Wall contact detection device for swimming pool cleaning machine

Abstract

The present invention provides a wall-touching detection device for a swimming pool cleaning machine, comprising a main function part of the cleaning machine, the main function part of the cleaning machine comprising a cleaning machine body and a control module and a power drive device connected to the cleaning machine body, the wall-touching detection device of the swimming pool cleaning machine also comprises a sensor wall-touching detection device, the sensor wall-touching detection device comprises a trigger unit and a sensor detection module, the trigger unit is connected to the cleaning machine body, the sensor detection module is electrically connected to the control module, the control module is electrically connected to the power drive device, the trigger unit cooperates with the sensor detection module, triggers the sensor detection module, and generates a detection signal. The beneficial effect of the present invention is that the swimming pool cleaning machine has a more compact structure, and has a sensor wall-touching detection device, which can automatically detect when the cleaning machine touches the wall, and control the cleaning machine to automatically reverse, so that the cleaning machine can automatically reverse when it touches the wall or encounters an obstacle, the structure is simple and compact, and the swimming pool can be cleaned autonomously and efficiently.

Description

Technical Field

[0001] The invention belongs to the technical field of swimming pool cleaning equipment, and in particular relates to a wall contact detection device of a swimming pool cleaning machine. Background Art

[0002] Swimming pools are places where people swim, where they can exercise or compete. Most swimming pools are built on the ground and can be divided into general swimming pools and heated swimming pools according to the water temperature. Most swimming pools are private swimming pools abroad, while most swimming pools are public swimming pools in China. Regardless of the type of swimming pool, there will be a lot of garbage during use, so the swimming pool needs to be cleaned regularly. Existing swimming pools often use swimming pool cleaning machines to clean the swimming pool. The return control of the automatic cleaning machine used to clean the swimming pool generally uses time control. The swimming pool cleaning machine cannot identify whether it touches the wall or encounters an obstacle and returns or turns. When the cleaning machine touches the wall or encounters other obstacles, it must wait until the set time period ends before it can reverse. Therefore, when the cleaning machine touches the wall or encounters other obstacles, the cleaning machine often stops moving against the wall or obstacle for a long time before it can reverse and clean other places, resulting in a large loss of efficiency. Summary of the invention

[0003] In view of the above problems, the problem to be solved by the present invention is to provide a wall-touching detection device for a swimming pool cleaning machine, which is particularly suitable for swimming pool cleaning and tidying up. A sensor is used to detect the wall-touching of the cleaning machine, so that the cleaning machine can automatically reverse direction. It is simple and convenient to use and has high working efficiency.

[0004] In order to solve the above technical problems, the technical solution adopted by the present invention is: a wall-touching detection device for a swimming pool cleaning machine, the wall-touching detection device for the swimming pool cleaning machine is arranged in the main functional part of the cleaning machine, the main functional part of the cleaning machine includes a cleaning machine body and a control module and a power driving device connected to the cleaning machine body, the wall-touching detection device of the swimming pool cleaning machine also includes a sensor wall-touching detection device, the sensor wall-touching detection device includes a trigger unit and a sensor detection module, the trigger unit is connected to the cleaning machine body, the sensor detection module is electrically connected to the control module, the control module is electrically connected to the power driving device, the trigger unit cooperates with the sensor detection module, triggers the sensor detection module, and generates a detection signal.

[0005] Furthermore, the trigger unit includes a trigger device having a trigger part, the trigger device having the trigger part is connected to the cleaning machine body, the trigger part makes relative motion with respect to the cleaning machine body, the position of the sensor detection module matches the position of the characteristic point of the motion trajectory of the trigger part, preferably, the trigger part makes reciprocating motion with respect to the cleaning machine body, preferably, the position of the characteristic point of the motion trajectory of the trigger part includes the initial position and the position of the turning point of its motion trajectory, preferably, the position of the sensor detection module matches the initial position or the position of the turning point of the motion trajectory of the trigger part, preferably, the number of sensor detection modules is at least one.

[0006] Furthermore, the triggering part is a magnetic part, and the magnetic part is a material or device that can generate a magnetic field. Preferably, the magnetic part is a magnet.

[0007] Furthermore, the sensor detection module is a Hall sensor.

[0008] Furthermore, the triggering part is an optical path component, and the optical path component is a reflector or a shading plate.

[0009] Furthermore, the sensor detection module is a photoelectric sensor.

[0010] Furthermore, the number of the triggering device is at least one, and a buoyancy chamber is provided on the triggering device or the triggering device is made entirely or partially of a buoyancy material. Preferably, a buoyancy material or enclosed air is provided in the buoyancy chamber.

[0011] Furthermore, the number of the triggering device is at least one, and a weight block is provided on the triggering device, or the triggering device is wholly or partially made of gravity material.

[0012] Furthermore, the number of the trigger device is at least one, and an elastic member is provided on the trigger device or the trigger device is wholly or partially made of elastic material. Preferably, the elastic member is a spring.

[0013] Further, the trigger device includes at least one resistance plate.

[0014] The advantages and positive effects of the present invention are:

[0015] 1. Due to the adoption of the above technical solution, the swimming pool cleaning machine has a more compact structure and is provided with a wall-touching detection device, which can automatically detect when the cleaning machine touches the wall or other obstacles, and control the cleaning machine to automatically reverse, so that the cleaning machine can automatically reverse when touching the wall. The structure is simple and compact, the action is flexible, and the swimming pool can be cleaned autonomously and efficiently;

[0016] 2. The swimming pool cleaning machine has a wall-touching detection device, which can detect the wall-touching action when the cleaning machine is performing cleaning operations and automatically change the walking direction. The wall-touching detection device uses a sensor for detection, and then controls the running state of the motor of the cleaning machine through a control module, such as forward rotation, stop or reverse rotation, and then changes the walking direction of the cleaning machine, so that when the cleaning machine is cleaning the swimming pool, it can accurately detect whether it touches the wall and change direction, so that the cleaning machine can work flexibly and avoid efficiency loss caused by time control. It has high practical value, especially for swimming pool cleaning machines powered by batteries;

[0017] 3. The wall-touching detection device selects a Hall sensor and is provided with a trigger device with a magnetic part used in conjunction with the Hall sensor, so that the wall-touching detection device can quickly detect the wall-touching action of the cleaning machine, has a simple structure, quick and accurate response, and flexible action, meeting the use requirements;

[0018] 4. The wall-touching detection device selects a photoelectric sensor, and is provided with a trigger device with an optical path component used in conjunction with the photoelectric sensor, so that the wall-touching detection device can quickly detect the cleaning machine touching the wall. It has a simple structure, quick and accurate response, and flexible action to meet usage requirements. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 is a schematic structural diagram of Embodiment 1 of the present invention;

[0020] Figure 2 is a schematic diagram of a partial cross-sectional structure of the first embodiment of the present invention;

[0021] Figure 3 yes Figure 2 A magnified view of part A;

[0022] Figure 4 is a partial cross-sectional structural schematic diagram of the second embodiment of the present invention;

[0023] Figure 5 yes Figure 4 A magnified view of part B;

[0024] Figure 6 is a schematic structural diagram of Embodiment 3 of the present invention;

[0025] Figure 7 yes Figure 6 An enlarged view of the C portion;

[0026] Figure 8 It is a schematic diagram of the structure of two Hall sensors of the present invention;

[0027] Fig. 9 It is a schematic diagram of the structure of three Hall sensors of the present invention;

[0028] Fig.10 is a schematic structural diagram of a third embodiment of the present invention having two resistance plates and a connecting rod;

[0029] Fig.11 is a schematic structural diagram of a third embodiment of the present invention having two resistance plates and two connecting rods;

[0030] Fig.12 yes Fig.11 A top view of

[0031] Fig.13 is a schematic diagram of another structure with two resistance plates and two connecting rods according to the third embodiment of the present invention;

[0032] Fig.14 yes Fig.13 Top view of the .

