CN115486409A - Bionic flatworm fish tank cleaner and control method thereof - Google Patents

Abstract

The invention relates to a bionic sea flatworm fish tank cleaner and a control method thereof, wherein the cleaner comprises a head part, a body shell and a tail part, and the head part and the tail part are respectively connected with the front end and the rear end of the body shell; the head and the tail are respectively provided with a laser navigation sensor and an ultrasonic distance sensor; the head is symmetrically provided with motor components, the body shell is symmetrically provided with crankshaft components, and the motor components on two sides are connected with the crankshaft components through couplers; the crankshaft assemblies on the two sides are relatively connected with a plurality of rotary shifting fork arms, and the rotary shifting fork arms on the two sides are arranged in a wavy manner; the bottom of the housing is symmetrically provided with a garbage collection box, the garbage collection box is provided with a collection opening, and the garbage collection box is provided with a winding device in a penetrating way at the collection opening; the bottom of the garbage collection box is provided with a filtering grid. The invention is more environment-friendly, protects fish and aquatic plants, and plays a role in promoting the water quality and the ecological environment of the fish tank; has both ornamental value and practical value; simple structure, workable, the realization is carried out intelligent high-efficient degree of depth clearance to the fish bowl to the steady operation.

Description

A bionic sea flatworm fish tank cleaner and its control method

technical field

The invention relates to the technical field of fish tank cleaning, in particular to a bionic sea flatworm fish tank cleaner and a control method thereof.

Background technique

As a new type of pet, ornamental fish has huge market potential at this stage, so the demand for fish tanks and fish tank cleaning required for ornamental fish breeding is rising simultaneously.

At present, people usually use purifiers and other chemical products to clean fish tanks, or manually change water, make siphons by hand, or take biological cleaning, such as breeding scavengers to clean fish tanks, but these methods are very harmful to the health of fish. Unfavorable, it seriously affects the water quality and ecological environment of the fish tank, and the cleaning effect is not good. In addition, there are some bionic cleaning machines on the market. Some bionic cleaning machines are similar to carp, which are spindle-shaped and smooth on the surface. It is difficult to absorb the garbage in the fish tank, making the cleaning effect poor; some bionic cleaning machines are similar to scavengers, with mouthparts. When it swims in the water, it uses the suction cup mouthparts to adsorb on the wall of the fish tank, and at the same time uses its mouth to eat the fish tank. Although the algae plants on the wall and the feces at the bottom of the fish tank have a good cleaning effect, their structures are very complicated and difficult to design and process.

Contents of the invention

Aiming at the existing problems, the present invention proposes a bionic sea flatworm fish tank cleaner and its control method, which is more environmentally friendly, protects fish and aquatic plants, and promotes the water quality and ecological environment of the fish tank; it has both ornamental value and practical value ; Simple structure, easy processing, stable operation, realize intelligent and efficient deep cleaning of fish tanks.

Technical scheme of the present invention is realized like this:

A bionic sea flatworm fish tank cleaner, comprising a head, a body and a tail, the head and the tail are respectively connected to the front and rear ends of the body; the head and the tail are equipped with laser navigation sensors and ultrasonic distance sensor;

The motor assembly is symmetrically arranged in the head, and the crankshaft assembly is symmetrically arranged in the body. The motor assembly on both sides is connected to the crankshaft assembly on both sides through a coupling; the crankshaft assembly on both sides is connected with A plurality of rotating fork arms, and the plurality of rotating fork arms on both sides are arranged in waves;

The bottom of the body is symmetrically provided with a garbage collection box, the garbage collection box is provided with a collection port, and the garbage collection box is provided with a winding device for rolling in the garbage at the collection port; The bottom of the collection box has a filter grid.

Preferably, the winding device includes a rolling brush and a sweeping brush assembly, the rolling brush detachably penetrates through the collecting port, the two ends of the rolling brush are respectively connected with the sweeping brush assembly, the sweeping brush The brush assembly includes a brush motor and a brush, the brush motor is drivingly connected to the brush, and the brush is meshed with the rolling brush through bevel teeth; the brush end of the brush is located at the collection port below.

