Automatic pool cleaning apparatus and control method therefor

Abstract

Disclosed are an automatic pool cleaning apparatus and a method for controlling the apparatus. The apparatus comprises: a housing provided with a water inlet, a first water outlet, and a second water outlet; a filter basket disposed in the housing and configured to filter a water flow entering through the water inlet; a first pumping device disposed in the housing on one side of the filter basket and configured to guide a water flow exiting the filter basket to be discharged through the first water outlet; and a second pumping device disposed in the housing on the other side of the filter basket and configured to guide a water flow exiting the filter basket to be discharged through the second water outlet.

Description

Automatic Water Tank Cleaning Equipment and Control Method

[0001] This disclosure claims priority to patent application CN202510471677.1, filed with the China National Intellectual Property Administration on April 15, 2025, entitled "Automatic Cleaning Device, Control Method, and Computer Storage Medium for Water Tanks"; patent application CN202520711555.0, filed with the China National Intellectual Property Administration on April 15, 2025, entitled "Automatic Cleaning Equipment for Water Tanks"; and patent application CN2025, filed with the China National Intellectual Property Administration on April 18, 2025. Priority to patent application No. 10494491.8 entitled "Automatic Cleaning Equipment and Control Method for Water Pools", priority to patent application No. CN202520753841.3 filed with the China National Intellectual Property Administration on April 18, 2025 entitled "Automatic Cleaning Equipment for Water Pools", and priority to patent application No. CN202521171205.6 filed with the China National Intellectual Property Administration on June 9, 2025 entitled "Automatic Cleaning Device for Water Pools", the entire contents of which are incorporated herein by reference. Technical Field

[0002] This disclosure relates to automatic cleaning equipment and control methods for water tanks in the field of automatic cleaning. Background Technology

[0003] For water facilities such as swimming pools and reservoirs, automatic cleaning equipment can be used for automatic or auxiliary cleaning. For example, automatic cleaning equipment can be used to collect and clean garbage / debris on the bottom and / or side walls and / or water surface of the pool, while filtering and purifying the water in the pool. Summary of the Invention

[0004] An automatic water tank cleaning device is disclosed, comprising: a housing having an inlet, a first outlet, and a second outlet disposed thereon; a filter basket disposed in the housing and configured to filter water flowing in from the inlet; a first suction device disposed in the housing and located on one side of the filter basket and configured to guide water flowing out of the filter basket to be discharged from the first outlet; and a second suction device disposed in the housing and located on the other side of the filter basket and configured to guide water flowing out of the filter basket to be discharged from the second outlet.

[0005] A method for controlling the automatic pool cleaning device as described above is also disclosed, the method comprising: controlling the automatic pool cleaning device to move in a pool; during the movement of the automatic pool cleaning device in the pool, guiding a portion of the water flowing out from the filter basket to be discharged from the first outlet via the first suction device at a first flow rate; and guiding another portion of the water flowing out from the filter basket to be discharged from the second outlet via the second suction device at a second flow rate, wherein the first flow rate and the second flow rate are the same or different.

[0006] In the automatic water tank cleaning device of this disclosure, a first suction device and a second suction device are respectively arranged on both sides of the filter basket in a direction perpendicular to the forward direction. These devices guide the water flowing through the filter basket to the outlets on the left and right sides of the machine for discharge, helping to maintain the machine's stability. The space on both sides of the filter basket is relatively large, allowing the relative positions of the suction devices and the filter basket in the front-to-back direction to be adjusted as needed, enabling the device to maintain a more stable posture in the water. Furthermore, the two suction devices draw water from two opposite sides of the filter basket, evenly distributing the suction force throughout the entire filter basket. More water flow is affected by the suction devices, effectively solving the problem in the prior art where the suction devices are concentrated on one side of the filter basket, resulting in insufficient suction force to be applied to most areas within the filter basket. Additionally, it also solves the problem of interrupted water flow caused by partial or unilateral blockage of the filter basket. Attached Figure Description

[0007] Figure 1 schematically shows a perspective view of an automatic water tank cleaning device according to an embodiment of the present disclosure.

[0008] Figure 2 schematically shows a side view of an automatic pool cleaning device according to an embodiment of the present disclosure.

[0009] Figure 3 schematically shows a front view of an automatic pool cleaning device according to an embodiment of the present disclosure.

[0010] Figure 4 schematically shows a top view of an automatic pool cleaning device according to an embodiment of the present disclosure.

[0011] Figure 5 schematically shows a perspective view of a partial structure of the automatic pool cleaning device according to an embodiment of the present disclosure, including a filter basket and a suction device.

[0012] Figure 6 schematically shows a perspective view of a partial structure of the automatic pool cleaning device according to an embodiment of the present disclosure, including a filter basket, a filter basket housing frame, and a flow guide.

[0013] Figure 7 schematically shows a top view of a partial structure of the automatic water tank cleaning device according to an embodiment of the present disclosure, including a filter basket, a filter basket housing frame, and a flow deflector.

[0014] Figure 8 schematically shows a side view of a partial structure of an automatic pool cleaning device according to an embodiment of the present disclosure, including a filter basket housing and a flow deflector.

[0015] Figure 9 schematically shows a side view of a partial structure of an automatic pool cleaning device according to an embodiment of the present disclosure, including a filter basket housing and a flow deflector.

[0016] Figure 10 schematically shows a perspective view of a partial structure of an automatic water tank cleaning device according to an embodiment of the present disclosure, including a filter basket, a filter basket housing frame, a flow guide hood, and a flow guide channel.

[0017] Figure 11 schematically illustrates an exemplary control method for an automatic pool cleaning device in an embodiment of the present disclosure.

[0018] Figure 12 schematically shows a top view of a partial structure of the automatic pool cleaning device according to an embodiment of the present disclosure, including a filter basket housing and a flow deflector.

[0019] Figure 13 schematically illustrates an exemplary automatic pool cleaning device with a filter basket placed in front of the water pump.

[0020] Figure 14 schematically illustrates an example of an apparatus for detecting clogging of a filter device according to an embodiment of the present disclosure.

[0021] Figure 15 schematically illustrates an example of an apparatus for detecting clogging of a filter device according to an embodiment of the present disclosure.

[0022] Figure 16 schematically illustrates an example of an apparatus for detecting clogging of a filter device according to an embodiment of the present disclosure.

[0023] Figure 17 schematically illustrates an example of a device for detecting whether an automatic water cleaning system for a pool is dispensing water, according to an embodiment of the present disclosure.

[0024] Figure 18 schematically illustrates an example of a device for detecting whether an automatic water cleaning device for a pool is dispensing water, according to an embodiment of the present disclosure.

[0025] Figure 19 schematically illustrates an example of a device for detecting whether an automatic pool cleaning system is dispensing water, according to an embodiment of the present disclosure.

[0026] Figure 20 schematically illustrates an example of the placement of a device for detecting whether an automatic water cleaning device for a pool is dispensing water, according to an embodiment of the present disclosure.

[0027] Figure 21 schematically illustrates an example of a method for controlling an automatic pool cleaning device based on the detection results of a device for detecting whether water is being discharged from the automatic pool cleaning device, according to an embodiment of the present disclosure. Detailed Implementation

[0028] The embodiments of this disclosure will now be described in detail with reference to the accompanying drawings. In the drawings, the same or equivalent parts are given the same reference numerals, and their descriptions are not repeated.

[0029] The automatic pool cleaning device may have a housing, and at least one water inlet and at least one water outlet may be configured on the housing. For example, if the automatic pool cleaning device supports both surface cleaning and underwater cleaning functions, the automatic pool cleaning device may have at least one surface water inlet (e.g., it may be located on the side of the head of the automatic pool cleaning device, or the opening may face the front of the automatic pool cleaning device) and at least one underwater water inlet (e.g., it may be located at the bottom of the automatic pool cleaning device).

[0030] For example, a water inlet channel can be formed by extending from the water inlet into the interior or exterior of the automatic pool cleaning device; similarly, a water outlet channel can be formed by extending from the water outlet into the interior or exterior of the device. Additionally, the housing or body of the automatic pool cleaning device can have or retain several gaps. When these gaps are used to guide water flow into or out of the device, or to assist in guiding water flow into or out of the device, these gaps can also serve as part of the water inlet or outlet of the automatic pool cleaning device.

[0031] Inside or on the casing of the automatic water tank cleaning equipment, one or more of the following mechanisms or devices may be provided: mechanisms or devices such as driving wheels, tracks, spray nozzles, propellers, etc., that can drive the automatic water tank cleaning equipment to move or swim on the water surface, bottom and / or side wall of the water tank; mechanisms or devices such as airbags, air chambers, etc., that can be used to adjust the buoyancy of the automatic water tank cleaning equipment in the water; and mechanisms such as water pumps, roller brushes, impellers, etc., that can use mechanical energy to draw water from the water tank into or introduce water into the automatic water tank cleaning equipment from at least one inlet, and then guide the drawn-in water along a pre-set water flow path within the automatic water tank cleaning equipment. The following are considered as separate entities: a mechanism or device that discharges water into the pool at one less outlet; sensors such as ultrasonic sensors, image sensors, infrared sensors, pressure gauges, spatial attitude sensors, depth sensors, and water-off sensors that can sense the state of the automatic pool cleaning equipment itself and / or the surrounding environment of the automatic pool cleaning equipment; devices or apparatus such as processors or controllers that can execute program instructions, such as processing signals received from other devices or mechanisms of the automatic pool cleaning equipment and / or controlling other devices or mechanisms of the automatic pool cleaning equipment; and devices such as motors and batteries that can provide power to other components or devices within the automatic pool cleaning equipment.

[0032] Automatic pool cleaning equipment may also include cleaning mechanisms such as roller brushes that can clean or sweep away debris and / or dirt deposited or attached to the bottom or side walls of the pool. For example, such cleaning mechanisms may be located near one or more water inlets of the automatic pool cleaning equipment and, upon contact with the bottom or side walls of the pool, remove debris and / or dirt deposited or attached to the bottom or side walls of the pool.

[0033] Automatic pool cleaning equipment may also include a filtration device, such as at least one filter screen or a filter basket with at least one filter screen, capable of filtering water carrying debris and / or dirt. For example, while moving along a designated route or according to a designated movement rule on the pool walls, bottom, and / or water surface, the automatic pool cleaning equipment can use a cleaning mechanism to clean debris and / or dirt from the pool walls, bottom, waterline, water surface, and / or water. Water carrying the cleaned debris and / or dirt is drawn into the filtration device from at least one inlet, and the filtered water is then discharged back into the pool from at least one outlet according to a pre-set water flow path, while simultaneously retaining the debris and / or dirt previously drawn into the filtration device.

[0034] (Water flow path)

[0035] The water flow path refers to the path or direction of water flowing from the inlet of the automatic water cleaning equipment into the body or shell of the automatic water cleaning equipment, and flowing towards the outlet of the automatic water cleaning equipment under the constraints of frame or pipe structure such as shell, filter basket, pipe, etc. Depending on the number of combinations of inlet and outlet, the water flow path can be one or multiple.

[0036] Depending on the relative arrangement of the filtration device, such as the filter basket, and the pump used to guide the water flow from the inlet into the automatic pool cleaning equipment along a pre-set water flow path and out of the outlet, the water flow path can take different forms, or in other words, the water flow inside the body or housing of the automatic pool cleaning equipment can have different flow paths or directions.

