Pool Submersible and Floating Sewage Cleaning Robot

Abstract

The water in the swimming pool needs to be cleaned daily to ensure water quality. The existing technology is time-consuming, labor-intensive and inconvenient. The present invention discloses a submersible and floating sewage cleaning robot system for swimming pools, which includes a main body, a battery pack, an integrated control unit, a buoyancy adjustment mechanism, a thrust generation mechanism, a direction control mechanism, and a sewage filtration and sedimentation mechanism. There is a dorsal fin-shaped gripper on the upper part of the main body, and a main control chamber is arranged inside. The sewage filtration and sedimentation mechanism is combined on the main body. The main body is also provided with a water inlet, a water outlet, a connecting pipe, spray holes are arranged at the front, left and right, and several sealed chambers. During operation, through the pump, the buoyancy chamber is filled with water and drained, and the propeller in the tail pipe rotates, so that the main body floats and sinks between the bottom and the water surface of the swimming pool and moves forward. When encountering the pool wall or obstacles, it will automatically identify and turn. Then, a circulation can be formed through the water inlet and the drain outlet, so that the sundries and dirt in the water body are sucked in and filtered through the filter screen layer of the sewage filtration and sedimentation chamber of the main body, and at the same time, a cleaning agent can be slowly released to sterilize and disinfect the water body.

Description

Technical Field

[0001] The present invention relates to diving equipment, and more specifically to a pool diving and floating sewage cleaning robot system. Background Art

[0002] The water bodies of swimming pools, parks, and moat waters need to be cleaned and disinfected daily or frequently to ensure clean water quality. Although swimming pools have circulating water purification facilities, operating them day and night is extremely costly. Most swimming pool halls have to rely on a wired pool bottom sewage cleaning robot to maintain the water quality at a certain time every day, which is not only inconvenient but also labor-consuming. For park and moat waters, due to their huge size, it is impossible to implement circulating water purification facilities.

[0003] In reality, submarine technology is an existing technology that has been completed over hundreds of years based on Archimedes' principle and can be used as the background technology for the present invention. Summary of the Invention

[0004] The present invention discloses a pool diving and floating sewage cleaning robot system, which includes a body, a battery pack, a comprehensive control unit, a buoyancy adjustment mechanism, a thrust generation mechanism, a direction control mechanism, and a sewage filtration and precipitation mechanism. A dorsal fin-shaped gripper is provided on the upper part of the body, and a main control chamber, as well as the buoyancy adjustment mechanism, the thrust generation mechanism, and the direction control mechanism, are arranged inside. The sewage filtration and precipitation mechanism is combined on the body. The battery pack is arranged in a sealed chamber below the longitudinal axis of the body and also serves as a ballast.

[0005] An inlet, an outlet, and several connecting pipes are also provided on the body. Spray pipes (one end of the spray pipe extends outside the body) and several sealed chambers are arranged at the front, left, and right of the body. Without adjusting the buoyancy, the body is immersed in the pool water, and only the dorsal fin-shaped gripper on the top is exposed above the water surface.

[0006] The comprehensive control unit includes a microcomputer chip or a single-chip microcomputer and a corresponding operating system, which is arranged in the main control chamber. When the main control chamber is working, it forms a waterproof and airtight chamber after being closed.

[0007] The buoyancy adjustment mechanism includes a buoyancy chamber, an air pump machine arranged in the main control chamber, and its connecting pipe. During operation, it is controlled by the comprehensive control unit. The buoyancy chamber is filled with water and drained through the air pump machine. The threshold values for the water filling and draining time are controlled by the comprehensive control unit to periodically reduce and increase the buoyancy of the body, enabling the body to float and sink between the bottom and the water surface of the pool.

[0008] During specific operation, the buoyancy adjustment mechanism includes a buoyancy chamber with the water bodies at the bottom and in the pipeline connected by a drain valve, a DC air compressor arranged in the main control chamber, as well as intake and exhaust valves and a connecting pipe. Controlled by the integrated control unit, during operation, first open the exhaust valve and the drain valve to fill the buoyancy chamber with water, and the body dives; then repeat draining to float and filling to dive. When floating, close the exhaust valve, start the DC air compressor, input compressed air through the intake valve to drain water, increase the buoyancy of the body to make it float. When diving, close the DC air compressor, open the exhaust valve, and let water fill the buoyancy chamber through the drain valve, and the body dives. The set thresholds for the water injection and drainage time are controlled by the integrated control unit to periodically reduce and increase the buoyancy of the body, and the body floats and sinks between the bottom of the swimming pool and the water surface;

[0009] The thrust generation mechanism includes a motor and a propeller, with the battery pack as the power source, connected by a circuit, and controlled by the integrated control unit, so that the motor arranged at the tail of the pipeline drives the propeller to rotate and eject a water column, making the body move forward, and at the same time sucking in pool water and flowing backward from the water inlet, pipeline, and water outlet;

[0010] The direction control mechanism includes a high-pressure water pump. The outlet pipe of the high-pressure water pump is connected to the front, left, and right spray pipes of the body. Controlled by the integrated control unit, by controlling the stop of the forward thrust, setting the working time thresholds of the front spray pipe and one of the left and right spray pipes, ejecting a water column to generate a reaction force to make the body turn around or change the moving direction, and then start the thrust to continue moving forward;

[0011] The sewage filtering and sedimentation mechanism is composed of a sedimentation chamber and a filter screen layer for filtering sundries and dirt, and can be combined with and separated from the body to facilitate the removal of the filtered dirt.