Preferably, the crankshaft assembly includes several crank throws, each of the rotary fork arms is plugged into each of the crank throws, and a supporting rotating shaft rod runs through the several of the rotary fork arms on each side, so that The crankshaft assembly drives the rotating fork arm to rotate around the supporting shaft.

Preferably, the rotary fork arm includes a connecting rod and a toggle arm connected to the connecting rod, the connecting rod is located in the body, and the toggle arm is located outside the body.

Preferably, the head of the body is provided with a motor fixing block, the middle and tail of the body are provided with a crankshaft assembly fixing block, the motor assembly is fixed on the motor fixing block, and the crankshaft assembly passes through the bearing The middle and rear crankshaft assemblies are fixed on blocks.

Preferably, the materials of the head, the body and the tail are all environmentally friendly PVC materials.

Preferably, the material of the toggle arm is environmentally friendly silicone material.

Preferably, the material of the crankshaft assembly is high toughness resin.

A control method according to the bionic sea flatworm fish tank cleaner described above, the method includes:

The laser navigation sensor is used to collect the outline of the reflector and the position of the cleaner;

Using an ultrasonic distance sensor to collect the position of the reflector;

At the same time, the ultrasonic distance sensor and the laser navigation sensor transmit the collected signals to the controller to build the cleaning map of the cleaner;

The controller controls the motor assembly to drive the crankshaft assembly to rotate, so as to drive the rotating fork arm to rotate, thereby instructing the cleaner to move according to the cleaning map;

At the same time, the controller controls the winding device to rotate, thereby controlling the cleaner to clean up the garbage in the fish tank according to the cleaning map.

Compared with the prior art, the present invention has the following advantages:

1. The cleaning device of the present invention is more environmentally friendly, reduces the use of chemical products, protects fish and aquatic plants, and promotes the water quality and ecological environment of fish tanks;

2. The cleaning device of the present invention is provided with a crankshaft assembly and a rotating fork arm in the body, which imitates the shape of the sea flatworm, enhances the ornamental value, and can be used as a toy for children to play with;

3. The cleaning device of the present invention can drive the crankshaft assembly to rotate by controlling the motor assembly, thereby driving the rotating fork arm to flap in waves to realize the free movement of the bionic sea flatworm. The principle and process are simple and easy to understand, the operation is stable, and the practicability is high ;

4. The garbage in the fish tank is rolled into the garbage collection box through the winding device to realize the cleaning of the fish tank, with strong cleaning force, simple structure and low processing cost;

5. Both the head and the tail of the cleaning device of the present invention are equipped with laser navigation sensors and ultrasonic distance sensors, which can clean the fish tank in all directions and intelligent sensing, with powerful functions, which can further reduce labor time and realize high-efficiency deep cleaning .

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only These are some embodiments of the present invention. For those skilled in the art, other drawings can also be obtained according to these drawings without any creative effort.

Fig. 1 is the overall schematic diagram of the bionic sea flatworm fish tank cleaner of the present invention;

Fig. 2 is the exploded view of the bionic sea flatworm fish tank cleaner of the present invention;

Fig. 3 is a detailed schematic diagram of the interior of the casing of the present invention;

Fig. 4 is an enlarged schematic view at "A" in Fig. 3;

Fig. 5 is the schematic diagram of crankshaft assembly;

Fig. 6 is the bottom axonometric view of the bionic sea flatworm fish tank cleaner of the present invention;

Fig. 7 is a detailed schematic diagram of the combination of the rolling brush and the sweeping brush assembly of the present invention.

Drawing logo:

1. Head; 11. Motor assembly; 2. Body; 21. Crankshaft assembly; 22. Rotating fork arm; 221. Connecting rod; 222. Toggling arm; 23. Supporting shaft rod; 24. Motor fixing block; 25 , fixed block of crankshaft assembly; 26, shaft coupling; 27, bearing; 3, tail; 4, garbage collection box; 41, collection port; 5, winding device; 51, rolling brush; 52, sweeping brush assembly; Sweep brush motor; 522, sweep brush; 523, bevel teeth; 6, filter mesh.

detailed description

The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of the present invention.

In the description of the present invention, it should be noted that the orientation or positional relationship indicated by the terms "upper", "lower", "left", "right", "inner" and "outer" are based on the Orientation or positional relationship is only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation of the present invention.