[0037] For example, referring to Figure 13, within the housing of the automatic pool cleaning device, the water pump can be positioned closer to the rear of the device relative to the filter. In this way, water entering the filter from the inlet is filtered and then guided by the pump to the rear of the device, where it is discharged from the outlet, thus forming a rear-mounted water flow path. However, this rear-mounted water flow path cannot adjust the lateral swaying posture of the automatic pool cleaning device in the water.

[0038] In this design, the bottom inlet of the automatic water tank cleaning device can be located near the rear of the filter. When the water pump is operating, as shown by the dotted arrow in Figure 13, the water flow from the bottom inlet directly reaches the rear of the filter after a very short distance. After being filtered, it is discharged from the outlet located at the top rear of the automatic water tank cleaning device. In this configuration, the water flow path from the bottom inlet into the filter is short and its direction remains largely unchanged. Furthermore, the space between the bottom inlet and the rear of the filter is small. As the water flows out through the rear of the filter, debris in the water can easily accumulate there, causing blockages.

[0039] In another example, within the housing of the automatic pool cleaning device, the water pump can be positioned closer to the head of the device relative to the filter. This allows water entering the filter from the inlet to be filtered, then guided by the pump towards the head of the device, and finally discharged from the outlet, creating a front-mounted water flow path. This front-mounted flow path facilitates control of the device's head posture, reducing the likelihood of the head tilting up during operation. However, this front-mounted flow path also fails to adjust the device's lateral swaying motion in the water.

[0040] Alternatively, two water outlets can be symmetrically arranged on the left and right sides of the automatic water tank cleaning device, and two water pumps corresponding to the two outlets can be placed on the same side of the filter device (e.g., the front or rear side). In this way, water entering the filter device from the inlet is filtered and then guided by the pumps to both sides of the automatic water tank cleaning device, and then discharged from the outlets on both sides, thus forming a two-sided water flow path. However, placing the two pumps used to form this water flow path on the same side of the filter device results in uneven suction force on the water flow within the filter device. The water flow directly opposite the pumps within the filter device experiences the greatest suction force due to its shorter suction path, while the water flow in other areas of the filter basket device experiences a relatively smaller suction force due to its longer suction path.

[0041] When a water pump is placed on the same side of a filter, if that side is blocked, the water inside the filter can only flow out of the filter from the other sides and then detour to the pump. This results in a longer and more winding suction channel, which greatly reduces the suction force and may even cause the water flow to stop. For example, when a flow guide or pipe is installed between the pump and the filter, if the filter surface facing the pump is blocked, the water inside the filter cannot flow to the pump, causing the water flow to stop, which in turn reduces or stops the downward pressure at the outlet.

[0042] Under the suction force of the water pump, an adsorption force is formed at the inlet due to water intake, causing the automatic pool cleaning device to adhere to the bottom contact surface. At the outlet, a downward pressure is generated due to water discharge, affecting the device's body. This adsorption force and downward pressure are essential for the automatic pool cleaning device to climb slopes or walls. A decrease or interruption in the water pump's suction force will lead to a reduction or even interruption of the adsorption force and downward pressure, potentially causing the automatic pool cleaning device to fall off the slope or sidewall of the pool, or causing a decrease or failure in the cleaning mechanism's cleaning ability.

[0043] Figures 1 to 4 illustrate an exemplary automatic pool cleaning device 100 in an embodiment of the present disclosure, wherein Figure 1 is a perspective view of the automatic pool cleaning device 100, Figure 2 is a cross-sectional view of the automatic pool cleaning device 100 viewed from one side (left side), Figure 3 is a cross-sectional view of the automatic pool cleaning device 100 viewed from the front, and Figure 4 is a cross-sectional view of the automatic pool cleaning device 100 viewed from above.

[0044] As shown in Figures 1 to 4, the automatic pool cleaning device 100 has a housing 200 and a water inlet 210 is provided on the housing 200. The water inlet 210 is located at the bottom of the automatic pool cleaning device 100 or the housing 200, and thus serves as an underwater water inlet for the automatic pool cleaning device 100.

[0045] In addition to or in place of inlet 210, one or more additional inlets may be provided at other suitable locations on the automatic pool cleaning device 100 or housing 200. For example, if the automatic pool cleaning device 100 supports both surface cleaning and underwater cleaning modes, another inlet may be provided on the head of the automatic pool cleaning device 100 or the side of the head of the housing 200, in addition to inlet 210, and water is drawn in from this inlet when the automatic pool cleaning device 100 performs surface cleaning operations. For example, if the automatic pool cleaning device 100 only supports surface cleaning mode, another inlet may be provided on the head of the automatic pool cleaning device 100 or the side of the head of the housing 200, in place of inlet 210, and water is drawn in from this inlet when the automatic pool cleaning device 100 performs surface cleaning operations.

[0046] As shown in Figures 1 to 4, a water outlet 220 and a water outlet 222 are also provided on the housing 200. The water outlet 220 and the water outlet 222 can be located on the left and right sides of the automatic water cleaning device 100 or the housing 200, respectively. For example, as shown in Figure 4, the water outlet 220 and the water outlet 222 can be symmetrically arranged with respect to the central axis A of the automatic water cleaning device 100 in the length direction of the device, where the length direction corresponds to the direction in which the automatic water cleaning device 100 moves forward or backward in a straight line.

[0047] In another example, outlets 220 and 222 may also be located at other suitable locations on the automatic pool cleaning device 100 or housing 200. Furthermore, in addition to outlets 220 and 222, one or more other outlets may be provided, and such outlets may be located at other suitable locations such as the rear or head of the automatic pool cleaning device 100 as needed.

[0048] As shown in Figures 1 to 4, the automatic pool cleaning device 100 has a filter basket 300, wherein the filter basket 300 is an example of the filtering device of the automatic pool cleaning device 100 and is used to filter the water flow entering from the inlet 210 and / or other inlets of the automatic pool cleaning device 100.

[0049] The filter basket 300 can be configured in any shape and structure suitable for the internal space of the automatic pool cleaning device 100 or the housing 200, such as a box shape or a frame structure. The filter basket 300 can be a one-piece molded structure or a structure obtained by assembling multiple separately molded components.

[0050] For example, a filter element such as at least one layer of filter screen may be configured on at least one side and / or top surface of the filter basket 300, and at least one opening connected to the inlet 210 and / or other inlets of the automatic pool cleaning device 100 may be configured at the bottom or other suitable location of the filter basket 300, so that water flowing from outside the automatic pool cleaning device 100 can enter the automatic pool cleaning device 100 or housing 200 from the inlet 210 and / or other inlets of the automatic pool cleaning device 100, and enter the filter basket 300 through the at least one opening of the filter basket 300 connected to the inlet 210 and / or other inlets of the automatic pool cleaning device 100, and then flow out of the filter basket 300 through the filter element of the filter basket 300, wherein debris and / or dirt in the water entering the filter basket 300 from the inlet 210 are intercepted and / or adsorbed by the filter element of the filter basket 300, and the filtered water flows out from the filter basket 300, thereby achieving pool cleaning.

[0051] For example, at at least one opening of the filter basket 300 connected to the inlet 210 and / or other inlets, a component such as a one-way door or one-way valve can be provided to prevent water entering the filter basket 300 from flowing back from the opening of the filter basket 300 and the inlet 210 and / or other inlets to the outside of the automatic water tank cleaning device 100, thereby improving the cleaning efficiency of the automatic water tank cleaning device 100 and helping to reduce the power consumption of the automatic water tank cleaning device 100.

[0052] As shown in Figures 1 to 4, the automatic water tank cleaning device 100 also includes a suction device 400 and a suction device 500. Each of the suction devices 400 and 500 may include a device such as a water pump, which can mechanically guide water flow from the inlet 210 and / or other inlets into the filter basket 300, and after being filtered by the filter basket 300, flow towards the outlet 220 or outlet 222, and finally flow out to the outside of the housing 200. The suction devices 400 and 500 can operate synchronously or independently.

[0053] As shown in Figures 1, 2, and 4, suction devices 400 and 500 can be configured in the central area of ​​the automatic pool cleaning device 100, for example, in a position relatively close to the middle of the device's body. Correspondingly, outlets 220 and 222 can also be configured in the central area of ​​the automatic pool cleaning device 100. For example, as shown in Figures 2 to 4, outlet 220 can be configured above suction device 400, and outlet 222 can be configured above suction device 500.

[0054] In another example, the suction device 400, suction device 500, outlet 220, and outlet 222 can also be configured in other areas of the body of the automatic pool cleaning device 100. For example, the suction device 400, suction device 500, outlet 220, and outlet 222 can also be configured in the rear area of ​​the body of the automatic pool cleaning device 100. However, in such cases, for example, when the automatic pool cleaning device 100 moves forward or sinks in the water, as water is ejected from outlet 220 and outlet 222, the head (or tip) of the automatic pool cleaning device 100 may tilt up, or even cause the entire automatic pool cleaning device 100 to tip over.

[0055] By arranging the suction device 400, suction device 500, water outlet 220, and water outlet 222 in the central area of ​​the automatic water cleaning device 100, the downward pressure generated by the water flowing out of the water outlet 220 and water outlet 222 can be applied to the central area of ​​the automatic water cleaning device 100, thereby enabling the device to maintain a more stable posture in the water. This effectively prevents the head or tail of the device from tilting up compared to applying the downward pressure to the head or tail of the automatic water cleaning device 100.

[0056] As shown in Figures 3 and 4, the filter basket 300 is located between the suction device 400 and the suction device 500 in a direction perpendicular to the forward direction of the automatic water tank cleaning device 100.

[0057] In this way, the suction device 400 can provide at least a portion of the water flow driving force when it is started, so that water outside the automatic water cleaning device 100 can be sucked into the filter basket 300 through the inlet 210. Then, at least a portion of the water in the filter basket 300 can be sucked out of the filter basket 300 by the suction device 400 through the side of the filter basket 300 closest to the suction device 400, and further guided by the suction device 400 to be discharged from the outlet 220.

[0058] Synchronously or asynchronously, the suction device 500 can provide at least another portion of the water flow driving force when started, so that water outside the automatic water cleaning device 100 can be sucked into the filter basket 300 through the inlet 210, and then at least another portion of the water in the filter basket 300 can be sucked out of the filter basket 300 by the suction device 500 through the side of the filter basket 300 closest to the suction device 500, and further guided by the suction device 500 to be discharged from the outlet 222.

[0059] Accordingly, for example, at least one filter element (e.g., at least one filter screen) can be provided on the side of the filter basket 300 near the suction device 400 and the other side near the suction device 500, so that the water in the filter basket 300 can be drawn out of the filter basket 300 from the suction device 400 and the suction device 500 in two directions after being filtered by the at least one filter element.

[0060] By placing the suction device 400 and the suction device 500 on opposite sides of the filter basket 300, the suction force of the suction device 400 and the suction device 500 can be more evenly distributed to multiple directions of the filter basket 300, resulting in a larger water flow area within the filter basket 300 directly facing the suction device 400 and the suction device 500, thereby achieving a stronger and more uniform water flow suction capability.

[0061] In addition, when the side of the filter basket 300 facing the suction device 400 is blocked, the suction device 500 on the other side of the filter basket 300 can still work normally, thereby ensuring that there is still downpressure at the outlet 222; and when the side of the filter basket 300 facing the suction device 500 is blocked, the suction device 400 on the other side of the filter basket 300 can still work normally, thereby ensuring that there is still downpressure at the outlet 220.