[0033] In the figure:

[0034] 1. Cleaning machine body 2. Control module 3. Magnet

[0035] 4. Sensor detection module 5. Rotating shaft 6. Trigger device

[0036] 7. Buoyancy chamber 8. Weight block 9. Elastic part

[0037] 10. Circuit board 11. Resistance plate 12. Connecting rod

[0038] 3-1, magnet 3-2, magnet 4-1, Hall sensor

[0039] 4-2 Hall sensor 4-3, Hall sensor 9-1, elastic member

[0040] 9-2, elastic member 11-1, resistance plate 11-2, resistance plate

[0041] 12-1, connecting rod 12-2, connecting rod 13-1, guide column

[0042] 13-2, guide column 14-1, slide 14-2, slide

[0043] 15-1, support frame 15-2, support frame 16, installation sleeve DETAILED DESCRIPTION

[0044] The present invention is further described below in conjunction with the accompanying drawings and specific embodiments.

[0045] Figures 1 to 14The schematic diagram of the structure of multiple embodiments of the present invention is shown, and the structure of each embodiment is specifically shown. The wall-touching detection device of the swimming pool cleaning machine involved in the present invention is used for the swimming pool cleaning machine to detect the wall-touching action of the cleaning machine using a sensor wall-touching detection device. When the cleaning machine touches the pool wall while walking and cleaning in the swimming pool, the wall-touching detection is performed. The sensor wall-touching detection device transmits the wall-touching signal to the control module. The control module controls the action of the power drive device, and the cleaning machine changes direction and continues cleaning. The sensor wall-touching detection device has a sensor detection module for detecting the signal when the cleaning machine touches the wall or other obstacles. The sensor detection module is used for detecting and transmitting the wall-touching signal. The sensor detection module is a magnetic field sensor or a photoelectric sensor. It detects the magnetic field signal or light signal when touching the wall, so as to judge whether the swimming pool cleaning machine touches the wall.

[0046] Embodiment 1

[0047] Figure 1 , Figure 2 and Figure 3 The schematic diagram of the structure of an embodiment of the present invention is shown, and the structure of this embodiment is specifically shown. This embodiment relates to a wall-touching detection device of a swimming pool cleaning machine. In this embodiment, the wall-touching detection device of the swimming pool cleaning machine adopts a sensor wall-touching detection device to perform wall-touching detection, so that when the cleaning machine contacts the swimming pool wall during swimming pool cleaning, it can quickly determine whether the cleaning machine touches the wall. The sensor wall-touching detection device transmits the wall-touching signal to the control module 2. The control module 2 controls the power drive device of the cleaning machine to operate according to the wall-touching signal, so that the cleaning machine changes direction and moves back and forth to complete the cleaning and tidying up of the swimming pool by the cleaning machine. The sensor detection module is a magnetic field sensor, which detects the magnetic field signal when touching the wall, so as to determine whether the swimming pool cleaning machine touches the wall.

[0048] Specifically, the wall-touching detection device of the above-mentioned swimming pool cleaning machine includes a cleaning machine main function part and a sensor wall-touching detection device connected to the main function part. The cleaning machine main function part includes a cleaning machine body 1 and a control module 2 and a power drive device connected to the cleaning machine body 1. The control module 2 is electrically connected to the power drive device, and the sensor wall-touching detection device is electrically connected to the control module 2. The sensor wall-touching detection device transmits a wall-touching signal to the control module 2. The control module 2 analyzes and judges the wall-touching signal and controls the action of the power drive device to change the walking direction of the cleaning machine and change direction. The control module 2 and the power drive device can be fixedly installed inside the cleaning machine body 1, or they can be connected to the cleaning machine body 1 through cables, water pipes, etc. and set outside the cleaning machine body 1. The selection is made according to actual needs, and no specific requirements are made.

[0049] The power drive device is used to drive the cleaning machine body 1 to move. By changing the action of the power drive device, the movement direction of the cleaning machine can be changed, and the cleaning machine can move along a certain direction, so that the cleaning machine can automatically change direction without manual control.

[0050] According to the working principle of the swimming pool cleaning machine, the scheme is further optimized, and at least one sealing part is provided on the cleaning machine body 1, so as to seal the parts that need to be waterproof, such as electronic components or motors. When the control module 2 is installed inside the cleaning machine body 1, the control module 2 is also installed in the sealing part, and the control module 2 is sealed in the sealing part to prevent the control module 2 from being damaged by water. The above-mentioned control module 2 is a single-chip microcomputer, and the single-chip microcomputer is a commercially available product, which is selected according to actual needs. The control module 2 is preset with an edited program, which converts and analyzes the wall-touching signal detected by the sensor wall-touching detection device, determines whether the cleaning machine touches the wall, and controls the action of the power drive device according to the analysis results to change the walking direction of the cleaning machine. Here, the power drive device is a motor and an impeller assembly, preferably, it is arranged inside the cleaning machine body 1, and the motor drives the impeller to make the cleaning machine spray water, thereby changing the movement direction of the cleaning machine.

[0051] like Figure 3 As shown, the sensor wall-touching detection device includes a trigger unit and a sensor detection module 4. The trigger unit is connected to the cleaning machine body 1, and the sensor detection module 4 is electrically connected to the control module 2. That is, the sensor wall-touching detection device is electrically connected to the control module 2 through the sensor detection module 4. When the swimming pool cleaning machine touches the wall, the trigger unit triggers the sensor detection module 4 to act, and the sensor detection module 4 transmits the wall-touching signal to the control module 2. After the control module 2 analyzes the wall-touching signal, it controls the power drive device to change the water spraying direction, thereby changing the walking direction of the swimming pool cleaning machine and performing a reversal. Specifically, the trigger unit includes a trigger device 6 having a trigger part. When the swimming pool cleaning machine stops moving due to touching the wall or encountering other obstacles, the trigger part on the trigger device 6 corresponds to the position of the sensor detection module 4, triggering the sensor detection module 4 to act, thereby transmitting the wall-touching signal to the control module 2. Here, the trigger part can be a magnetic part, an optical path component, or other types of signal components, depending on the type of the sensor detection module. In the present embodiment, the trigger part is preferably a magnetic part, which is a substance or device that can generate a magnetic field. It can be a local area on the trigger device that is integrally formed with the trigger device and magnetized, or it can be an independent magnetic substance or device installed on the trigger device 6. Preferably, in the present embodiment, the magnetic part is a magnet 3 installed on the trigger device 6.