In the description of the present invention, it should be noted that unless otherwise specified and limited, the terms "installation", "connection" and "connection" should be understood in a broad sense, for example, it can be a fixed connection or a detachable connection. Connected, or integrally connected; it can be mechanically connected or electrically connected; it can be directly connected or indirectly connected through an intermediary, and it can be the internal communication of two components. Those of ordinary skill in the art can understand the specific meanings of the above terms in the present invention in specific situations.

As shown in Figures 1 to 7, a bionic sea flatworm fish tank cleaner provided by the present invention includes a head 1, a body 2 and a tail 3, and the head 1 and the tail 3 are respectively connected to the front and rear ends of the body 2 ; Both the head 1 and the tail 3 are provided with a laser navigation sensor and an ultrasonic distance sensor;

As shown in Figure 2 and Figure 3, the motor assembly 11 is symmetrically arranged in the head 1, and the crankshaft assembly 21 is symmetrically arranged in the body 2, and the motor assemblies 11 on both sides are connected with the crankshaft assemblies 21 on both sides through a coupling 26; A plurality of rotating fork arms 22 are relatively connected to the crankshaft assembly 21, and the plurality of rotating fork arms 22 on both sides are arranged in a wave shape;

Specifically, the laser navigation sensor mainly scans the environment, builds the outline of the surrounding reflectors, and uses the non-divergence of the laser to precisely locate the position of the cleaner. The sensor rotates once every tens of milliseconds, emits a modulated laser, and receives When the reflected light of the modulated reflecting plate is demodulated, an effective signal can be obtained, and the obtained signal is transmitted to the controller, and the motor assembly 11 is driven by the controller to guide the cleaner to walk; in terms of obstacle avoidance , the ultrasonic distance sensor is used, the ultrasonic distance sensor can detect the position of the surrounding reflectors in real time, and transmit the position signal to the controller, and the motor assembly 11 is driven by the controller, so that the cleaner can perform intelligent obstacle avoidance during the movement process ; Therefore, the combination of the laser navigation sensor and the ultrasonic distance sensor enables the cleaner to bypass obstacles by itself, and can also guide the cleaner to walk and clean in all directions, which is convenient and efficient.

Since the motor assembly 11 on both sides is connected to the crankshaft assembly 21 on both sides through the coupling 26, that is, the controller can control the motor assembly 11 to drive the crankshaft assembly 21 to rotate when receiving the signal;

In this embodiment, crankshaft assemblies 21 are arranged symmetrically in the body shell 2, and 18 rotating fork arms 22 are connected to the crankshaft assemblies 21 on both sides, that is, 9 rotating fork arms 22 are connected to each crankshaft assembly 21; And as shown in Figure 5, each crankshaft assembly 21 comprises 9 groups of crank throws, and 9 groups of crank throws are arranged according to a certain angle of deflection, and as shown in Figure 4, each rotating fork arm 22 is inserted on each crank throw, so When the rotating fork arms 22 are all connected to the crankshaft assembly 21, the rotating fork arms 22 on both sides are designed in a wave shape, as shown in Figure 1; and as shown in Figure 3, there are nine rotating fork arms on each side 22 is provided with a supporting rotating shaft rod 23, and the rotating fork arm 22 can rotate around the supporting rotating shaft rod 23 in a wave shape under the rotation of the crankshaft assembly 21;

From the design point of view, the cleaner uses infrared sensing technology to collect information, and controls the motor assembly 11 to drive the crankshaft assembly 21 to rotate through the controller, so as to drive the rotating fork arms 22 on both sides to perform wave-like flapping, imitating sea flatworms in the fish tank Free movement in the center, so that the controller guides the movement of the cleaner; during the movement, the crankshaft assembly 21 bears the power from the motor, converts it into torque and outputs it through the crankshaft and drives other accessories on the engine to work, and its transmission form is simple , the principle and process are simple and easy to understand, and it is the most important part of the engine; and the crankshaft assembly 21 is subjected to the combined action of the centrifugal force of the rotating mass, the periodically changing gas inertial force and the reciprocating inertial force, so that the crankshaft assembly 21 can bear the bending torsional load Therefore, the crankshaft assembly 21 usually has sufficient strength and rigidity, and its journal surface is wear-resistant, works uniformly, and has good balance, so that the cleaner runs smoothly during operation and has high practicability;

From the appearance, the cleaner imitates the shape of sea flatworm, so that the cleaner does not appear abrupt in the fish tank, and the integration of the product and the fish tank is enhanced; and the head 1, body 2 and tail 3 of the cleaner can Its color is specially customized, and ambient lights can be added without affecting its operation, so as to enhance the appreciation of the cleaner; in addition, the cleaner of the present invention can also be used as a toy for children to play, increasing its added value.