[0062] For example, the suction device 400, suction device 500, and inlet 210 can be offset to a certain extent in the longitudinal direction (front-to-back direction) of the automatic water cleaning device 100. For example, as shown in Figure 4, the suction device 400 and suction device 500 can be positioned closer to the front side (i.e., the lower side in Figure 4) of the filter basket 300 relative to the inlet 210. This allows the water flowing from the inlet 210 into the filter basket 300 to change direction in the front-to-back direction. For example, as shown by the dashed arrows in Figures 4 and 5, after entering the inlet 210, the water flows a certain distance towards the head of the automatic water cleaning device 100 before passing through the filter element on the side of the filter basket 300 and entering the suction device 400 and suction device 500, instead of directly entering the suction device 400 or 500 to the left or right from the inlet 210.

[0063] Therefore, after the water enters the filter basket 300 from the inlet 210, the flow direction changes, and it needs to travel a certain length of flow path before flowing out of the filter basket 300. Instead of directly impacting the filter elements on the side of the filter basket 300 after entering from the inlet 210, the water also has a relatively large space between the inlet 210 and the rear of the filter basket. This allows debris in the water entering the filter basket 300 from the inlet 210 to settle in the filter basket 300, which can avoid or slow down the clogging of the filter basket 300, improve the filtration efficiency of the pool water, and reduce the maintenance cost of the automatic pool cleaning equipment 100.

[0064] For example, as shown in Figures 2 to 4, the suction device 400 may have a flow guide 410 and an impeller 420, and the suction device 500 may have a flow guide 510 and an impeller 520.

[0065] The flow guide shroud 410 and the flow guide shroud 510 can be respectively configured on both sides of the filter basket 300. For example, as shown in Figures 3 and 4, the flow guide shroud 410 and the flow guide shroud 510 can be respectively configured on the left and right sides of the filter basket 300 relative to the central axis A (see Figure 4) in the length direction of the automatic water tank cleaning device 100. The flow guide shroud 410 can be connected or arranged between the water outlet 220 and one side of the filter basket 300, and the flow guide shroud 510 can be connected or arranged between the water outlet 222 and the other side of the filter basket 300.

[0066] Impeller 420 may be at least partially configured in shroud 410. For example, the orientation of impeller 420 or the direction of the water flow driving force that impeller 420 can generate when rotating may be directed toward (e.g., directly toward, or at a specified angle toward) outlet 220.

[0067] Impeller 520 may be at least partially configured in shroud 510. For example, the orientation of impeller 520 or the direction of the water flow driving force that impeller 520 can generate when rotating may be directed toward (e.g., directly toward, or at a specified angle toward) outlet 222.

[0068] For example, impellers 420 and 520 can be connected to the same motor, so that they can start simultaneously and rotate at the same speed under the drive of the motor, so as to generate the same water flow driving force.

[0069] Impellers 420 and 520 can also be driven by different motors. For example, suction device 400 can have a motor for providing rotational power to impeller 420, and suction device 500 can have a motor for providing rotational power to impeller 520, thereby controlling impellers 420 and 520 respectively, so that impellers 420 and 520 can start at the same or different times, and can rotate at the same or different speeds when they start (or even one starts rotating while the other stops rotating), thereby generating the same or different water flow driving force.

[0070] Therefore, as the impeller 420 rotates, as shown by the dashed arrow in Figure 3, at least part of the water outside the automatic water cleaning device 100 can be drawn into the filter basket 300 through the inlet 210 under the driving force generated by the rotating impeller 420. Then, at least a portion of the water in the filter basket 300 can be drawn out of the filter basket 300 through the side of the filter basket 300 near the suction device 400 and drawn into the guide shroud 410. Then, under the driving force generated by the rotating impeller 420, the water in the guide shroud 410 is further guided to the outlet 220 and discharged from the outlet 220 to the outside of the automatic water cleaning device 100.

[0071] As the impeller 520 rotates, as shown by the double-dotted arrow in Figure 3, at least part of the water outside the automatic pool cleaning device 100 is drawn into the filter basket 300 through the inlet 210 under the driving force generated by the rotating impeller 520. Then, at least another portion of the water in the filter basket 300 is drawn out from the filter basket 300 through the side of the filter basket 300 near the suction device 500 and drawn into the guide shroud 510. Then, under the driving force generated by the rotating impeller 520, the water in the guide shroud 510 is further guided to the outlet 222 and discharged from the outlet 222 to the outside of the automatic pool cleaning device 100.

[0072] As shown in Figure 4, in the top view of the automatic pool cleaning device 100, the impellers 420, 520 and / or the filter elements on the side of the filter basket 300 can be offset relative to the inlet 210 along the length of the automatic pool cleaning device 100, for example, closer to the head of the automatic pool cleaning device 100 relative to the inlet 210. Therefore, the water flow changes direction after entering the filter basket 300 from the inlet 210 and needs to travel a certain length of flow path before flowing out of the filter basket 300. This helps to deposit debris in the water entering the filter basket 300 from the inlet 210, preventing or mitigating clogging of the filter basket 300, improving the filtration efficiency of the pool water, and reducing the maintenance cost of the automatic pool cleaning device 100.

[0073] Furthermore, as shown in Figure 4, in the top view of the automatic pool cleaning device 100, at least a portion of the inlet 210 can be located between the guide shrouds 410 and 510. In other words, in the top view of the automatic pool cleaning device 100, the extension line (dashed line BC in Figure 4) of at least one long side (e.g., at least the long side closer to the head of the unit) of the generally rectangular inlet 210 can intersect with the projections of the guide shrouds 410 and 510 in the top view of the automatic pool cleaning device 100. This ensures that the distance between the inlet 210 and the guide shrouds 410 and 510 is not too great, thereby ensuring water flow speed while avoiding or alleviating clogging of the filter basket 300, which is beneficial for ensuring cleaning efficiency and reducing power consumption.

[0074] For example, as shown in Figure 5, the suction device 400 or its flow guide 410 can be configured to be detachably connected or fixed to one side of the filter basket 300 by means such as screws or snap-fit, or it can be integrally formed with one side of the filter basket 300. At least one filter element, such as at least one layer of filter screen, can be disposed on the side where the flow guide 410 and the filter basket 300 are connected, such that at least a portion of the water in the filter basket 300 can enter the flow guide 410 wholly or mostly after being filtered by the at least one filter element.

[0075] Similarly, as shown in Figure 5, the suction device 500 or its flow guide 510 can be configured to be detachably connected or fixed to the other side of the filter basket 300 by means of screw connection or snap-fit, or it can be integrally formed with the other side of the filter basket 300. At least one filter element, such as at least one layer of filter screen, can be provided on the side where the flow guide 510 and the filter basket 300 are connected, so that at least another portion of the water in the filter basket 300 can enter the flow guide 510 wholly or mostly after being filtered by the at least one filter element.

[0076] As shown in Figures 4, 6 to 10, a filter basket receiving frame 600 for accommodating or fixing the filter basket 300 can also be configured in the automatic water tank cleaning device 100 or the housing 200. The filter basket receiving frame 600 can take any suitable shape or form, such as a box or frame.

[0077] At least one opening may be provided at the bottom of the filter basket housing 600 or other suitable location, allowing water drawn in from the inlet 210 and / or other inlets to enter the filter basket 300 through the at least one opening in the filter basket housing 600 and the aforementioned opening in the filter basket 300 connected to the inlet 210. For example, a water flow guiding pipe or guide plate may be provided between the at least one opening in the filter basket housing 600 and the inlet 210 and / or other inlets to improve the efficiency of guiding water from outside the automatic water tank cleaning device 100 into the filter basket 300.

[0078] As shown in Figures 8 and 9, at least one opening 610 can be provided on the side of the filter basket housing 600 connected to the flow guide 510, so that at least a portion of the water in the filter basket 300 can be drawn into the flow guide 510 through the filter element on the side of the filter basket 300 near the flow guide 410 and the at least one opening 610 under the action of the impeller 520 rotating in the flow guide 510.

[0079] Similarly, at least one opening (not shown) may be provided on the side of the filter basket housing 600 connected to the flow guide 410, such that at least another portion of the water in the filter basket 300 can be drawn into the flow guide 410 through the filter element on the side of the filter basket 300 near the flow guide 410 and the at least one opening under the action of the impeller 420 rotating in the flow guide 410.

[0080] The number, shape, distribution, and size of the openings provided on the sides of the filter basket housing 600 connected to the guide shroud 410 and the sides connected to the guide shroud 510 can be determined based on one or more factors such as the area of ​​the side of the filter basket housing 600, the size of the guide shroud 410 and / or 510, the size of the internal space of the housing 200, and the power, shape, and size of the impeller 520 and / or 520.

[0081] For example, as shown in Figure 8, at least one opening 610 on the side of the filter basket housing 600 connected to the flow guide 410 may include at least one honeycomb mesh opening and / or at least one square opening arranged side by side. Similarly, at least one opening on the side of the filter basket housing 600 connected to the flow guide 510 may also include at least one honeycomb mesh opening and / or at least one square opening arranged side by side. Such a structure is neat and aesthetically pleasing, and facilitates the achievement of a robust and stable structure with less material, while ensuring water flow between the filter basket housing 600 and the flow guides 410 and 510.

[0082] The flow deflector 410 can then be configured to be detachably connected or secured to one side of the filter basket receiving frame 600 via means such as screw connection and snap-fit, or it can be integrally formed with one side of the filter basket receiving frame 600. Similarly, the flow deflector 510 can be configured to be detachably connected or secured to the other side of the filter basket receiving frame 600 via means such as screw connection and snap-fit, or it can be integrally formed with the other side of the filter basket receiving frame 600.

[0083] As shown in Figure 9, after the flow guide shroud 510 is connected and fixed to the filter basket receiving frame 600, there are no openings or gaps on at least the side of the filter basket receiving frame 600 that is in contact with the flow guide shroud 510. Similarly, after the flow guide shroud 410 is connected and fixed to the filter basket receiving frame 600, there are also no openings or gaps on at least the side of the filter basket receiving frame 600 that is in contact with the flow guide shroud 410. This reduces or prevents water from flowing out of the filter basket 300 through openings or gaps, thereby helping to ensure water flow guidance efficiency and reduce power consumption.

[0084] By configuring the filter basket receiving frame 600 and connecting and fixing the flow guide shrouds 410 and 510 to the filter basket receiving frame 600, it is convenient to remove and clean the filter basket 300, which helps to improve the maintenance efficiency of the automatic water tank cleaning equipment 100 and reduce the maintenance cost of the automatic water tank cleaning equipment 100.

[0085] Additionally, as shown in Figure 10, a flow guiding channel 430 (e.g., a hollow tubular structure) can be configured between the flow guide shroud 410 and the outlet 220 to guide the water flow in the flow guide shroud 410 out of the outlet 220 in the direction specified by the flow guiding channel 430 under the driving force of the water flow generated by the rotating impeller 420. In different embodiments, the flow guiding channel 430 can be configured to be detachably connected to the outlet of the flow guide shroud 410 or integrally formed with the flow guide shroud 410.

[0086] Similarly, as shown in Figure 10, a flow channel 530 (e.g., a hollow tubular structure) can be configured between the flow guide shroud 510 and the outlet 222 to guide the water flow in the flow guide shroud 510 out of the outlet 222 in the direction specified by the flow channel 530 under the driving force of the water flow generated by the rotating impeller 520. In different embodiments, the flow channel 530 can be configured to be detachably connected to the outlet of the flow guide shroud 510 or integrally formed with the flow guide shroud 510.

[0087] Additionally, as shown in FIG10, at least one guide plate 432 may be disposed in the flow channel 430 (e.g., near the outlet of the flow channel 430) to guide the water flow in the flow shield 410 to flow out of the outlet 220 in the direction specified by the at least one guide plate 432. Similarly, at least one guide plate 532 may be disposed in the flow channel 530 (e.g., near the outlet of the flow channel 530) to guide the water flow in the flow shield 510 to flow out of the outlet 222 in the direction specified by the at least one guide plate 532.