[0052] The sensor detection module 4 is electrically connected to the control module 2. The sensor detection module 4 can be installed on the cleaning machine body 1 and sealed separately, such as being installed on the shell of the cleaning machine body 1; it can also be installed inside the cleaning machine body 1. Preferably, the control module 2 is arranged inside the cleaning machine body 1, and the sensor detection module 4 is arranged on the circuit board 10 where the control module 2 is located, and the control module 2 and the sensor detection module 4 are sealed together. In this embodiment, the above preferred manner is adopted, and the sensor detection module 4 is installed on the circuit board 10 where the control module 2 is located, and is located in the same sealing part of the cleaning machine body 1, which is convenient for sealing and transmission of wall-touching detection signals.

[0053] The trigger device 6 is installed on the cleaning machine body 1. It can be installed inside the cleaning machine body 1 or outside the cleaning machine body 1. It is selected according to actual needs and is not specifically limited here. When the trigger device 6 is installed inside the cleaning machine body 1, two corresponding front and rear through holes are set on the cleaning machine body 1, so that the trigger device 6 swings or moves back and forth under the resistance of water. In this embodiment, the trigger device 6 is installed outside the cleaning machine body 1. The trigger device 6 can be installed on the cleaning machine body 1 in various ways such as a rotating shaft or a slideway. It is selected according to actual needs. In this embodiment, the trigger device 6 is installed on the cleaning machine body 1 through a rotating shaft.

[0054] The rotating shaft 5 is symmetrically installed on both sides of the shell of the cleaning machine body 1, and the trigger device 6 is installed on the shell of the cleaning machine body 1 through the rotating shaft 5, so that the trigger device 6 can rotate along the center line of the rotating shaft 5 and swing back and forth on the cleaning machine body 1; the mounting sleeves 16 of the rotating shaft 5 are symmetrically arranged on both sides of the shell of the cleaning machine body 1, the rotating shaft 5 is installed in the mounting sleeves 16, and the shape of the mounting sleeves 16 is adapted to the shape of the rotating shaft 5. At the same time, the diameter of the rotating shaft 5 is smaller than the inner diameter of the mounting sleeve 16, so that after the rotating shaft 5 is installed, there is a certain gap between the rotating shaft 5 and the mounting sleeve 16, which is convenient for the installation and free swing of the trigger device 6.

[0055] Here, the trigger device 6 includes a resistance plate 11 of a plate-like structure and a swing arm. The resistance plate 11 and the swing arm are connected by welding, mechanical connection, etc., or the resistance plate 11 and the swing arm are made in one piece.

[0056] Swing arms are provided on both sides of one end of the resistance plate 11, and the resistance plate 11 is connected to the rotating shaft 5 through the swing arms on both sides. Mounting sleeves 16 are symmetrically provided on both sides of the shell of the cleaning machine body 1, and the swing arms are connected to the mounting sleeves 16 through the rotating shaft 5, so that the resistance plate 11 is connected to the shell of the cleaning machine body 1 through the rotating shaft 5, and the resistance plate 11 can swing freely. The rotating shaft 5 and the swing arm can also be integrally formed, and the rotating shaft 5 is installed on the mounting sleeve 16, so that the resistance plate 11 is directly installed on the shell of the cleaning machine body 1 through the swing arm. That is, the entire trigger device 6 is installed on the shell of the cleaning machine body 1 through the rotating shaft 5, and can swing back and forth on the cleaning machine body 1; the connection method between the resistance plate 11 and the rotating shaft 5 can also be other connection methods, which are selected according to actual needs.

[0057] A buoyancy chamber 7 is provided on the trigger device 6 to facilitate the trigger device 6 to return to its original position by utilizing buoyancy. In the present embodiment, preferably, the buoyancy chamber 7 is provided on the resistance plate 11. The material placed in the buoyancy chamber 7 may be enclosed air or a buoyancy material having a density less than that of the swimming pool water, to ensure that when the cleaning machine is stationary in the swimming pool, the resistance plate 11 can return to its initial position due to the presence of the buoyancy chamber 7. The initial position in the present embodiment is to return to a vertical state. The buoyancy chamber 7 is arranged on the resistance plate 11 and is integrally formed with the resistance plate 11. The swing arm and the resistance plate 11 are integrally formed. The buoyancy chamber 7, the swing arm and the resistance plate 11 can also be connected or the relative positions can be changed in other ways, which can be selected according to actual needs; or, the overall structure of the non-magnetic part of the trigger device 6 is integrally made of a buoyancy material with a density less than that of swimming pool water, and there is no need to set up a buoyancy chamber separately. Alternatively, part of the structure of the non-magnetic part of the trigger device is integrally made of a buoyancy material with a density less than that of swimming pool water. Alternatively, the trigger device including the trigger part is integrally made of a composite material composed of a magnetic material and a buoyancy material with a density less than that of swimming pool water. The above design enables the trigger device to be reset in the swimming pool by using buoyancy, and there is no need to set up a buoyancy chamber separately, which further simplifies the structure of the trigger device and achieves the same effect.

[0058] In addition, since the area of ​​the resistance plate 11, the roughness or structure of the outer surface of the resistance plate 11, the buoyancy of the buoyancy chamber 7, and the speed of the cleaning machine walking in the swimming pool are all related to the swing angle of the resistance plate 11 when the cleaning machine walks in the swimming pool, the area of ​​the resistance plate 11, the roughness or structure of the outer surface of the resistance plate 11, the buoyancy of the buoyancy chamber 7, and the speed of the cleaning machine walking in the swimming pool are matched to ensure that when the cleaning machine walks at a certain speed in the swimming pool, the resistance plate 11 maintains a certain swing angle under the combined action of the water resistance and the buoyancy of the buoyancy chamber 7, that is, when the cleaning machine walks and cleans in the swimming pool, the resistance plate 11 swings in the opposite direction of the walking direction under the action of the water resistance, and maintains a certain angle of balance, ensuring that the cleaning machine maintains the movement and cleaning work in the swimming pool. Here, the main material of the trigger device 6 is plastic, and it can also be other materials, which can be selected according to actual needs.

[0059] A trigger part is provided on one of the swing arms on both sides of the resistance plate 11. Here, the trigger part is preferably a magnetic part, which is a material or device that can generate a magnetic field. In the present embodiment, preferably, the magnetic part is a magnet 3, and the position of the magnet 3 matches the position of the sensor detection module 4. That is, when the resistance plate 11 maintains the initial state, that is, the vertical state, the magnet 3 and the sensor detection module 4 are exactly in the same straight line, and the positions of the two correspond.

[0060] The sensor detection module 4 is a sensor, which is a magnetic field sensor, preferably a Hall sensor. The Hall sensor is used in conjunction with a magnet. According to the working principle of the Hall sensor, the Hall sensor can transmit the signal when touching the wall to the control module 2. Among them, the Hall sensor is a commercially available product and can be selected according to actual needs.

[0061] In this embodiment, the number of sensor detection modules is at least one, and may be multiple, which is selected according to actual needs and the transmission method of the wall-touching detection signal. At the same time, the position of the sensor detection module matches the position of the trigger part when the trigger device is in different states, and the trigger part moves relative to the cleaning machine body. Here, preferably, the trigger part moves back and forth relative to the cleaning machine body. The position of the sensor detection module matches the position of the characteristic point of the motion trajectory of the trigger part. The position of the characteristic point of the motion trajectory of the trigger part includes the initial position and the position of the turning point of its motion trajectory. Preferably, the position of the sensor detection module matches the initial position or the position of the turning point of the motion trajectory of the trigger part.