Furthermore, as shown in Figure 6, the bottom of the body shell 2 is symmetrically provided with a garbage collection box 4, and the garbage collection box 4 is provided with a collection port 41, and the garbage collection box 4 is provided with a trap for the garbage to be rolled in at the collection port 41. The winding device 5; the bottom of the garbage collection box 4 is provided with a filter grid 6;

Specifically, as shown in Figure 6, the winding device 5 includes a rolling brush 51 and a sweeping brush assembly 52, the rolling brush 51 is detachably penetrated at the collecting port 41, and the replacement is convenient and simple; the rolling brush 51 penetrates at the collecting port 41, The two ends of rolling brush 51 are respectively connected with sweeping brush assembly 52, as shown in Figure 7, sweeping brush assembly 52 comprises sweeping brush motor 521 and sweeping brush 522, and sweeping brush 522 comprises rotating shaft, and sweeping brush 522 passes through rotating shaft and sweeping brush motor 521 connection, the sweeping brush motor 521 drives the sweeping brush 522 to rotate; and the other end of the rotating shaft is provided with a bevel tooth 523, and the two ends of the roller brush 51 are provided with another bevel tooth 523, and the two bevel teeth 523 are meshed to The sweeping brush 522 is meshed with the rolling brush 51, that is, when the controller controls the sweeping brush motor 521 to drive the sweeping brush 522 to rotate, the sweeping brush 522 will drive the rolling brush 51 to rotate synchronously;

During the moving process of the cleaner, the feeding port of the sea flatworm is simulated by the rolling brush 51, and the brush end of the sweeping brush 522 is located below the collecting port 41, so that the sweeping brush 522 plays an auxiliary role and rotates below the collecting port 41 to generate the required The suction in the fish tank is rolled into the garbage collection box 4; the sweeping brush assembly 52 and the rolling brush 51 are combined at the bottom of the bionic sea flatworm fish tank cleaner to increase the cleaning force, making the cleaning more sufficient, and the structure is simple , easy to process.

In addition, as shown in Figure 6, the bottom of the garbage collection box 4 is provided with a filter grid 6; it is beneficial to recycle fish feces to cultivate other plants.

To sum up, the bionic sea flatworm fish tank cleaner of the present invention uses the motor assembly 11 to drive the crankshaft assembly 21 to drive the rotating fork arm 22 to perform wave-like flapping to realize the movement of the cleaner, which is realized by combining the sweeping brush assembly 52 and the rolling brush 51 The cleaning of the fish tank has a simple structure, the principle and process are simple and easy to understand, the processing cost is low, and the infrared sensor is equipped, so that the cleaner can clean the fish tank in an all-round and intelligent sense, greatly reducing labor time and achieving high-efficiency deep cleaning. Clean; In addition, the cleaning method of the cleaner of the present invention does not add water purifiers and other related chemical products, which is more environmentally friendly, and protects and promotes the water quality and ecological environment of fish and fish tanks.

Further, the brushless motor 521 adopts a brushless DC motor. The brushless DC motor has a small size and a high speed, and can achieve 20,000-120,000 revolutions per minute. It can generate a suction force of more than 1,500 Pa during high-speed rotation. The high speed of the brushless DC motor The speed cost is much lower than brushed, so using a brushless DC motor is a very suitable choice.

Further, in this embodiment, the roller brush 51 adopts an integrated roller brush assembly in cleaning products such as cleaning robots, household sweepers, and commercial sweepers currently on the market, which includes a roller body and a brush body, and the brush body It is fixedly connected to the rolling body and cannot be disassembled. The brush body is made of flocking or PVC rubber strips.