[0088] Additionally, as shown in Figure 12, at least one one-way drain valve 620 may be configured on the bottom and / or at least one other side (e.g., at least one side not connected to the deflectors 410 and 510) of the filter basket housing 600. Correspondingly, at least one drain outlet (not shown) may be configured at the bottom and / or other suitable location of the automatic pool cleaning device 100. For example, the one-way drain valve 620 may be configured using a material such as a resilient film or a spring-loaded buckle. When the automatic pool cleaning device 100 is submerged in water, the one-way drain valve 620 may be closed, for example, by its own elasticity and / or the water pressure difference inside and outside the filter basket housing 600. When the automatic water cleaning device 100 leaves the water, the at least one-way drain valve 620 can be opened one-way to the outside of the filter basket receiving frame 600 (or filter basket 300) under the pressure of the water remaining in the filter basket receiving frame 600 (or filter basket 300), so that the water remaining in the filter basket receiving frame 600 (or filter basket 300) can be discharged to the outside of the automatic water cleaning device 100 through at least one-way drain valve of the filter basket receiving frame 600 and at least one drain port of the automatic water cleaning device 100.

[0089] As mentioned above, the automatic pool cleaning device 100 or housing 200 may also be equipped with a controller (not shown) for controlling one or more components of the automatic pool cleaning device 100 (e.g., power mechanisms of the automatic pool cleaning device 100 such as motors and water pumps, travel mechanisms such as wheels, tracks, nozzles, propellers, etc.).

[0090] The controller may include any circuitry and / or module with data processing and / or instruction execution capabilities, such as a central processing unit (CPU), a graphics processing unit (GPU), or a field-programmable gate array (FPGA), and is suitable for the automatic pool cleaning device 100. It may be configured, for example, to perform data processing and / or control related to the cleaning function of the automatic pool cleaning device 100, based on program instructions stored in a memory (not shown) in the automatic pool cleaning device 100 or housing 200, and sensing / detection data from sensing / detection devices such as ultrasonic sensors, spatial attitude sensors, image sensors, and lidar from the automatic pool cleaning device 100.

[0091] Figure 11 schematically illustrates a method 700 for controlling an automatic pool cleaning device 100. This method 700 can be executed, for example, by a controller of the automatic pool cleaning device 100. The controller can be, but is not limited to, any combination of a microprocessor, microcontroller, digital signal processor (DSP), application-specific integrated circuit (ASIC), field-programmable gate array (FPGA) or other programmable logic device, discrete gate or transistor logic, discrete hardware components, or devices designed to perform relevant processing functions.

[0092] As shown in Figure 11, method 700 may include: step 710, controlling the automatic water cleaning device 100 to move in the water tank; step 720, during the movement of the automatic water cleaning device 100 in the water tank, guiding a portion of the water flowing from the filter basket 300 to be discharged from the outlet 220 by the suction device 400; and step 730, during the movement of the automatic water cleaning device 100 in the water tank, guiding another portion of the water flowing from the filter basket 300 to be discharged from the outlet 222 by the suction device 500.

[0093] In different embodiments, the flow rates of the water guided by the suction device 400 and the water guided by the suction device 500 can be the same or different. When the flow rates are the same, the mass distribution of the automatic pool cleaning device 100 is more balanced, which helps the automatic pool cleaning device 100 maintain a stable posture while moving in the pool. When the flow rates are different, it assists the automatic pool cleaning device 100 in turning within the pool.

[0094] (Checking for clogging in the filter)

[0095] As mentioned above, as the automatic pool cleaning equipment operates, the dirt / debris intercepted by the equipment's filtration device may adhere to the filter elements (e.g., filter screens) and clog them after a period of time, thereby reducing the cleaning efficiency of the automatic pool cleaning equipment.

[0096] In addition, when the filter becomes clogged, the suction force of the water pump decreases or is interrupted, which reduces or even interrupts the adsorption force on the bottom contact surface formed at the inlet and the downward pressure on the body of the automatic pool cleaning equipment formed at the outlet. This may cause the automatic pool cleaning equipment to fall off the slope or side wall in the pool, or cause the cleaning mechanism to reduce its cleaning ability or fail.

[0097] Furthermore, when the automatic pool cleaning equipment uses water jet propulsion to move through the water / surface, water filtered by the filtration device is sprayed out through the nozzles of the automatic pool cleaning equipment to power its movement. However, when dirt / debris adhering to the filter screen of the filter basket causes blockage, the water flow through the filter screen is obstructed, resulting in poor water intake and drainage of the filter basket. This increases propulsion power consumption and reduces drive efficiency.

[0098] Therefore, a detection mechanism can be installed in the automatic water tank cleaning system to detect clogging of the filter. This mechanism can automatically generate an alarm signal when clogging is detected, reminding the user to clean the filter promptly.

[0099] Figure 14 schematically illustrates an example of a detection mechanism for detecting clogging of a filter device in an exemplary automatic pool cleaning device 1100, wherein the automatic pool cleaning device 1100 has a filter basket 1320, an inlet channel 1310 is provided between a bottom water inlet and a bottom opening of the filter basket 1320, and a detection mechanism for detecting clogging of the filter device is provided in the inlet channel 1310.

[0100] As shown in Figure 14, the detection mechanism may include: a signal transmitter 1370 that transmits signals to the water in the water inlet channel 1310; a signal reflector 1380 that is respectively disposed on the side wall of the water inlet channel 1310 on opposite sides of the signal transmitter 1370 (for example, the signal transmitter 1370 is disposed on the side wall of the water inlet channel 1310 near the tail of the automatic water cleaning device 1100, while the signal reflector 1380 is disposed on the side wall of the water inlet channel 1310 near the head of the automatic water cleaning device 1100), reflecting the signal from the signal transmitter 1370; and a signal receiver 1360 that is disposed on the side wall of the water inlet channel 1310 on the same side as the signal transmitter 1370, receiving the signal reflected by the signal reflector 1380.

[0101] The signal receiver 1380 can receive the transmitted signal from the signal transmitter 1360, thereby detecting the light transmittance of the water flow in the water inlet channel 1310, and then determining the clogging status of the filter screen on the filter basket 1320 based on the detection of the light transmittance of the water flow.

[0102] As shown in Figure 14, a movable baffle 1390 can also be provided in the water inlet channel 1310. Depending on the clogging status of the filter screen in the filter basket 1320, the movable baffle 1390 can switch between a first state and a second state. For example, when the filter screen in the filter basket 1320 is not clogged, the movable baffle 1390 is in the first state to allow signal transmission between the signal transmitter 1370 and the signal receiver 1360; while when the filter screen in the filter basket 1320 is clogged, the movable baffle 1390 is in the second state to prevent signal transmission between the signal transmitter 1370 and the signal receiver 1360.

[0103] Figure 15 schematically shows the movable baffle 1390 in its first state. As shown by the dashed arrow in Figure 15, the signal emitted from the signal transmitter 1370 passes through the water in the water inlet channel 1310 and reaches the surface of the signal reflector 1380. The signal is then reflected by the signal reflector 1380 to the signal receiver 1360, so that the signal receiver 1360 can receive the signal emitted by the signal transmitter 1370.

[0104] Figure 16 schematically illustrates the second state of the movable baffle 1390. As shown by the dashed arrow in Figure 16, the signal emitted from the signal transmitter 1370 is blocked by the movable baffle 1390 as it passes through the water in the inlet channel 1310. Its transmission path is altered, preventing it from reaching the surface of the signal reflector 1380, thus preventing the signal receiver 1360 from receiving the signal emitted by the signal transmitter 1370. In other words, at least a portion of the movable baffle 1390 is located between the signal transmitter 1370 and the signal reflector 1380, hindering the detection of the light transmittance of the water in the inlet channel 1310.

[0105] In the examples of Figures 14 to 16, the position of the signal transmitter 1370 is higher than the position of the signal receiver 1360. That is, the position of the signal transmitter 1370 is further away from the bottom of the housing of the automatic water tank cleaning device 1100 relative to the position of the signal receiver 1360. This causes the change of the movable baffle 1390 between the first and second states to cause a change in the signal transmission path between the signal transmitter 1370 and the signal reflector 1380. In other words, in the second state, the movable baffle 1390 will block the signal transmission path between the signal transmitter 1370 and the signal reflector 1380, so that the signal reflector 1380 cannot receive the signal emitted by the signal transmitter 1370.

[0106] In another example, the positions of the signal transmitter 1370 and the signal receiver 1360 shown in Figures 14 to 16 can be interchanged, such that the change of the movable baffle 1390 between the first and second states causes a change in the signal transmission path between the signal reflector 1380 and the signal receiver 1360. For example, in the second state, the movable baffle 1390 will block the signal transmission path between the signal reflector 1380 and the signal receiver 1360, so that the signal receiver 1360 cannot receive the signal reflected by the signal reflector 1380. Thus, in the second state, at least a portion of the movable baffle 1390 can be located between the signal transmitter 1370 and the signal reflector 1380 and / or between the signal reflector 1380 and the signal receiver 1360.

[0107] Other configuration methods can also be used, as long as they can prevent the signal receiver 1360 from receiving signals from the signal transmitter 1370.

[0108] In the aforementioned automatic water tank cleaning device 1100, the water flow entering the filter basket 1320 via the water inlet channel 1310 can cause the movable baffle 1390 to switch between a first state and a second state.

[0109] For example, when the filter screen of the filter basket 1320 is not clogged, the entire water flow channel from the bottom inlet of the automatic water cleaning device 1100 to the outlet on the housing of the automatic water cleaning device 1100 is unobstructed. When the water pump of the automatic water cleaning device 1100 draws water from the pool into the filter basket 1320 through the inlet channel 1310, the movable baffle 1390 is pushed open by the water flow, thus entering the first state, enabling the signal receiver 1360 to receive the signal transmitted by the signal transmitter 1370 through the water in the inlet channel 1310.

[0110] After the automatic water tank cleaning device 1100 performs cleaning operations for a period of time, a significant amount of debris / dirt accumulates in the filter basket 1320, potentially clogging the filter screen. In this situation, the water flow channel from the inlet to the outlet on the housing of the automatic water tank cleaning device 1100 becomes blocked at the filter screen in the filter basket 1320, resulting in poor water flow. When the water pump of the automatic water tank cleaning device 1100 draws water from the tank into the filter basket 1320 through the inlet channel 1310, the impeded water flow prevents the movable baffle 1390 from being pushed open by the water flow, leaving it in a second state. This, in turn, hinders the signal receiver 1360 from receiving the signal transmitted by the signal transmitter 1370 through the water in the inlet channel 1310. Since the signal receiver 1360 cannot receive the signal transmitted by the signal transmitter 1370, it cannot detect the light transmission status of the water flow.

[0111] Therefore, it is possible to determine whether the filter screen of filter basket 1320 is clogged based on the detection of the light transmittance of the water flow.

[0112] As an example, in the aforementioned automatic pool cleaning device 1100, the signal transmitter 1370 may include, but is not limited to, at least one of a visible light transmitter, an infrared light transmitter, and a laser transmitter. Accordingly, a signal receiver 1360 of the same type may be provided to receive and identify the signal emitted by the signal transmitter 1370.

[0113] As an example, in the above-described automatic pool cleaning device 1100, the signal reflector 1380 may include a specular reflector to reflect the signal from the signal transmitter 1370 to the signal receiver 1360. As an example, in the above-described automatic pool cleaning device 1100, the specular reflector may include a reflective surface made of metal or a reflective surface made of glass, and the specific type is not limited.