[0062] Specifically, when the number of Hall sensors is one, the position of the Hall sensor corresponds to the position of the magnet when the trigger device 6 maintains the initial state. In the present embodiment, the initial state of the trigger device 6 is the vertical state, and the position of the magnet 3 in this state is the initial position of the magnet 3; when the cleaning machine is walking and cleaning in the swimming pool, the trigger device 6 falls in the opposite direction of the moving direction of the cleaning machine under the action of the water resistance and maintains balance, that is, the trigger device 6 maintains a certain swing angle with the vertical direction, that is, the trigger device 6 drives the magnet 3 to move to the turning point and maintains a balanced state under the action of the water resistance. When the cleaning machine walks to the wall of the swimming pool, the cleaning machine continues to move until it contacts the wall of the swimming pool, and the speed of the cleaning machine is zero. , the water resistance is reduced to zero, and the trigger device 6 is restored to a vertical state under the action of the buoyancy chamber 7. At this time, the position of the magnet corresponds to that of the Hall sensor. According to the working principle of the Hall sensor, the Hall sensor is turned on and transmits a signal to the control module 2. The control module 2 controls the action of the motor inside the cleaning machine body 1 according to the signal, changes the water spraying direction of the cleaning machine, and then changes the walking direction of the cleaning machine; then, the trigger device 6 falls to the other side under the action of the water resistance, and keeps a certain swing angle with the vertical direction, that is, the trigger device 6 drives the magnet 3 to move to the turning point on the other side and keeps a balanced state under the action of the water resistance. When the cleaning machine touches the wall again, the above process is repeated, so that the cleaning machine can clean the swimming pool. In this process, the trigger device 6 swings back and forth along with the operation of the cleaning machine body 1 in the swimming pool, and the magnet 3 reciprocates back and forth along with the entire trigger device between the two turning points of its motion trajectory and through its initial position, thereby realizing wall contact detection and identification during the operation of the cleaning machine and generating a detection signal, that is, the trigger device 6 swings back and forth along with the operation of the cleaning machine body 1 in the swimming pool, and the trigger part reciprocates back and forth along with the entire trigger device between the two turning points of its motion trajectory and through the initial position.

[0063] When the number of Hall sensors is two, such as Figure 8 As shown, combined with Figure 2 and Figure 3, that is, the Hall sensor 4-1 and the Hall sensor 4-2 are symmetrically installed on the circuit board 10 where the control module 2 is located, and the positions of the Hall sensor 4-1 and the Hall sensor 4-2 correspond to the position of the magnet when the trigger device 6 moves to the farthest end (i.e., the turning point). Here, the positions of the Hall sensor 4-1 and the Hall sensor 4-2 correspond to the position of the magnet when the trigger device 6 swings to the maximum swing angle on both sides of the vertical position (i.e., the turning point); that is, at this time, the signals of the Hall sensor 4-1 and the Hall sensor 4-2 have different meanings from the signals when the number of Hall sensors is one. When the cleaning machine walks in the swimming pool, the trigger device 6 Under the action of water resistance, it swings in the direction opposite to the direction of movement. When the trigger device 6 maintains a certain swing angle balance, at this time, a Hall sensor 4-1 is installed at a position corresponding to the position of the magnet on the trigger device 6 on the circuit board 10 where the control module 2 is located. According to the working principle of the Hall sensor, the Hall sensor 4-1 is turned on, and the Hall sensor 4-1 transmits the signal at this time to the control module 2. The control module 2 analyzes the signal and confirms that the cleaning machine is in a state of not touching the wall. The controller inside the cleaning machine body 1 does not operate, the power drive device maintains its original state, the cleaning machine continues to move, and the Hall sensor 4-1 remains in the open state; when When the cleaning machine moves to the wall of the swimming pool, the cleaning machine contacts the wall of the swimming pool. At this time, the walking speed of the cleaning machine is zero, and the trigger device 6 is restored to a vertical state under the action of the buoyancy chamber 7. At this time, the Hall sensor 4-1 is relatively separated from the magnet, and the Hall sensor 4-1 generates a shutdown signal. The control module 2 controls the power drive device inside the cleaning machine body 1 to operate according to the shutdown signal, and the cleaning machine changes the water spraying direction, and then the cleaning machine changes the walking direction; for the cleaning machine that changes its walking direction, the trigger device 6 swings to the other side. When the trigger device 6 maintains a certain swing angle balance, at this time, the magnet on the circuit board 10 where the control module 2 is located and the trigger device 6 are A Hall sensor 4-2 is installed at the corresponding position. According to the working principle of the Hall sensor, the Hall sensor 4-2 is turned on, and the control module 2 analyzes the signal transmitted by the Hall sensor 4-2. The controller inside the cleaning machine body 1 does not operate, and the power drive device maintains its original state. The cleaning machine keeps moving in the walking direction. When the cleaning machine contacts the wall of the swimming pool again, the walking speed of the cleaning machine is zero. The trigger device 6 is restored to a vertical state under the action of the buoyancy chamber 7. The Hall sensor 4-2 is turned off, and the control module 2 controls the power drive device to operate, change the direction of the cleaning machine's water spraying, and then change the cleaning machine's walking direction, thereby realizing the reciprocating motion of the cleaning machine. Here, the Hall sensor 4-1 and the Hall sensor 4-2 are both installed on the circuit board 10 where the control module 2 is located, and are symmetrically arranged along the vertical state of the trigger device 6 to ensure automatic reversal of the cleaning machine.

[0064] When the number of Hall sensors is three, such as Fig. 9 As shown, combined with Figure 2 , Figure 3 and Figure 8 , the two Hall sensors on both sides are the same as when the number of Hall sensors is two, the difference is that when the resistance plate is kept in a vertical state, a Hall sensor 4-3 is installed on the circuit board 10 where the control module 2 is located at a position corresponding to the magnet on the trigger device 6 at this time. When the trigger device 6 is in a vertical state, the magnet corresponds to the position of the Hall sensor 4-3, and the Hall sensor 4-3 is turned on at this time. The Hall sensor 4-3 transmits the signal to the control module 2. The control module 2 controls the action of the power drive device according to the signal of the Hall sensor 4-3 at this time, changes the water spraying direction of the cleaning machine, and then changes the walking direction of the cleaning machine. The Hall sensors 4-1 and 4-2 on both sides are symmetrically arranged along the Hall sensor 4-3 in the middle.

[0065] That is to say, when there are two Hall sensors, the control module 2 changes the direction according to the closing signals of the two Hall sensors, and sets a Hall sensor at each end position where the trigger device 6 swings, while no Hall sensor is set at the middle position. In this way, when the Hall sensor is in the on state, it is considered that the cleaning machine is moving in a certain direction, otherwise, it is considered that the cleaning machine touches the wall; when there are three Hall sensors, the control module 2 controls the power drive device to change the walking direction of the cleaning machine according to the on signal of the Hall sensor at the middle position. A total of three Hall sensors are used to determine the state of the cleaning machine. When the Hall sensors at both ends of the cleaning machine have an on signal, it can be determined that the cleaning machine is moving in a certain direction, and when the middle Hall sensor has an on signal, it is considered that the cleaning machine touches the wall.