Further, as shown in FIG. 3 and FIG. 4 , the rotary fork arm 22 includes a connecting rod 221 and a toggle arm 222 connected with the connecting rod 221 , the connecting rod 221 is located in the body shell 2 , and one end of the connecting rod 221 is inserted into the crank On the turn, the other end is connected to the toggle arm 222, and the toggle arm 222 is located outside the body 2; wherein, the connecting rod 221 is provided with a plug port at one end connected to the toggle arm, so that the rotating fork arm 22 can be plugged and played. Very convenient; and the design that the connecting rod 221 and the toggle arm 222 are combined is similar to a paddle, and this design makes the cleaner move smoothly in the fish tank, and also reduces the resistance of the cleaner when moving underwater.

Further, as shown in Figure 3, the head of the body shell 2 is provided with a motor fixing block 24, and the middle and tail of the body shell 2 are provided with a crankshaft assembly fixing block 25, and the motor assembly 11 is fixed on the motor fixing block 24, and through the shaft coupling The crankshaft assembly 26 is connected with the crankshaft assembly 21, and the crankshaft assembly 21 runs through the crankshaft assembly fixing block 25 in the middle and the tail through the bearing 27, so that the crankshaft assembly 21 composed of 18 crank throws can run freely, and can drive the rotating pull-out arm to move freely. turn;

The arrangement of the motor fixing block 24, the crankshaft assembly fixing block 25 and the bearing 27 also enhances the stability of the overall structure of the cleaner, making the cleaner run more smoothly.

Furthermore, the materials of the head 1 , the body 2 and the tail 3 are all environmentally friendly PVC materials; the use of environmentally friendly PVC materials is hygienic and environmentally friendly, durable, and the product is small in size and low in cost.

Further, the material of the toggle arm 222 is environmentally friendly silicone material; the material made of environmentally friendly silicone material has good oil resistance, heat resistance and cold resistance, which prolongs the service life of the cleaner, and the toggle arm made of environmentally friendly silicone material 222 instead of squid fins, making the cleaner move more stably.

Furthermore, the material of the crankshaft assembly 21 is a high-toughness resin to ensure that the crankshaft assembly 21 has sufficient rigidity and an appropriate rotation speed when the crankshaft assembly 21 is moving, so that the cleaner can run more stably and prolong its service life.

On the other hand, the embodiment of the present invention also provides a method for controlling the above-mentioned bionic sea flatworm fish tank cleaner, the method comprising:

The laser navigation sensor is used to scan the environment, collect the outline of the reflective object, use the non-divergence of the laser to precisely locate the position of the cleaner, and transmit the collected signal to the controller;

Using an ultrasonic distance sensor to synchronously collect the position of the reflector, and transmit the collected signal to the controller;

Complete the cleaning map of the construction cleaner in the controller; and send control instructions according to the obtained cleaning map, so that the brush motor 521 in the motor assembly 11 and the winding device 5 starts running;

The controller controls the motor assembly 11 to drive the crankshaft assembly 21 to rotate according to the control command, so as to drive the rotating fork arm 22 to rotate, thereby instructing the cleaner to move according to the cleaning map;

Simultaneously, the controller controls the sweeping motor 521 to rotate according to the control command to drive the sweeping brush 522 and the rolling brush 51 to rotate, thereby controlling the cleaner to clean up the garbage in the fish tank according to the cleaning map.

To sum up, in terms of environmental protection, the present invention reduces the use of chemical agents, has protection and promotion effects on the water quality and ecology of fish and fish tanks, and is more environmentally friendly; in terms of appearance, the present invention imitates the appearance of sea flatworms, It has ornamental value and can be used as a toy for children to play with; in terms of function, it imitates the free movement of sea flatworms in the fish tank through simple mechanical principles and mechanical processes, and fully cleans the fish tank through the combination of sweeping brush assembly 52 and rolling brush 51 , with low cost, powerful functions and high practicability, it can help fish lovers to clean the fish tank quickly and effectively; in terms of innovation: the use of infrared sensing technology enables the cleaner to clean the fish tank in all directions and intelligently. Achieve efficient deep cleaning.

The above descriptions are only preferred embodiments of the present invention, and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention shall be included in the scope of the present invention. within the scope of protection.