[0114] Figure 16 schematically illustrates how the movable baffle 1390, in its second state, reflects signals from the signal transmitter 1370, thereby altering the signal transmission path. In another example, the movable baffle 1390 may also be made of a material with a relatively high signal absorption rate. For instance, the movable baffle 1390 may have a higher absorption rate of the signal emitted by the signal transmitter 1370 than the signal reflector 1380, allowing the movable baffle 1390 to absorb signals from the signal transmitter 1370 / signal reflector 1380 in its second state without reflecting the signal emitted by the signal transmitter 1380 to the signal receiver 1360.

[0115] As an example, in the aforementioned automatic water tank cleaning device 100, the movable baffle 1390 can be made of a flexible material, allowing water pumped by the water pump to push it aside and enabling the pumped water flow to enter the filter basket 1320 via the inlet channel 1310. When the filter screen of the filter basket 1320 becomes clogged, the movable baffle 1390 can automatically reset due to obstructed water flow, returning to the second state and blocking the signal transmission path between the signal transmitter 1370 / signal receiver 1360 and the signal reflector 1380.

[0116] The automatic pool cleaning device 1100 may also include a controller, which may include, but is not limited to, any combination of a microprocessor, microcontroller, digital signal processor (DSP), application-specific integrated circuit (ASIC), field-programmable gate array (FPGA) or other programmable logic device, discrete gate or transistor logic, discrete hardware components, or devices designed to perform relevant processing functions, and may be configured to execute program instructions to determine the clogging status of the filter in the filter basket 1320 based on the signal received by the signal receiver 1360. For example, it may determine that the filter in the filter basket 1320 is clogged when the signal receiver 1360 does not receive a signal or the received signal strength is less than a certain threshold.

[0117] Additionally, the controller can be configured to execute program instructions to determine the cleanliness of the water in the pool based on the signal received by the signal receiver 1360. For example, as water quality declines, its light transmittance decreases, and the degree of reflection, scattering, and / or refraction of the signal emitted by the signal transmitter 1370 and / or reflected by the signal reflector 1380 by the water increases, resulting in a decrease in the signal quality received by the signal receiver 1360, such as signal attenuation. Therefore, the controller can determine the degree of light transmittance of the water flow based on the signal quality (e.g., signal strength) received by the signal receiver 1360, thereby determining the cleanliness of the water. Furthermore, the controller can also enhance the filtration and purification of the pool water based on the cleanliness of the water by methods such as increasing the drive power of the water pump in the automatic pool cleaning device 100, increasing the water flow rate, etc.

[0118] As an example, the aforementioned detection mechanism may include a turbidity sensor and a matching signal reflector 1380, wherein the turbidity sensor may include the aforementioned signal transmitter 1370 and signal receiver 1360. The turbidity sensor can detect the light transmittance of the water at the inlet channel and can generate a corresponding electrical signal based on the light transmittance of the water to indicate the turbidity of the water.

[0119] As described above, since a movable baffle 1390 is provided between the signal receiver 1360 / signal transmitter 1370 and the signal reflector 1380, the movable baffle 1390 can switch between a first state and a second state depending on the clogging status of the filter screen of the filter basket 1320. For example, when the filter screen of the filter basket 1320 is clogged, the movable baffle 1390 is in the second state and prevents the turbidity sensor from detecting the light transmittance of the water flow; while when the filter screen of the filter basket 1320 is not clogged, the movable baffle 1390 is in the first state and allows the turbidity sensor to detect the light transmittance of the water flow.

[0120] For example, when the filter screen of the filter basket 1320 is clogged, water cannot be drawn into the filter basket 1320, resulting in poor water flow. This causes the signal strength received by the signal receiver 1360 of the turbidity sensor to be low, or even non-existent. In this case, the turbidity sensor detects the maximum turbidity value and determines that the filter screen of the filter basket 1320 is clogged. When the filter screen of the filter basket 1320 is not clogged, the movable baffle 1390 is pushed open by the water flow, allowing the signal quality (e.g., signal strength) received by the signal receiver 1360 to meet the set threshold, enabling the turbidity sensor to detect the turbidity of the water.

[0121] When using a turbidity sensor to detect water quality (e.g., the turbidity of the water body), the controller can also be configured to adjust the power of the water pump or the cleaning operation mode of the automatic pool cleaning device 1100 based on the detected water quality.

[0122] As an example, the aforementioned detection mechanism may include other types of sensors capable of detecting the light transmittance of water, such as infrared sensors and photoelectric sensors, in addition to turbidity sensors.

[0123] Optionally, in the aforementioned automatic pool cleaning device 1100, the controller can also be configured to execute program instructions to generate an alarm signal when the filter screen of the filter basket 1320 is determined to be clogged based on the detection of the light transmittance state of the water flow. Furthermore, the cleaning operation of the automatic pool cleaning device 1100 can be automatically paused when an alarm signal indicating filter clogging is generated, and the user is prompted to manually clean the filter screen of the filter basket 1320.

[0124] As described above, a detection mechanism can be installed in the water inlet channel 1310 of the automatic water cleaning device 1100. The state of the water flow in the water inlet channel 1310 can cause the movable baffle 1390 to switch between a first state and a second state. For example, when the filter screen of the filter basket 1320 is blocked, the movable baffle 1390 is in the second state and prevents the detection mechanism from detecting the light transmission state of the water flow. When the filter screen of the filter basket 1320 is not blocked, the movable baffle 1390 is in the first state and allows the detection mechanism to detect the light transmission state of the water flow.

[0125] As an example, when the suction device (e.g., may include a water pump) of the automatic water tank cleaning device 1100 draws water from the tank, if the filter screen of the filter basket 1320 of the automatic water tank cleaning device 1100 is not blocked, the water flow in the inlet channel is unobstructed and can push open the movable baffle 1390, thereby allowing the detection mechanism to detect the light transmittance of the water flow. If the filter screen of the filter basket 1320 of the automatic water tank cleaning device 1100 is blocked, the water flow in the inlet channel is obstructed or even stagnant, and cannot push open the movable baffle 1390, causing the movable baffle 1390 to obstruct the detection mechanism from detecting the light transmittance of the water flow. Furthermore, the blockage of the filter screen of the filter basket 1390 can be determined based on the detection of the light transmittance of the water flow by the detection mechanism.

[0126] Furthermore, the signal receiver 1360 and the signal transmitter 1370 can be mounted on the same side wall of the water inlet channel 1310, while the signal reflector 1380 can be mounted on the opposite side wall of the water inlet channel 1310. Considering that the signal transmitter 1370 / signal receiver 1360 are often active devices that require power supply and / or control via cables, arranging the signal receiver 1360 and the signal reflector 1380 on the same side wall of the water inlet channel 1310 makes cable arrangement more convenient and simplifies the wiring structure.

[0127] Alternatively, as an example, the signal transmitter 1360 can be a passive device that does not require wiring to power and / or control it.

[0128] As mentioned above, the clogging of the filter device can be detected through a simple structure, thereby reducing product complexity and corresponding costs, while improving the user experience.

[0129] In the automatic pool cleaning device 1100, the filter basket 1320 is located closer to the rear of the automatic pool cleaning device 1100 than the water pump used to guide the water flow from the inlet along a pre-set water flow path within the automatic pool cleaning device and discharge it from the outlet, thus forming a front-mounted water flow path within the automatic pool cleaning device 1100. However, the detection mechanism in this example is also applicable to the automatic pool cleaning device 100 shown in Figures 1 to 13. For example, at least one inlet channel similar to the inlet channel 1310 can be provided between the inlet 210 or other inlet of the automatic pool cleaning device 100 and the filter basket 300, and a detection mechanism as described above for detecting the blockage of the filter basket 300 can be provided on the inlet channel.

[0130] (Water effluent testing)

[0131] As mentioned above, automatic pool cleaning equipment can be equipped with a variety of sensors to sense the state of the automatic pool cleaning equipment itself and / or the surrounding environment, which may include sensors for detecting the water outlet and water inlet states of the automatic pool cleaning equipment.

[0132] For example, such a water outlet detection sensor could be a light cone detection sensor, which uses the difference in light propagation parameters in water and on water surfaces to detect whether the machine is underwater. However, if the pool contains a high amount of sediment, the surface of the light cone is easily contaminated, significantly affecting the detection results.

[0133] For example, such a water outlet detection sensor could also be an electrode-based sensor. The electrodes of this sensor can be conductively connected to the water in the tank after the automatic water cleaning equipment is submerged, thereby detecting whether the automatic water cleaning equipment is underwater. However, such sensors may suffer from electrode electrolysis. When immersed in water and energized, electrode electrolysis becomes a serious problem, potentially leading to failure after prolonged use or corrosion leaving vacancies that allow water to enter the machine's sealed compartment.

[0134] For example, such a water detection sensor could also be a capacitance-based sensor. This sensor could include a capacitor housed within the sealed compartment of an automatic water tank cleaning device. When the sealed compartment becomes wet, the capacitance changes, thereby detecting whether the automatic water tank cleaning device is submerged. However, because the capacitor needs to be housed within the sealed compartment, a relatively large installation area is often required for the sensor.

[0135] For example, such a water outlet detection sensor can also be an ultrasonic echo signal detection sensor. This sensor continuously detects the echo signal reflected by obstacles after the ultrasonic wave is emitted. Because the propagation parameters of ultrasonic waves are different in water and air, the echo signals of ultrasonic waves will be different. Thus, it is possible to detect whether an automatic cleaning device for a pool is underwater. However, the reflected echo signal is easily affected. If the surface of the detector measuring the echo signal is covered with mud, sand, or water droplets, the mud, sand, or water droplets will absorb and scatter the ultrasonic energy, causing a significant reduction in the echo amplitude, which may lead to inaccurate detection results.

[0136] Figure 17 schematically illustrates an exemplary automatic pool cleaning device 2100 according to an embodiment of the present disclosure, which can perform cleaning operations on the bottom, walls, water and surface of a pool (e.g., a swimming pool) as needed, for example, to remove garbage in the water, at the bottom and on the surface, and to clean dirt on the bottom and walls of the pool.

[0137] As shown in Figure 17, the automatic water tank cleaning device 2100 may include a main body 2110 and a detection device 2120, wherein the detection device 2120 is used to detect whether at least a portion of the main body 2110 is discharging water. The detection device 2120 is disposed on the main body 2110.

[0138] For example, the detection device 2120 can be installed at the head of the main body 2110, where the head can include the head and top area of ​​the main body 2110. This allows the detection device 2120 to detect in a timely manner whether the head of the main body 2110 is above water. For example, when the automatic pool cleaning equipment 2100 is cleaning the pool wall, it can detect in a timely manner whether the machine head is above the water surface and change the cleaning path accordingly.

[0139] Alternatively, the detection device 2120 can be set at the corresponding position of the main body 2110 according to the water outlet position to be detected.

[0140] For example, as shown in Figure 17, a water inlet 2130 is also provided on the main body 2110. The water inlet 2130 can be located at the head of the machine. When the automatic water cleaning equipment 2100 cleans the water surface, the garbage floating on the water surface can be sucked into the filter basket through the water inlet 2130.

[0141] Then, the detection device 2120 can be set near the water inlet 2130. For example, the detection device 2120 can be set above, below or to the side of the water inlet 2130, and within a preset distance range from the water inlet 2130. The detection device 2120 can be used to detect whether the water inlet 2130 is above or below the water surface. The preset distance range can be determined according to actual needs and the structure and size of the automatic water tank cleaning equipment 2100.