[0066] The operating status of the cleaning machine can also be determined by the combined signals of multiple Hall sensors. For example, when the Hall sensors in the middle and on one side have sequentially turned on signals, it can be determined that the cleaning machine is moving in a certain direction. In this case, the Hall sensors on both sides do not have to correspond to the position of the turning point of the magnet movement trajectory on the trigger device 6. For example, the Hall sensor can be set at a corresponding position between the initial position of the magnet movement trajectory and the turning point position, and an opening signal can be generated when the trigger device 6 drives the magnet to pass through the Hall sensor. Setting more Hall sensors can obtain more information on the operating status of the cleaning machine, and using this information can improve the reliability of judgment or perform more operation control.

[0067] The working process of the Hall sensor in this embodiment is one hour: when it is put into water, the cleaning machine is started, the water spray pushes the cleaning machine forward, the trigger device 6 falls backward, the Hall sensor is disengaged from the magnet on the trigger device 6, and the Hall sensor is turned off; when the cleaning machine touches the wall, the trigger device 6 is reset, and the magnet carried on it returns to the vicinity of the Hall sensor, and the Hall sensor senses the magnetic field signal and turns on; the cleaning machine sprays water in the reverse direction to push the cleaning machine to move in the opposite direction, the trigger device 6 falls in the opposite direction of the forward direction, and the Hall sensor is turned off again; the cleaning machine leaves the pool wall, moves toward the opposite pool wall, and repeats the above-mentioned reversing process after touching the wall, thereby realizing the reciprocating motion of the cleaning machine.

[0068] Embodiment 2

[0069] In this embodiment, the wall contact detection device of the swimming pool cleaning machine is similar in structure to that of the first embodiment. Figure 4 and 5 As shown, the difference is that in the first embodiment, the trigger device 6 has a buoyancy chamber 7, which is reset according to the buoyancy and restores the initial state, while in this embodiment, the structure of the trigger device 6 is different from that in the first embodiment, and is reset according to gravity. In this embodiment, a weight block with a density greater than that of the swimming pool water is installed on the trigger device 6 to achieve gravity reset. The trigger device 6 includes at least one plate-shaped resistance plate 11 and a swing arm. The resistance plate 11 is connected to the swing arm, and the swing arm is connected to the rotating shaft 5, so that the trigger device 6 is installed on the cleaning machine body 1, and the resistance plate 11 can be located at the upper part or the lower part of the rotating shaft 5, which is selected according to actual needs. In this embodiment, the resistance plate 11 is located at the lower part of the rotating shaft 5; the weight block is located at the lower part of the rotating shaft 5, which can be installed at the upper part or the lower part of the resistance plate 11, or the weight block is installed on the swing arm, which is selected according to actual needs. Here, preferably, a weight block 8 is installed at the lower part of the resistance plate 11. The size and surface structure of the resistance plate 11 and the weight of the weight block 8 are matched with the travel speed of the cleaning machine, so that when the cleaning machine is moving, the trigger device 6 swings to the side opposite to the travel direction under the action of water resistance. When the cleaning machine walks to the wall of the swimming pool and contacts the wall of the swimming pool, the travel speed of the cleaning machine is zero, and the trigger device 6 returns to its initial state under the action of gravity. At this time, the position of the Hall sensor corresponds to that of the magnet. The Hall sensor is opened under the action of the magnet and transmits the wall-touching signal to the control module 2. The control module 2 controls the action of the power drive device to change the travel direction of the cleaning machine.

[0070] In addition, the trigger device 6 can also be made entirely or partially of a gravity material with a density greater than that of swimming pool water, so that the above-mentioned action can be completed without separately setting a weight on the trigger device 6.

[0071] The working process of this embodiment is as follows: the cleaning machine is put into water, started, and the water spray pushes the cleaning machine forward, the trigger device 6 falls backward, the Hall sensor is disengaged from the magnet on the trigger device 6, and the Hall sensor is turned off; the cleaning machine touches the wall, the trigger device 6 is reset under the action of gravity, and the magnet carried on it returns to the vicinity of the Hall sensor, and the Hall sensor senses the magnetic field signal and turns on; the cleaning machine sprays water in the reverse direction to push the cleaning machine to move in the opposite direction, the trigger device 6 falls in the opposite direction of the forward direction, and the Hall sensor is turned off again; the cleaning machine leaves the pool wall, moves toward the opposite pool wall, and repeats the above-mentioned reversing process after touching the wall, thereby realizing the reciprocating motion of the cleaning machine.

[0072] Embodiment 3

[0073] In this embodiment, the wall contact detection device of the swimming pool cleaning machine is similar in structure to the structures in the first and second embodiments. Compared with the first and second embodiments, Figure 6 and 7 As shown, the difference is that, in this embodiment, the reset mode of the trigger device 6 is spring reset.

[0074] In this embodiment, one of the technical solutions has a structure that the number of resistance plates 11 in the trigger device 6 is one, and the resistance plate 11 is located on one side of the rotating shaft 5. For example, when the rotating shaft is set horizontally, the resistance plate 11 can be located on the upper side or lower side of the rotating shaft 5. When the rotating shaft is set vertically, the resistance plate 11 can be located on the left side or right side of the rotating shaft 5, etc., and the selection is made according to actual needs. In the implementation scheme of this embodiment, the rotating shaft 5 is set horizontally, the resistance plate 11 is located at the lower part of the rotating shaft 5, and the resistance plate 11 is located on the outside of the swing arm. The size and surface structure of the resistance plate 11 and the elastic force of the spring are matched with the walking speed of the cleaning machine. An elastic member 9 is installed between the swing arm and the shell of the cleaning machine body 1. Here, the elastic member 9 is a torsion spring. One end of the elastic member 9 is fixedly installed with the swing arm, and the other end is fixedly installed with the cleaning machine body 1, so that the resistance plate 11 can be restored to the initial state under the action of the torsion spring.