Claims (9)

1. A bionic flatworm fish tank cleaner, which is characterized in that,

the multifunctional electric heating clothes comprise a head (1), a body shell (2) and a tail (3), wherein the head (1) and the tail (3) are respectively connected to the front end and the rear end of the body shell (2); the head (1) and the tail (3) are both provided with a laser navigation sensor and an ultrasonic distance sensor;

the head (1) is symmetrically provided with motor assemblies (11), the body shell (2) is symmetrically provided with crankshaft assemblies (21), and the motor assemblies (11) on two sides are connected with the crankshaft assemblies (21) on two sides through couplers (26); the crankshaft assemblies (21) on the two sides are relatively connected with a plurality of rotary shifting fork arms (22), and the rotary shifting fork arms (22) on the two sides are arranged in a wavy manner;

the garbage collecting box is characterized in that garbage collecting boxes (4) are symmetrically arranged at the bottom of the body shell (2), a collecting opening (41) is formed in each garbage collecting box (4), and a winding device (5) for winding garbage into each garbage collecting box (4) penetrates through the corresponding collecting opening (41); the bottom of the garbage collection box (4) is provided with a filtering grid (6).

2. The bionic flatfish tank cleaner as recited in claim 1,

the winding device (5) comprises a rolling brush (51) and a sweeping brush component (52), the rolling brush (51) detachably penetrates through the collection opening (41), two ends of the rolling brush (51) are respectively connected with the sweeping brush component (52), the sweeping brush component (52) comprises a sweeping brush motor (521) and a sweeping brush (522), the sweeping brush motor (521) is in driving connection with the sweeping brush (522), and the sweeping brush (522) is in meshing connection with the rolling brush (51) through umbrella teeth (523); the brush end of the sweeper brush (522) is positioned below the collection port (41).

3. The bionic sea flatworm fish tank cleaner as claimed in claim 1,

the crankshaft assembly (21) comprises a plurality of crank throws, each rotary shifting fork arm (22) is connected to each crank throw in an inserting mode, a supporting rotating shaft rod (23) penetrates through the rotary shifting fork arms (22) on each side, and the crankshaft assembly (21) drives the rotary shifting fork arms (22) to rotate around the supporting rotating shaft rod (23).

4. The bionic flatfish tank cleaner as recited in claim 3,

the rotary shifting fork arm (22) comprises a connecting rod (221) and a shifting arm (222) connected with the connecting rod (221), the connecting rod (221) is located in the body shell (2), and the shifting arm (222) is located outside the body shell (2).

5. The bionic flatfish tank cleaner as recited in claim 1,

the head of the body shell (2) is provided with a motor fixing block (24), the middle and the tail of the body shell (2) are provided with crankshaft component fixing blocks (25), the motor component (11) is fixed on the motor fixing block (24), and the crankshaft component (21) penetrates through the crankshaft component fixing blocks (25) in the middle and the tail through bearings (27).

6. The bionic sea flatworm fish tank cleaner as claimed in claim 1,

the head (1), the body shell (2) and the tail (3) are all made of environment-friendly PVC materials.

7. The bionic sea flatworm fish tank cleaner as claimed in claim 4,

the material of the poking arm (222) is an environment-friendly silica gel material.

8. The bionic sea flatworm fish tank cleaner as claimed in claim 1,

the crankshaft assembly (21) is made of high-toughness resin.

9. A method for controlling a bionic flatworm fish tank cleaner as claimed in any one of claims 1 to 8, wherein the method comprises the following steps:

collecting the outline of a reflector and the position of a cleaner by adopting a laser navigation sensor;

collecting the position of the reflector by using an ultrasonic distance sensor;

Meanwhile, the ultrasonic distance sensor and the laser navigation sensor transmit the acquired signals to the controller to construct a cleaning map of the cleaner;

the controller controls the motor assembly (11) to drive the crankshaft assembly (21) to rotate so as to drive the rotary shifting fork arm (22) to rotate, and therefore the cleaner is guided to move according to the cleaning map;

meanwhile, the controller controls the winding device (5) to rotate, so that the cleaner is controlled to clean the garbage in the fish tank according to the cleaning map.

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