[0142] Depending on the location or component on the main body 2110 where water discharge testing is required, the number of testing devices 2120 can be set to one or more. For example, multiple testing devices 2120 can be set at different locations on the main body 2110 to perform water discharge testing on different areas of the main body 2110, or multiple testing devices 2120 can be set at different locations in the area of ​​the main body 2110 where water discharge testing is required to improve the accuracy of the water discharge testing results.

[0143] Figures 18 and 19 schematically illustrate the structure of the detection device of this application.

[0144] As shown in Figure 18, the detection device 2120 may include an ultrasonic signal transmitting unit 2210 and an ultrasonic signal receiving unit 2220, wherein the ultrasonic signal transmitting unit 2210 is used to transmit ultrasonic signals, and the ultrasonic signal receiving unit 2220 is used to receive ultrasonic signals transmitted by the ultrasonic signal transmitting unit 2210.

[0145] The propagation parameters of ultrasonic signals differ in water and air (e.g., propagation speed, attenuation, etc.), therefore the signal information received by the ultrasonic signal receiving unit 2220 will differ between water and air. In the detection device 2120, the ultrasonic signal propagates between the ultrasonic signal transmitting unit 2210 and the ultrasonic signal receiving unit 2220 without needing to be reflected by other objects. Even if there are small obstacles such as mud or sand between the ultrasonic signal transmitting unit 2210 and the ultrasonic signal receiving unit 2220, water can penetrate into these obstacles, thus having a relatively small impact on the signal information received by the ultrasonic signal receiving unit 2220. The signal information received by the ultrasonic signal receiving unit 2220 can still be used to detect whether the machine is in water.

[0146] The automatic pool cleaning device 2100 may also include a controller. Similar to the controller of the automatic pool cleaning devices 100 or 1100 described above, the controller of the automatic pool cleaning device 2100 may be located in an electronic compartment within the main body 2110, and may determine whether at least a portion of the main body 2110 (the portion of the main body 2110 on which the detection device 2120 is installed) is discharging water based on the signal information received by the ultrasonic signal receiving unit 2220, and control the travel path of the main body 2110 or adjust the posture of the main body 2110 based on whether the portion of the main body 2110 of interest is discharging water.

[0147] As shown in Figures 18 and 19, the detection device 2120 may include a base 2240. One end of each of the ultrasonic signal transmitting unit 2210 and the ultrasonic signal receiving unit 2220 may be disposed on the base 2240. The detection device 2120 is detachably connected to the main body 2110 via the base 2240. For example, the base 2240 and the main body 2110 may be detachably connected by threaded connection, screw connection, snap-fit, etc., thereby facilitating the maintenance or replacement of the detection device 2120.

[0148] The signal information received by the ultrasonic signal receiving unit 2220 may include at least one of signal strength and signal propagation duration. Ultrasonic signals attenuate and propagate at different speeds in air and water. Therefore, when the automatic water cleaning device 2100 is in water and air, the signal strength and propagation duration received by the ultrasonic signal receiving unit 2220 will differ. The signal propagation duration is the time interval between the time the ultrasonic transmitting unit 2210 emits the ultrasonic wave and the time the ultrasonic signal receiving unit 2220 receives the signal. Based on the signal strength and / or signal propagation duration of the signal received by the ultrasonic signal receiving unit 2220, it is possible to quickly and accurately detect whether the portion of the automatic water cleaning device 2100 equipped with the detection device 2120 is currently in water or on the water surface.

[0149] As shown in Figure 18, there are no other objects or structures between the ultrasonic signal transmitting unit 2210 and the ultrasonic signal receiving unit 2220. Therefore, the ultrasonic signal emitted by the ultrasonic signal transmitting unit 2210 is not interfered with by other objects and propagates directly to the ultrasonic signal receiving unit 2220.

[0150] As shown in Figure 18, a gap 2230 exists between the ultrasonic signal transmitting unit 2210 and the ultrasonic signal receiving unit 2220. The gap 2230 can be a structure or space that guides water out. After the automatic water cleaning device 2100 discharges water, the water between the ultrasonic signal transmitting unit 2210 and the ultrasonic signal receiving unit 2220 can flow out through the gap 2230. This prevents residual water droplets between the ultrasonic signal transmitting unit 2210 and the ultrasonic signal receiving unit 2220 from affecting the signal received by the ultrasonic signal receiving unit 2220 after water has been discharged, for example, preventing the automatic water cleaning device 2100 from being mistakenly identified as still in water.

[0151] The structure of the gap 2230 can be configured according to actual needs. For example, the gap 2230 can be a semi-enclosed structure, and may include at least one opening to allow water to flow out between the ultrasonic signal transmitting unit 2210 and the ultrasonic signal receiving unit 2220.

[0152] To facilitate the flow of water between the ultrasonic signal transmitting unit 2210 and the ultrasonic signal receiving unit 2220 after the water is discharged from the automatic water cleaning device 2100, the installation direction of the detection device 2120 can be set according to actual needs, so that after the water is discharged from the automatic water cleaning device 2100, the opening of the gap 2230 faces the direction of the bottom of the pool. If the gap 2230 includes multiple openings, then after the water is discharged from the automatic water cleaning device 2100, at least one opening faces the direction of the bottom of the pool.

[0153] As shown in Figure 18, each of the ultrasonic signal transmitting unit 2210 and the ultrasonic signal receiving unit 2220 can be configured with one end as a fixed end and the other end as a free end, wherein the free end corresponds to the opening of the gap 2230.

[0154] When the main body 2110 is placed horizontally, the opening of the gap 2230 can face the bottom of the main body 2110, that is, the free end is closer to the bottom of the main body 2110. In this way, after the automatic water cleaning device 2100 dispenses water, the water can flow out from the gap 2230 under the action of gravity.

[0155] As shown in Figure 19, if the fixed end is closer to the bottom of the pool than the free end after the water is discharged from the automatic cleaning device 2100, one or more through holes 2231 can be provided in the base part between the ultrasonic signal transmitting unit 2210 and the ultrasonic signal receiving unit 2220 as openings of the gap 2230 so that water can flow out from the gap 2230 under the action of gravity.

[0156] The installation direction of the detection device 2120 can be set or adjusted according to actual needs, as long as water can flow out from the gap 2230 when the detection device 2120 is discharging water. For example, if the detection device 2120 is used to detect the water discharge status when the machine is climbing the wall, the detection device 2120 can also be set so that the opening of the gap 2230 faces the bottom of the pool when the main body 2110 is climbing the wall.

[0157] As shown in Figure 18, the size of the gap 2230 between the ultrasonic signal transmitting unit 2210 and the ultrasonic signal receiving unit 2220 can be set within a suitable range according to actual needs. This ensures that the ultrasonic signal has sufficient propagation space, allowing the ultrasonic signal receiving unit 2220 to receive different signal information above and below water, while also preventing larger objects such as leaves from getting stuck between the ultrasonic signal transmitting unit 2210 and the ultrasonic signal receiving unit 2220, thus affecting the water output detection results. The specific size of the gap 2230 can be set according to the structure of the automatic water tank cleaning equipment 2100 and the requirements for the speed and accuracy of water output detection, for example, it can be set between 0.5 cm and 5 cm.

[0158] If some small obstacles such as mud or sand are trapped between the ultrasonic signal transmitting unit 2210 and the ultrasonic signal receiving unit 2220, the impact on the detection results will be minimal because water can penetrate such small obstacles.

[0159] An electronic compartment may also be installed within the main body 2110, or at another suitable location within the main body 2110. This electronic compartment may be a sealed structure, in which waterproof components such as the detection device 2120, circuit boards, batteries, controllers, and motors may be installed.

[0160] The detection device 2120 may further include a connecting cable, one end of which can be connected to the ultrasonic signal transmitting unit 2210 and the ultrasonic signal receiving unit 2220, and the other end can be connected to the electronic compartment. For example, a battery in the electronic compartment can power the detection device 2120 through this connecting cable. Additionally, the detection device 2120 can also transmit data with a controller in the electronic compartment through this connecting cable, enabling the controller to receive the signal information detected by the detection device 2120. Furthermore, the controller can also control the detection device 2120 to turn on or off through this connecting cable.

[0161] In addition, the main body 2110 may also include structures or components such as a shell, handle, and water outlet.

[0162] As described above, the signal information received by the ultrasonic signal receiving unit 2220 varies depending on the medium between the ultrasonic signal transmitting unit 2210 and the ultrasonic signal receiving unit 2220. Therefore, by directly transmitting ultrasonic signals from the ultrasonic signal transmitting unit 2210 to the ultrasonic signal receiving unit 2220, the water outlet status of the automatic water cleaning device 2100 can be detected.

[0163] The ultrasonic signal propagates in the ultrasonic signal transmitting unit 2210 and the ultrasonic signal receiving unit 2220 without needing to be reflected by other objects. Even if there are small obstacles such as mud and sand between the ultrasonic signal transmitting unit and the ultrasonic signal receiving unit, water and air can penetrate into these obstacles, which has little impact on the signal information received by the ultrasonic signal receiving unit, and can also detect whether the automatic water cleaning device 2100 is discharging water.

[0164] Furthermore, the detection device 2120 can be installed at any suitable location on the main body 2110, depending on actual needs. Simultaneously, the detection device 2120 can operate stably for extended periods, thereby improving the accuracy and stability of effluent detection.

[0165] It should be understood that the above-described automatic pool cleaning device 2100 and detection device 2120 are merely examples. The detection device 2120 can also be applied to the automatic pool cleaning devices 100 and 1100 in the previous examples. For example, the detection device 2120 can be installed at the part of the automatic pool cleaning device 100 or 1100 where water discharge needs to be monitored, such as the front and / or rear position of the top of the automatic pool cleaning device 100 or 1100.

[0166] Figure 20 schematically illustrates an example of the installation location of a detection device for detecting whether a designated portion of an automatic pool cleaning device is discharging water, in an embodiment of the present disclosure. Examples of automatic pool cleaning devices may include automatic pool cleaning devices 100, 1100, or 2100 as described above.

[0167] The automatic pool cleaning device in this example can float on or move on the water surface. While moving on the water surface, it draws in water from the pool through a surface inlet and filters the water using an internal filtration device, simultaneously trapping debris or dirt on the water surface along with the water. Accordingly, this exemplary automatic pool cleaning device may include a controller and buoyancy control components such as an air chamber, ballast water tank, and variable buoyancy device to adjust the buoyancy of the automatic pool cleaning device in the water.

[0168] A buoyancy control component is a system in automated pool cleaning equipment used to adjust buoyancy to enable the equipment to float, submerge, or suspend. For example, the buoyancy control component may include a ballast tank, which can adjust the weight of the automated pool cleaning equipment by injecting or deleting water, thereby adjusting buoyancy. Alternatively, the buoyancy control component may include a variable buoyancy device such as an airbag, and the buoyancy of the automated pool cleaning equipment can be adjusted by changing the volume of the airbag.

[0169] The buoyancy control component can be installed at the head, tail, each corner of the automatic pool cleaning device, and / or other suitable locations. The buoyancy control component can be installed in different locations and can control the buoyancy or submersion of different areas of the main body 3010.

[0170] As shown in Figure 20, the exemplary automatic water tank cleaning device includes a main body 3010, a water inlet 3120, a first water outlet detection sensor 3111, and a second water outlet detection sensor 3112.

[0171] In this example, the inlet 3120 is located at the head of the main body 3010 and serves as the water surface inlet for the automatic cleaning device of the pool.