[0075] The number of trigger devices 6 can also be multiple, or the number of resistance plates 11 can also be multiple, and the type, shape and installation method of the elastic member can also be other forms. Fig.10As shown, the trigger device 6 has two resistance plates, and the resistance plates 11-1 and 11-2 are symmetrically installed on both sides of the cleaning machine body 1. One end of the resistance plates 11-1 and 11-2 are installed on the cleaning machine body 1 through a rotating shaft. Elastic members 9-1 and 9-2 are installed between the resistance plates 11-1 and 11-2 and the shell of the cleaning machine body 1 respectively. One end of the elastic member 9-1 is connected to the resistance plate 11-1, and the other end of the elastic member 9-1 is connected to the cleaning machine body 1. The elastic member 9-2 is installed in the same way. Here, the elastic member 9-1 and the elastic member 9-2 are both springs, preferably torsion springs. The other ends of the resistance plates 11-1 and 11-2 are connected by a connecting rod 12, so that the connecting rod 12 moves forward and backward under the swinging action of the resistance plates 11-1 and 11-2. A magnet 3 is installed in the middle position of the connecting rod 12, and the position of the magnet 3 corresponds to the position of the sensor detection module 4. This structure has the same working principle as the above-mentioned structure when the number of resistance plates is one. The working process of the cleaning machine of this structure is as follows: when the cleaning machine moves in the swimming pool for cleaning and tidying up, the resistance plate 11-2 on the front side of the walking direction of the cleaning machine swings in the direction opposite to the walking direction of the cleaning machine under the action of water resistance, pressing the elastic member 9-2 on this side, that is, pressing the torsion spring on this side, driving the connecting rod 12 and the resistance plate 11-1 to move in opposite directions. When the torque generated by the resistance of the water acting on the resistance plate 11-2 is the same as the torque generated by the elastic force of the elastic member 9-2, the resistance plate 11-2 is in a balanced state, the connecting rod 12 is in a balanced state, that is, the entire trigger device 6 is in a balanced state, and the magnet 3 leaves the center. When the sensor detection module 4 at the intermediate position (corresponding to the initial position of the movement trajectory of the magnet 3) or the position of one of the sensor detection modules on both sides (corresponding to the turning point position of the movement trajectory of the magnet 3), the control module 2 does not act, the power drive device maintains its original state, and the cleaning machine continues to move; when the cleaning machine contacts the wall of the swimming pool, the walking speed of the cleaning machine is zero, the water resistance is zero, and the resistance plate 11-2 is restored to its original position under the action of the elastic member 9-2, driving the connecting rod 12 and the resistance plate 11-1 to return to their original positions. At this time, the sensor detection module 4 transmits a signal to the control module, and the control module 2 controls the power drive device to act, change the water spraying direction, and then change the walking direction of the cleaning machine. Conversely, the working process of the resistance plate 11-1 is the same as the working process of the resistance plate 11-2, thereby realizing the automatic reversing of the cleaning machine.

[0076] The above structure is further optimized, such as Fig.11 and 12As shown, there are two sets of independent trigger devices with magnetic parts and corresponding sensor detection modules, the two sets of trigger devices respectively include a resistance plate 11-1 and a resistance plate 11-2, the resistance plate 11-1 and the resistance plate 11-2 are symmetrically installed on both sides of the cleaning machine body 1 through the rotation axis, and can swing back and forth, a connecting rod 12-1 is installed at the other end of the resistance plate 11-1 through a slide groove, and a connecting rod 12-2 is installed at the other end of the resistance plate 11-2 through a slide groove, the connecting rod 12-1 and the connecting rod 12-2 are respectively installed on the side wall of the cleaning machine body 1 through a support frame 15-1 and a support frame 15-2, and the connecting rod 12-1 and the connecting rod 12-2 are located on both sides of the cleaning machine body 1, the connecting rod 12-1 and the connecting rod 12-2 can reciprocate back and forth on the support frame 15-1 and the support frame 15-2 respectively, and the connecting rod 12-1 and the connecting rod 12-2 are installed with elastic parts on the support frame, and the elastic parts here are preferably compression springs. Here, each support frame has two supports, each of which is provided with a through hole and fixedly mounted on the side walls on both sides of the cleaning machine body 1. The ends of the connecting rod 12-1 and the connecting rod 12-2 away from the resistance plate pass through the support frame 15-1 and the support frame 15-2 through the through hole respectively, and extend out of the support frame. Magnets 3-1 and magnets 3-2 are respectively installed on the ends of the connecting rod 12-1 and the connecting rod 12-2. In coordination, Hall sensors 4-1 and Hall sensors 4-2 are installed at the corresponding initial positions in the middle. Elastic members 9-1 and elastic members 9-2 are respectively installed on the connecting rod 12-1 and the connecting rod 12-2 between the support frame and the connecting rod. The swing of the resistance plate drives the connecting rod to move back and forth, compresses the elastic member, and restores it to its original position under the elastic force of the elastic member, thereby realizing the change of the sensor detection module signal, that is, the change of the signals of the Hall sensor 4-1 and the Hall sensor 4-2 respectively, thereby controlling the action of the power drive device and changing the walking direction of the cleaning machine. Here, the elastic member 9 - 1 and the elastic member 9 - 2 are both compression springs.The working process of the cleaning machine of this structure is as follows: the cleaning machine moves in the swimming pool, and the resistance plate 11-2 on the front side of the walking direction of the cleaning machine swings in the opposite direction under the action of water resistance, driving the connecting rod 12-2 to move in the opposite direction, compressing the elastic member 9-2, and the magnet 3-2 is away from the sensor detection module (Hall sensor 4-2) at the middle position (corresponding to the initial position of the movement trajectory of the magnet 3-2) or the sensor detection module close to the far end (corresponding to the turning point position of the movement trajectory of the magnet 3-2). When the torque generated by the water resistance is the same as the torque generated by the elastic force of the elastic member 9-2, the resistance plate 11-2 maintains a balanced state. In this state, the magnet 3-2 is away from the sensor detection module in the middle position or corresponds to the position of the sensor detection module at the far end. At this time, the control module 2 does not act, the power drive device maintains its original state, and the cleaning machine continues to move; when the cleaning machine contacts the wall of the swimming pool, the moving speed of the cleaning machine is zero, the water resistance is zero, and the connecting rod 12-2 is restored to its original position under the elastic force of the elastic member 9-2, and then the resistance plate 11-2 is restored to its original position, driving the magnet 3-2 to return to the middle position, and the Hall sensor 4-2 transmits the signal to the control module 2, and the power drive device acts to change the water spray direction, thereby changing the moving direction of the cleaning machine. Conversely, the working process of the resistance plate 11-1 is the same as the working process of the resistance plate 11-2, thereby achieving the change of the moving direction of the cleaning machine.

[0077] The trigger device in this embodiment realizes the reciprocating motion of the entire trigger device 6 by the swinging of the resistance plate. The rotating shaft may also be omitted. The resistance plate may be set to a nearly vertical state (i.e., the normal of the front surface of the resistance plate is consistent with the forward direction of the cleaning machine), and is connected to the shell of the cleaning machine body 1 through a slide. In this way, the resistance plate can also push the magnetic part to reciprocate between the initial position and the turning point, thereby realizing the same function as above.