[0012] To avoid waste gas pollution, the present invention is powered by a battery pack. Due to volume limitations, manual operation inside is not possible, and automatic control by the integrated control unit is required. The pipelines and valve switches used in the present invention are all electromagnetic switches.

[0013] A collision protection plate is provided in front of the body. There is a touch switch on the collision protection plate connected to the integrated control unit in the main control chamber. The collision protection plate is connected to the body by a spring. When the forward-moving body touches one side of the swimming pool, the integrated control unit receives the electrical signal from the touch switch and starts a series of turning-around operations; the body is made of a metal material or is injection-molded from a plastic material, and its shape is the outer shape of an aquatic animal.

[0014] When the task ends or it is necessary to end the work, first let the DC air compressor input compressed air through the intake valve to drain water, make the body float, then close the drain valve to make it float, and the dorsal fin-shaped gripper at the top leaks out of the water surface. Then continue to operate. When the collision protection plate provided in front of the body touches the pool wall, the integrated control unit receives the electrical signal from the touch switch and then shuts down.

[0015] The main body is not provided with a water spray pipe at the front end, but only water spray pipes at the left and right ends. When the main body moving forward touches one side of the swimming pool, the integrated control unit receives the electrical signal of the touch switch, turns off the thrust. There is a spring connection between the anti-collision guard plate and the spring body. When the spring is compressed, it will accumulate potential energy. The release of the spring potential energy can make the main body retreat. At the same time, the integrated control unit starts to spray water on one side of the left and right to achieve a U-turn.

[0016] The motor and the propeller of the thrust generating mechanism are replaced with an axial flow pump; in the buoyancy adjustment mechanism of the main body, the buoyancy chamber is divided into two non-communicating chambers by a piston that is in close contact with the inner wall of the outer shell. There is a spring connecting the top of the buoyancy chamber and the piston on one side. Controlled by the integrated control unit, the piston is moved by the motor through mechanical transmission, or the piston is moved by injecting water through a water pump to achieve water injection. When injecting water, the spring stores energy, and the drainage power is realized by the spring releasing energy to reset the piston; the integrated control unit controls the water injection speed of the buoyancy chamber with the water injection volume of the buoyancy chamber as the threshold, so that the diving time is randomly adjusted between 10 seconds and 100 seconds, and the time for the main body to expose above the water surface each time is also different.

[0017] The selected lithium battery pack is small in volume and lighter in self-weight, which can make the endurance and working time longer, and the operation of entering and leaving the water is more convenient.

[0018] The piston is in close contact with the inner wall of the outer shell of the buoyancy chamber, ensuring that the piston can only move along the axis of the buoyancy chamber. Several protrusions can be set on the piston to fit with several corresponding grooves on the buoyancy chamber, so that the piston can only move up and down along the axis of the buoyancy chamber, and the water below the piston will not penetrate to the upper part. The piston is moved by the motor through mechanical transmission to realize the water injection of the buoyancy chamber, which can be realized by Embodiment 1;

[0019] The water injection of the buoyancy chamber is realized by pushing the piston to move through the water pump injection, which can be realized by Embodiment 2;

[0020] If the piston divides the buoyancy chamber into two non-communicating chambers, namely the upper and lower chambers, and the piston is made of metal material, its own gravity is also the power for the piston to reset and drain water.

[0021] The system also includes a transverse stability and balance mechanism. The transverse stability and balance mechanism includes a single-axis inclination sensor module and a pump machine horizontally fixed in the main control chamber. During operation, the single-axis inclination sensor module outputs an analog voltage value of 0.5V - 4.5V corresponding to the inclination angle of 0 - 180 degrees to the integrated control unit. The integrated control unit controls the pump machine to adjust the water volume in the left and right water tanks of the main body to maintain balance. When the main body is an aquatic organism with pelvic fins, the chamber of the pelvic fins is part of the water tank.

[0022] The water volumes in the left and right water tanks of the body are adjusted by a high-pressure air pump. It can be set that the two water tanks in the transverse stability and balance mechanism are separated by a piston in the intermediate balance pressure regulating chamber. The piston can be reset by a spring. When the single-axis inclination sensor module detects an inclination, the integrated control unit conveys high-pressure gas to the lower water tank according to the analog voltage value, causing the piston and the center of gravity of the body to move towards the other water tank, making the single-axis inclination tend to zero. Then, through the solenoid valve switch, the gas pressure is restored.

