured to be embedded into the frame structure 147 or the frame structure 147 can be configured to be embedded into the frame structure 143 so as to be assembled into one body with the frame structure 147. Then, the combination of the frame structure 147 and the frame structure 143 can be installed together with the main body 110 and other adjacent filter assemblies by using the fixing structure 141 and the fixing structure 142 configured at the edge of the frame structure 147 and / or the frame structure 143. In addition, the frame structure 143 and the frame structure 147 can also be configured to be installed together with the main body 110 and other adjacent filter assemblies, respectively.

[0253] By configuring the frame structure 143 and the frame structure 147 for the different filter screen assemblies 144 and 146, respectively, in the filter assembly 140, the filter screen assemblies 144 and 146 of different filter levels can be maintained more conveniently, respectively, and the filter screen assemblies of different filter levels can be configured as needed.

[0254] FIG. 19 schematically shows an exemplary pool automatic cleaning device 600 in an embodiment of the present disclosure, which can include a housing 610 and the filter device 100 as described above, wherein the filter device 100 is detachably installed in the housing 610.

[0255] By detachably installing the filter device 100 in the housing 610 of the pool automatic cleaning device 600, at least one filter assembly of the filter device 100 can be detached from the main body 110 when the filter device 100 needs to be cleaned, so as to facilitate cleaning the inside and / or the side of the filter device 100. In addition, in the case that the filter screen of any one filter assembly is damaged, only the filter assembly needs to be replaced without replacing the entire filter device 100, so as to provide better user experience, for example, and facilitate cost reduction and environmental protection.

[0256] The above describes the basic principles of the present disclosure in combination with the embodiments. However, it should be noted that the advantages, benefits, effects and the like mentioned in the present disclosure are only examples and not limitations, and these advantages, benefits, effects and the like cannot be considered as the must-haves of each embodiment of the present disclosure. In addition, the foregoing details are only for the purpose of example and for the purpose of understanding, and are not limitations, and the foregoing details do not limit the present disclosure to be necessarily implemented by using the foregoing details.

[0257] The block diagrams of the devices, apparatuses, equipment, systems involved in the present disclosure are only illustrative examples and are not intended to require or imply that the connection, arrangement, configuration must be as shown in the block diagrams. In different embodiments, these devices, apparatuses, equipment, systems can be connected, arranged, configured in any appropriate manner.

[0258] In addition, words such as "including," "containing," "comprising," etc., are to be construed in an open-ended fashion, indicating the described elements are among those included but not limited to only those elements. The words "or" and "and" are to be construed as the word "and / or" unless the context clearly indicates otherwise. The words "comprising," "comprises" and "including" are to be construed as the word "including," but not limited to, unless the context clearly indicates otherwise.

[0259] It is also important to note that the devices, equipment and methods of the present disclosure can be embodied in a variety of different forms, and that these are shown in the drawings and are described herein for purposes of illustration and description only. The actual form employed can depend on the particular desires of the user, and the particular implementation of the device, equipment and method. It is not intended that the present disclosure be limited to the embodiments shown in the drawings.

[0260] In the present document, adjectives such as "first", "second", etc. are used to distinguish different elements / components / circuits / modules / devices / steps, and are not used to emphasize order, positional relationship, importance, priority, etc. In contrast, adjectives such as "first", "second", etc. are used to emphasize order, positional relationship, importance, priority, etc. of different elements / components / circuits / modules / devices / steps.

[0261] The above description is given for illustrative and descriptive purposes. This description is not intended to limit the embodiments of the present disclosure to the forms disclosed herein. Although a number of example aspects and embodiments have been discussed above, those skilled in the art will recognize certain modifications, permutations, additions, sub-combinations, substitutions, and the like, of the above-described aspects and embodiments.

Claims

1. An automatic pool cleaning device comprising: An air tank, a buoyancy adjusting tank, and an air pump, wherein The air tank is capable of storing a first high-pressure gas; The buoyancy adjusting tank is capable of adjusting its volume; The air pump is connected to the air tank and the buoyancy adjusting tank respectively, and the air pump has an air charging mode and an air discharging mode, wherein in the air charging mode, the air pump delivers the first high-pressure gas in the air tank to the buoyancy adjusting tank, thereby increasing the volume of the buoyancy adjusting tank; in the air discharging mode, the air pump delivers the gas in the buoyancy adjusting tank to the air tank, thereby decreasing the volume of the buoyancy adjusting tank.

2. The pool cleaning apparatus of claim 1, wherein, A water pump motor is arranged in the air tank, or a controller of the pool automatic cleaning device is arranged in the air tank.

3. The pool cleaning apparatus of claim 1, further comprising: An air pressure detecting unit is arranged in the air tank, and the air pressure detecting unit is capable of detecting the air pressure of the air tank.

4. The pool cleaning apparatus of any one of claims 1-3, wherein, The first high-pressure gas is pre-stored in the air tank.

5. The pool cleaning apparatus of any one of claims 1-3, further comprising: An air tank is arranged outside the air tank, and the air tank pre-stores a second high-pressure gas.

6. The pool cleaning apparatus of claim 5, wherein, The air tank is connected to the buoyancy adjusting tank, and the air tank is capable of delivering the second high-pressure gas to the buoyancy adjusting tank under control; Or The air tank is connected to the air tank, and the air tank is capable of delivering the second high-pressure gas to the air tank under control.

7. The pool cleaning apparatus of claim 2, wherein, The controller is capable of selecting the working mode of the air pump according to the working progress of the pool automatic cleaning device, the fault condition of the pool automatic cleaning device, the power condition, or the user instruction.

8. The pool cleaning apparatus of any one of claims 1-3, wherein, After the volume of the buoyancy adjusting tank is increased, the buoyancy of the pool automatic cleaning device in water is greater than its gravity.

9. The pool cleaning apparatus of any one of claims 1-3, wherein, The buoyancy adjusting tank is located at the tail of the pool automatic cleaning device.

10. The pool cleaning apparatus of any one of claims 1-3, wherein, At least a part of the buoyancy adjusting tank is made of a flexible material, and the flexible material is capable of adjusting the volume of the buoyancy adjusting tank.

11. The pool cleaning apparatus of any one of claims 1-3, wherein, The air tank is a sealed tank.

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