[0172] The first water outlet detection sensor 3111 and the second water outlet detection sensor 3112 are located at different heights of the main body 3010. At least one of the first water outlet detection sensor 3111 and the second water outlet detection sensor 3112 may include the detection device 2120 described in the above example, or it may include one or more other sensors such as a buoyancy sensor, a flow sensor, a photoelectric level sensor, a capacitive sensor, a pressure sensor, a conductive sensor, and a thermal flow sensor. For example, a buoyancy sensor can calculate the volume of an object immersed in the liquid by measuring the buoyancy of the liquid, and then infer the depth of the object immersed in the liquid based on its shape; a pressure sensor can measure hydrostatic pressure and calculate the water depth at which the pressure sensor is located.

[0173] The controller in the automatic pool cleaning device can be configured to control the automatic pool cleaning device to move on the water surface by executing program instructions, and based on the detection data of the first water outlet detection sensor 3111 and / or the second water outlet detection sensor 3112, to control at least part of the main body 3010 to float or sink through the buoyancy control component, so as to maintain the degree to which the water inlet 3120 is exposed above the water surface.

[0174] The main body 3010 may have an outer shell made of an insulating and waterproof material (e.g., plastic). The main body 3010 provides support, protection, and insulation for the various components or devices inside the automatic pool cleaning equipment, ensuring that the automatic pool cleaning equipment will not experience short circuits or leakage due to water contact with internal motors, sensors, and control boards during surface cleaning and / or underwater cleaning operations, thereby guaranteeing user safety.

[0175] As shown in Figure 20, the water inlet 3120 is located at the head of the main body 3010 (e.g., the left end shown in Figure 20) to draw water and objects to be cleaned (e.g., leaves) in front of the water inlet 3120, wherein the head of the main body 3010 corresponds to the forward direction of the automatic water tank cleaning device.

[0176] When the automatic water tank cleaning equipment is performing water surface cleaning, the upper part of the inlet 3120 should be above the water surface, and the lower part of the inlet 3120 should be below the water surface. In other words, a part of the inlet 3120 is above the water surface, while the other part is below the water surface, so that water and materials to be cleaned in front of the inlet 3120 can be drawn into the filter device of the automatic water tank cleaning equipment through the inlet 3120.

[0177] As shown in Figure 20, the first water outlet detection sensor 3111 can be located above the water inlet 3120 to detect the relative position of the upper part of the water inlet 3120 with respect to the water surface (e.g., above or below the water surface). The second water outlet detection sensor 3112 can be located below the water inlet 3120 to detect the relative position of the lower part of the water inlet 3120 with respect to the water surface (e.g., above or below the water surface).

[0178] It should be understood that the configuration of the first water outlet detection sensor 3111 and the second water outlet detection sensor 3112 shown in Figure 20 is merely exemplary. As long as the first water outlet detection sensor 3111 and the second water outlet detection sensor 3112 are located at different heights of the main body 3010, the detection data from the first water outlet detection sensor 3111 and the second water outlet detection sensor 3112 can be used to determine the relative position of the water inlet 3120 to the water surface. For example, the first water outlet detection sensor 3111 can be located at the upper part of a portion of the water inlet 3120 to detect whether the upper part of the water inlet 3120 is below the water surface, while the second water outlet detection sensor 3112 can be located at the lower part of a portion of the water inlet 3120 to detect whether the lower part of the water inlet 3120 is above the water surface.

[0179] As shown in Figure 20, the first water outlet detection sensor 3111 is located above the upper edge of the water inlet 3120, and the second water outlet detection sensor 3112 is located below the lower edge of the water inlet 3120. When the first water outlet detection sensor 3111 detects that it is underwater, it can be determined that the water inlet 3120 is completely underwater. When the second water outlet detection sensor 3112 detects water outlet, it can be determined that the water inlet 3120 is completely above water.

[0180] In another example, the first water outlet detection sensor 3111 and the second water outlet detection sensor 3112 can also be located to the side of the water inlet 3120, for example, above and below the horizontal axis of symmetry of the water inlet 3120, respectively. This allows for more accurate detection of the relative positional relationship between the upper and lower parts of the water inlet 3120 and the water surface.

[0181] The configuration positions of the first water outlet detection sensor 3111 and the second water outlet detection sensor 3112 on the main body 110 can be determined according to the structure and size of the automatic water tank cleaning equipment.

[0182] In addition, the number of first water outlet detection sensors 3111 can be one or more, and the number of second water outlet detection sensors 3112 can be one or more.

[0183] For example, when there are multiple first water outlet detection sensors 3111, two adjacent first water outlet detection sensors 3111 can have a first preset distance in the horizontal direction. Similarly, when there are multiple second water outlet detection sensors 3112, two adjacent second water outlet detection sensors 3112 can have a second preset distance in the horizontal direction. In other words, multiple first water outlet detection sensors 3111 and multiple second water outlet detection sensors 3112 can be positioned at different locations in the left and right width directions of the water inlet 3120 to detect the relative positional relationship between the water inlet 3120 and the water surface at different locations in the width direction.

[0184] The first preset distance and the second preset distance can be set according to the number of the first water outlet detection sensor 3111 and the second water outlet detection sensor 3112 and the size of the automatic water tank cleaning device, so that the first water outlet detection sensor 3111 and the second water outlet detection sensor 3112 can be evenly set above or below the water inlet 3120.

[0185] Meanwhile, for example, when there are multiple first water outlet detection sensors 3111, two adjacent first water outlet detection sensors 3111 can be positioned at the same height or different heights on the main body 3010. Similarly, when there are multiple second water outlet detection sensors 3112, two adjacent second water outlet detection sensors 3112 can be positioned at the same height or different heights on the main body 3010. In this way, based on the detection data from multiple first water outlet detection sensors 3111 and multiple second water outlet detection sensors 3112, the error in water outlet detection can be reduced, and the relative positional relationship between the inlet 3120 and the water surface can be detected more accurately.

[0186] When there is only one first water outlet detection sensor 3111, for example, the first water outlet detection sensor 3111 is located in the middle region of the head of the main body 3010. When there is only one second water outlet detection sensor 3112, for example, the second water outlet detection sensor 3112 is located in the middle region of the head of the main body 3010.

[0187] The middle region of the head of the main body 3010 may include the upper middle region and the lower middle region of the inlet 3120. That is, the first water outlet detection sensor 3111 can be set in the upper middle region of the inlet 3120, and the second water outlet detection sensor 3112 can be set in the lower middle region of the inlet 3120, so as to detect the relative positions of the upper and lower parts of the inlet 3120 with respect to the water surface, respectively.

[0188] During the cleaning operation of the automatic water tank cleaning equipment, the middle area of ​​the main body 3010 is least affected by posture changes. Therefore, when there is only one first water outlet detection sensor 3111 or one second water outlet detection sensor 3112, placing the first water outlet detection sensor 3111 or the second water outlet detection sensor 3112 in the middle area of ​​the main body 3010 can more stably detect the position of the water inlet 3120 relative to the water surface.

[0189] The controller installed inside the automatic water tank cleaning device can execute program instructions to adjust the buoyancy of the automatic water tank cleaning device through the buoyancy control component based on the detection data of the first water outlet detection sensor 3111 and the second water outlet detection sensor 3112. This causes the main body 3010 to float or sink at least partially, thereby maintaining the inlet 3120 at an appropriate height above the water surface when the automatic water tank cleaning device performs water surface cleaning. For example, when the automatic water tank cleaning device performs water surface cleaning, the upper half of the inlet 3120 is maintained above the water surface, while the lower half is below the water surface, to ensure that debris on the water surface can be sucked into the filter basket of the automatic water tank cleaning device through the inlet 3120.

[0190] For example, if the controller detects through the first water outlet detection sensor 3111 that the upper part of the water inlet is below the water surface, that is, the water inlet 3120 is completely submerged in the water (i.e., the water inlet 3120 cannot contact the water surface and perform cleaning operations), the controller can use the buoyancy control component to control at least a part of the main body 3010 to float, thereby enabling the water inlet 3120 to float until the water inlet 3120 is exposed above the water surface at an appropriate height, so that the water inlet 3120 can suck up the garbage on the water surface.

[0191] If the controller detects through the second water outlet detection sensor 3112 that the lower part of the inlet 3120 is above the water surface, that is, the inlet 3120 is completely floating on the water surface (i.e., the inlet 3120 cannot contact the water surface and perform cleaning operations), the controller can use the buoyancy control component to control at least a part of the main body 3010 to sink, thereby achieving the sinking of the inlet 3120 until the inlet 3120 is exposed above the water surface at an appropriate height, so that the inlet 3120 can suck up the garbage on the water surface.

[0192] At least a portion of the aforementioned main body 3010 may include the head, tail, or the entire main body 3010. That is, when controlling at least a portion of the main body 3010 to float or sink, the head of the main body 3010 may be controlled to float or sink, or the tail of the main body 3010 may be controlled to float or sink, or the entire main body 3010 may be controlled to float or sink, as needed.

[0193] As shown in Figure 20, the automatic water tank cleaning device may further include at least one third water discharge detection sensor 3113. Along the length of the main body 3010 (i.e., the direction of extension from the head to the tail of the main body 3010), the third water discharge detection sensor 3113 may be located in a different position than the first water discharge detection sensor 3111 and the second water discharge detection sensor 3112. For example, the third water discharge detection sensor 3113 may be located at a position slightly above the tail of the main body 3010.

[0194] By combining the data detected by the first water outlet detection sensor 3111, the second water outlet detection sensor 3112, and the third water outlet detection sensor 3113, it is possible to determine the overall posture of the main body 3010 relative to the water surface, that is, to determine the posture of the main body 3010 in the water.

[0195] For example, the first water outlet detection sensor 3111 and the third water outlet detection sensor 3113 can be located at the same horizontal height of the machine body. If both the first water outlet detection sensor 3111 and the second water outlet detection sensor 3112 detect that their positions are above the water surface, while the third water outlet detection sensor 3113 detects that its position is below the water surface, it can be determined that the main body 3010 is in a tilted-up posture. Furthermore, based on the detection data at this time, the controller can control the head of the main body 3010 to sink and the tail to rise through the buoyancy control component until the main body 3010 is parallel or roughly parallel to the water surface, and the water inlet 3120 is exposed at an appropriate height above the water surface, so that the automatic water cleaning equipment can perform normal water surface cleaning operations through the water inlet 3120.

[0196] The position of the third water outlet detection sensor 3113 is not limited, as long as it is located at different length positions of the main body 3010 along with the first water outlet detection sensor 3111 and the second water outlet detection sensor 3112, and can determine the relative position of the main body 3010 to the water surface at different length positions. The controller can adjust the buoyancy at different positions of the main body 3010 based on the data from these three water outlet detection sensors, thereby adjusting the attitude of the main body 3010 accordingly, ultimately maintaining the degree to which the inlet 3120 is exposed above the water surface.

[0197] Furthermore, the third water discharge detection sensor 3113 can be at the same horizontal height as the first water discharge detection sensor 3111, or at the same horizontal height as the second water discharge detection sensor 3112. For example, the third water discharge detection sensor 3113 can be located at the tail of the main body 3010, while the first water discharge detection sensor 3111 is located at the head of the main body 3010, with the third water discharge detection sensor 3113 and the first water discharge detection sensor 3111 on the same horizontal plane. Then, the controller can combine the detection data from the third water discharge detection sensor 3113 and the first water discharge detection sensor 3111 to determine the position of the head and tail of the main body 3010 relative to the water surface, and determine whether the main body 3010 as a whole is parallel or substantially parallel to the water surface.