[0078] like Fig.13 and 14As shown, slideways 14-1 and 14-2 are installed on both sides of the cleaning machine body 1, and support frames 15-1 and 15-2 are installed on both sides of the cleaning machine body 1, respectively. A guide column 13-1 is installed on the slideway 14-1, and a guide column 13-2 is installed on the slideway 14-2. At the same time, connecting rods 12-1 and 12-2 are installed on the two symmetrical supporting frames 15-1 and 15-2, respectively. A resistance plate 11-1 is installed at one end of the guide column 13-1 away from the slideway and at one end of the connecting rod 12-1 away from the supporting frame 15-1, and a resistance plate 11-1 is installed at one end of the guide column 13-2 away from the slideway and at one end of the connecting rod 12-2 away from the supporting frame 15-2. -2, on the connecting rod 12-1, a spring 9-1 is installed at the position between the connecting rod 12-1 and the support frame, and a magnet 3-1 is installed at one end of two brackets with through holes extending from the connecting rod 12-1 to the support frame 15-1, and on the connecting rod 12-2, a spring 9-2 is installed at the position between the connecting rod 12-2 and the support frame, and a magnet 3-2 is installed at one end of two brackets with through holes extending from the connecting rod 12-2 to the support frame 15-2, so that the connecting rod 12-1 and the guide column 13-1 can reciprocate back and forth at the same time, and the connecting rod 12-2 and the guide column 13-2 can reciprocate back and forth at the same time, thereby realizing the reciprocating motion of the resistance plate 11-1 and the resistance plate 11-2. The working process of the trigger device using this structure is as follows: when the cleaning machine moves in the swimming pool, the resistance plate 11-2 moves in the opposite direction of the movement of the cleaning machine, that is, backward, under the action of the water resistance, and the connecting rod 12-2 moves backward under the guidance of the support frame. At the same time, the guide column 13-2 moves backward under the guidance of the slide 14-2, and the connecting rod 12-2 and the guide column 13-2 move at the same time, compressing the spring 9-2, and the connecting rod 12-2 drives the magnet 3-2 to move backward, away from the sensor detection module (Hall sensor 4-2) in the middle position or close to the sensor detection module at the far end. When the resistance generated by the elastic force of the spring 9-2 is the same as the pressure generated by the resistance of the water acting on the resistance plate 11-2, the resistance plate 11-2 moves backward. The force plate 11-2 maintains a balanced state, and the magnet 3-2 is away from the sensor detection module (Hall sensor 4-2) in the middle position or corresponds to the position of the sensor detection module at the far end. At this time, the control module 2 does not act, the power drive device remains in its original state, and the cleaning machine continues to move; when the cleaning machine contacts the wall of the swimming pool, the moving speed of the cleaning machine is zero, the water resistance is zero, and the connecting rod 12-2 and the guide column 13-2 are restored to their original positions under the elastic force of the spring 9-2, and then the resistance plate 11-2 is restored to its original position, driving the magnet 3-2 to return to the middle position, the Hall sensor 4-2 is triggered, and transmits a signal to the control module 2, the power drive device is activated, and the water spray direction is changed, thereby changing the moving direction of the cleaning machine. Conversely, the working process of the resistance plate 11-1 is the same as the working process of the resistance plate 11-2, thereby achieving a change in the moving direction of the cleaning machine.

[0079] Here, only two connection modes of the trigger device and the cleaning machine body 1 are described. Other modes are also possible and are selected according to actual applications, which will not be described in detail here.

[0080] In addition, the trigger device 6 can also be made of elastic material in whole or in part and fixedly installed on the cleaning machine body. There is no need to set a spring separately on the trigger device 6, and the above-mentioned action can be completed. When the cleaning machine moves forward in the swimming pool, under the action of water resistance, the trigger device 6 produces elastic deformation in the direction opposite to the direction of movement. When the water resistance is the same as the elastic force generated by the elastic deformation of the trigger device 6, the trigger device 6 maintains a static equilibrium state; when the cleaning machine touches the wall, the water resistance is zero, and the trigger device 6 returns to its initial position under the action of the elastic restoring force, triggering the sensor detection module to operate and transmit the detection signal to the control module. The control module controls the power drive device to operate to realize the reversal of the cleaning machine, and vice versa, thereby realizing the reciprocating motion of the cleaning machine.

[0081] The working process of this embodiment is as follows: the cleaning machine is put into water, started, and the water spray pushes the cleaning machine forward, the trigger device falls backward or the trigger device on the front side moves backward under the action of water resistance, the Hall sensor is disengaged from the magnet on the trigger device, and the Hall sensor is turned off; the cleaning machine touches the wall, the trigger device is reset, and the magnet carried on it returns to the vicinity of the Hall sensor, and the Hall sensor senses the magnetic field signal and turns on; the cleaning machine sprays water in the reverse direction to push the cleaning machine to move in the opposite direction, the trigger device falls in the opposite direction of the forward direction or the trigger device on the forward side moves in the opposite direction of the forward direction under the action of water resistance, and the Hall sensor is turned off again; the cleaning machine leaves the pool wall, moves toward the opposite pool wall, and repeats the above-mentioned reversing process after touching the wall, thereby realizing the reciprocating motion of the cleaning machine.

[0082] When the sensor detection module is a photoelectric sensor, the trigger device is structurally the same as that of the first, second and third embodiments, except that it does not have a magnetic part. The trigger part of the trigger unit is an optical path component, where the optical path component is a reflector or a shading plate, depending on the type of the selected photoelectric sensor. Like the magnetic part, the optical path component can be integrally formed with the trigger device or can be separately arranged on the trigger device. Its working process is the same as that of the first, second and third embodiments, except that the photoelectric sensor senses a light signal. According to the working process of the first, second and third embodiments, the trigger device drives the optical path component to move together, and the light signal changes accordingly at the position where the photoelectric sensor and the optical path component cooperate. The photoelectric sensor converts the change of the light signal into a change of the electrical signal, and further transmits it to the control module 2. The control module 2 controls the operation of the drive device, thereby controlling the action of the cleaning machine, thereby changing the walking direction of the cleaning machine. The working process is the same as that of the first, second and third embodiments, and is not described in detail here.

[0083] The above three embodiments further illustrate the specific implementation methods of the technical solution of the present invention, but only illustrate the situation when the control module is set in the internal sealing part of the cleaning machine body. When the control module is outside the cleaning machine body, the sensor detection module and the control module are electrically connected through wires, etc., and the working principle is the same, which is not described in detail here.

[0084] The cleaning machine used in the detailed description of the three embodiments of the present invention is a water jet-propelled cleaning machine. Cleaning machines that are propelled by other means (such as transmission) can also use the same or similar structure as the present invention to achieve the wall contact detection function. Since the working method is the same, it will not be described here.

[0085] The advantages and positive effects of the present invention are as follows: due to the adoption of the above technical solution, the swimming pool cleaning machine has a more compact structure, and is provided with a wall-touching detection device, which can automatically detect when the cleaning machine touches the wall or contacts other obstacles, so that the cleaning machine can automatically change direction when it touches the wall. The structure is simple and compact, the action is flexible, and the swimming pool can be cleaned autonomously and efficiently. The swimming pool cleaning machine has a wall-touching detection device, which can detect the wall-touching action when the cleaning machine is cleaning, and automatically change the walking direction. The wall-touching detection device uses a sensor for detection, and controls the working state of the motor of the cleaning machine through a control module, thereby changing the walking direction of the cleaning machine, so that When the cleaning machine is cleaning in the swimming pool, it can accurately detect whether it touches the wall and change direction, so that the cleaning machine can work flexibly and avoid efficiency loss caused by time control. It has high practical value especially for swimming pool cleaning machines powered by batteries; the wall-touching detection device selects a Hall sensor and is provided with a trigger device with a magnetic part used in conjunction with the Hall sensor, or the wall-touching detection device selects a photoelectric sensor and is provided with a trigger device with an optical path component used in conjunction with the photoelectric sensor, so that the wall-touching detection device can quickly detect the wall-touching action of the cleaning machine, has a simple structure, quick and accurate response, and flexible action, and meets the use requirements.

[0086] The above three embodiments of the present invention are described in detail, but the above contents are only preferred embodiments of the present invention and cannot be considered to limit the scope of implementation of the present invention. All equivalent changes and improvements made according to the scope of application of the present invention should still fall within the scope of the patent coverage of the present invention.