[0198] Furthermore, the controller can also combine the second water outlet detection sensor 3112 to determine the positional relationship of the water inlet 3120 relative to the water surface, and determine which parts of the main body 3010 need to float or sink based on the detection data of the three water outlet detection sensors, so as to maintain the degree to which the water inlet 3120 is exposed above the water surface, and the main body 3010 can maintain a parallel or roughly parallel posture with the water surface, so that the machine can better perform cleaning operations on the water surface.

[0199] Depending on actual needs, the number of third water outlet detection sensors 3113 can be one or more.

[0200] In another example, an attitude detection sensor can be used to detect the attitude of the main body 3010. This attitude detection sensor (e.g., an inertial measurement unit) can be used to measure the pitch, roll, and yaw angles of the automatic water tank cleaning device. The attitude detection sensor can be located anywhere on the main body 3010. Based on the measurement data from the attitude detection sensor, and combined with data measured by the first water outlet detection sensor 3111 and the second water outlet detection sensor 3112, the controller, through a buoyancy control component, controls at least a portion of the main body 3010 to float or sink. This ensures that the water inlet 3120 is exposed above the water surface at an appropriate height, while the main body 3010 maintains an overall attitude parallel or substantially parallel to the water surface during cleaning operations.

[0201] For example, if the controller detects that the main body 3010 is in a "head-up" posture through the attitude detection sensor, and the controller determines that the inlet 3120 is above the water surface through the detection data of the first water outlet detection sensor 3111 and the second water outlet detection sensor 3112, the controller can use the buoyancy control component to control the head of the main body 3010 to sink a certain distance, so that the inlet 3120 is partially below the water surface and partially above the water surface, and the main body 3010 can maintain a horizontal posture as a whole.

[0202] Figure 21 schematically illustrates a method 3300 for controlling an automatic water tank cleaning device based on sensing data from a first water outlet detection sensor 3111 and a second water outlet detection sensor 3112. This method 3300 can be implemented by a controller in the automatic water tank cleaning device by executing corresponding program instructions.

[0203] As shown in FIG21, the exemplary method 3300 may include steps 3301 and 3302.

[0204] In step 3301, the automatic cleaning device for the pool can be controlled to move on the water surface. For example, it can move randomly or along a planned path (e.g., a "bow-shaped" path).

[0205] In step 3302, based on the detection data from the first water outlet detection sensor 3111 and / or the second water outlet detection sensor 3112, the buoyancy control component can control at least a portion of the main body 3010 to float or sink, so as to maintain the degree to which the water inlet 3120 is exposed above the water surface.

[0206] For example, when the automatic water cleaning equipment is cleaning the water surface, the position of the first water outlet detection sensor 3111 and / or the second water outlet detection sensor 3112 can be detected to identify the relative positional relationship between the sensor and the water surface, and then determine the positional relationship between the water inlet 3120 and the water surface.

[0207] If it is determined that the inlet 3120 is above the water surface, the buoyancy control component will control the head of the main body 3010 to sink or the entire main body 3010 to sink, thereby maintaining the inlet 3120 at an appropriate height above the water surface. If it is determined that the inlet 3120 is below the water surface, the buoyancy control component will control the head of the main body 3010 to float or the entire main body 3010 to float, thereby maintaining the inlet 3120 at an appropriate height above the water surface.

[0208] For example, the first water outlet detection sensor 3111 can be used to detect whether the upper part of the water inlet 3120 is in the water, and the second water outlet detection sensor 3112 can be used to detect whether the lower part of the water inlet 3120 is in the water.

[0209] If water is detected by the first water outlet detection sensor 3111, it indicates that the upper edge or upper half of the inlet 3120 is above the water surface. In this case, if the automatic pool cleaning equipment is floating, its floating action can be stopped to prevent the entire inlet 3120 from being above the water surface.

[0210] If water is detected by the second water outlet detection sensor 3112, it indicates that the lower edge or lower half of the inlet 3120 is above the water surface. In this case, the automatic cleaning equipment of the pool can be controlled to sink to maintain the degree to which the inlet 3120 is exposed above the water surface.

[0211] If the first water inlet detection sensor 3111 detects water entering the water, it indicates that the upper edge or upper half of the inlet 3120 is below the water surface. In this case, the automatic cleaning equipment of the pool can be controlled to float to maintain the inlet 3120 above the water surface.

[0212] By means of method 3300, the inlet 3120 can be kept at an appropriate height above the water surface when the automatic pool cleaning equipment is performing water surface cleaning operations, so as to ensure that when the automatic pool cleaning equipment moves on the water surface, the inlet 3120 can suck the garbage on the water surface into the filter basket.

[0213] Furthermore, as described above, the automatic water tank cleaning device may also include an attitude detection sensor and / or at least one third water outlet detection sensor 3113. Accordingly, the method 3300 may further include: determining the attitude of the main body 3010 in the water and the position of the inlet 3120 relative to the water surface based on the detection data of the first water outlet detection sensor 3111, the second water outlet detection sensor 3112, and the third water outlet detection sensor 3113 and / or the attitude detection sensor, thereby controlling at least a portion of the main body 3010 to float or sink, maintaining the degree to which the inlet 3120 is exposed above the water surface, and ensuring that the main body 3010 is in a horizontal attitude as a whole, so as to better clean the debris on the water surface.

[0214] (Computer storage media)

[0215] In addition, this disclosure also provides a computer storage medium storing program instructions that, when executed by a controller in an automatic pool cleaning device in any of the above examples, implement the methods involved in any example of this disclosure. The computer storage medium may be located at at least one of multiple network servers in a computer network, and may include, but is not limited to, various media capable of storing program code such as: USB flash drives, read-only memory (ROM), random access memory (RAM), portable hard drives, magnetic disks, or optical disks.

[0216] The basic principles of this disclosure have been described above with reference to embodiments. However, it should be noted that the advantages, benefits, and effects mentioned in this disclosure are merely examples and not limitations, and should not be considered as essential features of the various embodiments of this disclosure. Furthermore, the foregoing details are for illustrative and facilitative purposes only, and are not limitations; the foregoing details do not limit the scope of this disclosure to its implementation.

[0217] The block diagrams of devices, apparatuses, devices, and systems disclosed herein are merely illustrative examples and are not intended to require or imply that they must be connected, arranged, or configured in the manner shown in the block diagrams. In various embodiments, these devices, apparatuses, devices, and systems may be connected, arranged, and configured in any suitable manner.

[0218] Additionally, words such as "including," "containing," and "having" in the text are open-ended terms meaning "including but not limited to," and can be used interchangeably. The words "or" and "and" used here refer to the words "and / or," and can be used interchangeably unless the context explicitly indicates otherwise. The word "such as" used here refers to the phrase "such as but not limited to," and can be used interchangeably.

[0219] It should also be noted that in the apparatus, devices, and methods of this disclosure, the components or steps can be disassembled and / or recombined. These disassemblies and / or recombinations should be considered as equivalent solutions to this disclosure.

[0220] In this article, modifiers without quantifiers, such as "first" and "second," are intended to distinguish different components / parts / circuits / modules / devices / steps, rather than to emphasize order, positional relationship, importance, or priority. In contrast, modifiers with quantifiers, such as "first" and "second," can be used to emphasize the order, positional relationship, importance, or priority of different components / parts / circuits / modules / devices / steps.

[0221] The above description is given for illustrative and descriptive purposes only. This description is not intended to limit the embodiments of this disclosure to the forms disclosed herein. Although numerous exemplary aspects and embodiments have been discussed above, those skilled in the art will recognize certain variations, modifications, alterations, additions, and sub-combinations therein.

Claims

1. An automatic water tank cleaning device, comprising: The housing is provided with an inlet, a first outlet, and a second outlet. A filter basket is disposed in the housing and configured to filter the water flow entering from the inlet; A first suction device is disposed in the housing and located on one side of the filter basket, and is configured to guide the water flowing out of the filter basket to be discharged from the first outlet. as well as A second suction device is disposed in the housing and located on the other side of the filter basket, and is configured to guide the water flowing out of the filter basket to be discharged from the second outlet.

2. The automatic water tank cleaning device as described in claim 1, wherein, The first suction device and the second suction device are located in the central area of ​​the automatic water tank cleaning equipment.

3. The automatic water tank cleaning device as described in claim 1, wherein, The first water outlet and the second water outlet are symmetrically arranged on the body of the automatic water tank cleaning equipment in the forward direction.

4. The automatic water tank cleaning device as described in claim 1, wherein, The first suction device includes a first flow guide shroud and a first impeller. The first flow guide shroud is disposed on one side of the filter basket, and the first impeller is at least partially disposed within the first flow guide shroud. The second suction device includes a second flow guide and a second impeller, the second flow guide being disposed on the other side of the filter basket, and the second impeller being disposed at least partially within the second flow guide.

5. The automatic water tank cleaning device as described in claim 4, further comprising: A filter basket receiving frame is disposed in the housing, the filter basket receiving frame being configured to communicate with the water inlet and to receive the filter basket.

6. The automatic water tank cleaning device as described in claim 5, wherein, At least one of the first and second guide shields is fixed to the filter basket receiving frame by any of the following methods: integral molding, screw connection, and snap-fit.

7. The automatic water tank cleaning device as described in claim 5, wherein, At least one opening is provided on the first side of the filter basket receiving frame that is in contact with the first flow guide and on the second side of the filter basket receiving frame that is in contact with the second flow guide, respectively, and the filter basket receiving frame is in communication with the first flow guide and the second flow guide via the at least one opening.

8. The automatic water tank cleaning device as described in claim 5, wherein, At least one one-way drain valve is provided on the bottom and / or at least one side of the filter basket housing frame.

9. The automatic water tank cleaning device as described in claim 4, wherein, In a top view of the automatic water tank cleaning device, at least a portion of the water inlet is located between the first guide shroud and the second guide shroud.

10. The automatic water tank cleaning device as described in claim 4, further comprising: The first flow channel is configured to connect the first flow guide shroud and the first water outlet, so as to guide the water flow in the first flow guide shroud to flow out of the first water outlet in a specified direction; as well as The second flow channel is configured to connect the second flow guide shroud and the second water outlet in order to guide the water flow in the second flow guide shroud to flow out of the second water outlet in a specified direction.

11. The automatic water tank cleaning device as described in claim 10, wherein, The first flow channel and / or the second flow channel are configured as hollow tubular structures.

12. The automatic water tank cleaning device as described in claim 10, wherein, The first flow channel and / or the second flow channel are provided with at least one flow guide plate.

13. The automatic water tank cleaning device as described in claim 10, wherein, The first flow channel is detachably connected to the outlet of the first flow shroud or integrally formed with the first flow shroud, and / or the second flow channel is detachably connected to the outlet of the second flow shroud or integrally formed with the second flow shroud.

14. The automatic water tank cleaning device according to any one of claims 1 to 13, wherein, The inlet is closer to the front of the filter basket than the first suction device and the second suction device, and / or at least one filter element is respectively arranged on the side of the filter basket closer to the first suction device and the other side closer to the second suction device.

15. A method for controlling an automatic water tank cleaning device as described in any one of claims 1 to 14, comprising: Control the movement of the automatic water tank cleaning device within the water tank; As the automatic cleaning device moves in the pool, a portion of the water flowing out of the filter basket is guided to be discharged from the first outlet at a first flow rate via the first suction device. as well as Another portion of the water flowing out of the filter basket is guided to be discharged from the second outlet via the second suction device at a second flow rate, wherein the first flow rate is the same as or different from the second flow rate.

Images