Claims

1. A wall contact detection device for a swimming pool cleaning machine, wherein the wall contact detection device for the swimming pool cleaning machine is arranged on the main functional part of the cleaning machine, wherein the main functional part of the cleaning machine includes a cleaning machine body, a control module connected to the cleaning machine body, and a power drive device, and is characterized in that: The wall-touching detection device of the swimming pool cleaning machine comprises a sensor wall-touching detection device, the sensor wall-touching detection device comprises a trigger unit and a sensor detection module, the trigger unit is connected to the cleaning machine body, the sensor detection module is electrically connected to the control module, the control module is electrically connected to the power drive device, the trigger unit cooperates with the sensor detection module to trigger the sensor detection module to generate a detection signal; the trigger unit comprises a trigger device having a trigger part, the trigger device having a trigger part is connected to the cleaning machine body; the trigger device comprises at least one resistance plate; The trigger part moves relative to the cleaning machine body, and the position of the sensor detection module matches the position of the characteristic point of the motion trajectory of the trigger part; The number of the trigger device is at least one, and the trigger device is provided with a buoyancy chamber or the trigger device is wholly or partially made of a buoyancy material; The power driving device is a motor and an impeller assembly.

2. The wall contact detection device of the swimming pool cleaning machine according to claim 1, characterized in that: The trigger part performs reciprocating motion relative to the cleaning machine body.

3. The wall contact detection device of the swimming pool cleaning machine according to claim 1, characterized in that: The positions of the characteristic points of the motion trajectory of the trigger unit include the initial position and the position of the turning point of the motion trajectory.

4. The wall contact detection device of the swimming pool cleaning machine according to claim 3, characterized in that: The position of the sensor detection module matches the initial position or the position of the turning point of the motion track of the trigger part.

5. The wall contact detection device of the swimming pool cleaning machine according to claim 1, characterized in that: The number of the sensor detection module is at least one.

6. The wall contact detection device of a swimming pool cleaning machine according to any one of claims 1 to 5, characterized in that: The triggering part is a magnetic part, and the magnetic part is a material or device that can generate a magnetic field.

7. The wall contact detection device of the swimming pool cleaning machine according to claim 6, characterized in that: The magnetic part is a magnet.

8. The wall contact detection device of the swimming pool cleaning machine according to claim 6, characterized in that: The sensor detection module is a Hall sensor.

9. The wall contact detection device of a swimming pool cleaning machine according to any one of claims 1 to 5 and 7, characterized in that: The sensor detection module is a Hall sensor.

10. The wall contact detection device of a swimming pool cleaning machine according to any one of claims 1 to 5, characterized in that: The triggering part is an optical path component, and the optical path component is a reflector or a shading plate.

11. The wall contact detection device of a swimming pool cleaning machine according to any one of claims 1 to 5, characterized in that: The sensor detection module is a photoelectric sensor.

12. The wall contact detection device of the swimming pool cleaning machine according to claim 10, characterized in that: The sensor detection module is a photoelectric sensor.

13. The wall contact detection device of a swimming pool cleaning machine according to any one of claims 1-5, 7-8 and 12, characterized in that: The buoyancy chamber is provided with buoyancy material or enclosed air.

14. The wall contact detection device of the swimming pool cleaning machine according to claim 6, characterized in that: The buoyancy chamber is provided with buoyancy material or enclosed air.

15. The wall contact detection device of the swimming pool cleaning machine according to claim 9, characterized in that: The buoyancy chamber is provided with buoyancy material or enclosed air.

16. The wall contact detection device of the swimming pool cleaning machine according to claim 10, characterized in that: The buoyancy chamber is provided with buoyancy material or enclosed air.

17. The wall contact detection device of the swimming pool cleaning machine according to claim 11, characterized in that: The buoyancy chamber is provided with buoyancy material or enclosed air.

18. A wall contact detection device for a swimming pool cleaning machine, wherein the wall contact detection device is arranged on a main functional part of the cleaning machine, wherein the main functional part of the cleaning machine comprises a cleaning machine body, a control module connected to the cleaning machine body, and a power drive device, and wherein: The wall-touching detection device of the swimming pool cleaning machine comprises a sensor wall-touching detection device, the sensor wall-touching detection device comprises a trigger unit and a sensor detection module, the trigger unit is connected to the cleaning machine body, the sensor detection module is electrically connected to the control module, the control module is electrically connected to the power drive device, the trigger unit cooperates with the sensor detection module to trigger the sensor detection module to generate a detection signal; the trigger unit comprises a trigger device having a trigger part, the trigger device having a trigger part is connected to the cleaning machine body; the trigger device comprises at least one resistance plate; The trigger part moves relative to the cleaning machine body, and the position of the sensor detection module matches the position of the characteristic point of the motion trajectory of the trigger part; The number of the trigger device is at least one, and the trigger device is provided with an elastic member or the trigger device is wholly or partially made of elastic material; The power driving device is a motor and an impeller assembly.

19. The wall contact detection device of the swimming pool cleaning machine according to claim 18, characterized in that: The trigger part performs reciprocating motion relative to the cleaning machine body.

20. The wall contact detection device of the swimming pool cleaning machine according to claim 18, characterized in that: The positions of the characteristic points of the motion trajectory of the trigger unit include the initial position and the position of the turning point of the motion trajectory.

21. The wall contact detection device of the swimming pool cleaning machine according to claim 20, characterized in that: The position of the sensor detection module matches the initial position or the position of the turning point of the motion track of the trigger part.

22. The wall contact detection device of the swimming pool cleaning machine according to claim 18, characterized in that: The number of the sensor detection module is at least one.

23. The wall contact detection device of a swimming pool cleaning machine according to any one of claims 18 to 22, characterized in that: The triggering part is a magnetic part, and the magnetic part is a material or device that can generate a magnetic field.

24. The wall contact detection device of the swimming pool cleaning machine according to claim 23, characterized in that: The magnetic part is a magnet.

25. The wall contact detection device of the swimming pool cleaning machine according to claim 23, characterized in that: The sensor detection module is a Hall sensor.

26. The wall contact detection device of a swimming pool cleaning machine according to any one of claims 18 to 22 and 24, characterized in that: The sensor detection module is a Hall sensor.

27. The wall contact detection device of a swimming pool cleaning machine according to any one of claims 18 to 22, characterized in that: The triggering part is an optical path component, and the optical path component is a reflector or a shading plate.

28. The wall contact detection device of the swimming pool cleaning machine according to claim 27, characterized in that: The sensor detection module is a photoelectric sensor.

29. The wall contact detection device of a swimming pool cleaning machine according to any one of claims 18 to 22, characterized in that: The sensor detection module is a photoelectric sensor.

30. The wall contact detection device of a swimming pool cleaning machine according to any one of claims 18-22, 24-25 and 28, characterized in that: The elastic member is a spring.

31. The wall contact detection device of the swimming pool cleaning machine according to claim 23, characterized in that: The elastic member is a spring.

32. The wall contact detection device of the swimming pool cleaning machine according to claim 26, characterized in that: The elastic member is a spring.

33. The wall contact detection device of the swimming pool cleaning machine according to claim 27, characterized in that: The elastic member is a spring.

34. The wall contact detection device of the swimming pool cleaning machine according to claim 29, characterized in that: The elastic member is a spring.

35. The wall contact detection device of the swimming pool cleaning machine according to claim 30, characterized in that: The elastic member is a torsion spring.

36. The wall contact detection device of a swimming pool cleaning machine according to any one of claims 31 to 34, characterized in that: The elastic member is a torsion spring.

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