[0023] The water volumes in the left and right water tanks of the body are adjusted by a high-pressure water pump. It can be set that the two water tanks in the transverse stability and balance mechanism are connected. The propeller driven by a motor is arranged in the balance pressure regulating chamber. When the single-axis inclination sensor module detects an inclination, the integrated control unit calculates the rotation time and rotation direction of the propeller according to the analog voltage value, and pushes the water to flow towards the higher water tank, causing the center of gravity of the body to move towards the water tank, making the single-axis inclination tend to zero, then the motor shuts down and the propeller stops rotating to restore balance.

[0024] The system further includes a detergent slow-release mechanism. The detergent slow-release mechanism includes a detergent tank arranged at the rear of the body and a slow-release control module. The detergent tank is divided into two non-communicating chambers by a piston in close contact with the inner wall of the outer shell. One of the chambers contains detergent and is provided with a valve communicating with a pipeline, which is controlled by the integrated control unit to open and close. The other chamber communicates with the pipeline water and is provided with a slow-release control module for pushing the piston. During operation, the piston in the detergent tank pushes the detergent to slowly and uniformly discharge into the pipeline water, and the overall drainage volume of the detergent tank remains unchanged.

[0025] The slow-release control module can push the piston to extrude the detergent in the detergent tank into the water by the energy release of a spring;

[0026] The slow-release control module can push the piston to extrude the detergent in the detergent tank into the water by the energy release of a spring;

[0027] An anti-collision cushion layer is arranged below the outer side of the body. The anti-collision cushion layer is provided with a number of universal wheels and a touch switch. When the body touches the bottom of the pool, the integrated control unit receives the electrical signal of the touch switch and controls the buoyancy adjustment mechanism to stop sinking or start floating; the transverse stability and balance mechanism is associated with the left and right parts of the tail fin to assist in maintaining the dynamic balance of the body.

[0028] The system further includes an anti-collision recognition mechanism controlled by the integrated processing unit. The anti-collision recognition mechanism is provided with infrared anti-collision modules at the front, left, and right sides of the three water spray pipes of the body. When approaching the pool wall or an obstacle during forward movement, the front infrared anti-collision module recognizes it, and the integrated control unit controls the thrust generation mechanism to stop thrust, controls the direction control mechanism to turn or turn around, and then starts the thrust to continue moving forward; when one side of the body approaches the pool wall, the infrared anti-collision module on that side recognizes it, and the integrated control unit controls the water spray pipe on that side to spray water, and the reaction force changes the forward direction of the body.

[0029] The battery pack is a rechargeable battery pack that can be used repeatedly.

[0030] Preferably, the battery pack is a lithium battery pack that can be used repeatedly.

[0031] Before starting work underwater, the total working time can be preset, or it can be set to work until a certain moment. When the time is up, the integrated control module controls the completion of the work end process, that is: drain water and float up, no longer dive, continue to move forward until the recognition signal of the front infrared anti-collision module is received, or the touch signal of the touch switch on the anti-collision guard plate is received, and then turn off the power.

[0032] It is a mature existing technology for the single-chip microcomputer and microcomputer system to detect the battery power; when the integrated control module monitors that the battery power is less than 5%, the integrated control module immediately controls the completion of the above work end process.

[0033] The present invention can also be used for cleaning the water bodies of parks and moats; if it is designed in the shape of popular aquatic animals such as dolphins and killer whales, appearing and disappearing from time to time, moving left and right, it will be an environmental protection scenic line. At the same time, it is also a living teaching material for teenagers to increase scientific and technological knowledge, inspire thinking wisdom, and participate in environmental protection interactions.

[0034] It should be understood that the specific implementation manners of the present invention are only used for exemplary illustration or explanation of the principles of the present invention, and do not constitute a limitation to the present invention. Therefore, any modifications, equivalent replacements, improvements, etc. made without departing from the spirit and scope of the present invention shall be included within the protection scope of the present invention. In addition, the appended claims of the present invention are intended to cover all changes and modifications that fall within the scope and boundaries of the appended claims, or equivalent forms of such scope and boundaries. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 It is a schematic diagram of the external structure of the pool submersible and floating sewage cleaning robot system;

[0036] Figure 2 It is a schematic diagram of the internal structure outline of the pool submersible and floating sewage cleaning robot system;

[0037] Figure 3 It is a schematic diagram of the internal structure of the pool submersible and floating sewage cleaning robot system;

[0038] Figure 4 It is a block diagram of the internal structure of the pool submersible and floating sewage cleaning robot system;

[0039] Figure 5 It is a schematic diagram of the internal structure of the buoyancy chamber of the pool submersible and floating sewage cleaning robot system;

[0040] In the figure, 1 is the main body, 2 is the dorsal fin-shaped gripper, 3 is the left ventral fin, 4 is the buoyancy chamber, 5 and 6 are the left and right tail fins, 7 is the water inlet, 8 is the anti-collision cushion layer, 9 is the water outlet, 10 is the thrust chamber, 101 is the propeller, 11 is the main control chamber, 21, 22, and 23 are the front, left, and right water spray pipes respectively, 12 is the sedimentation chamber, 123 is the filter layer, 13 is the battery pack, 31, 32, and 33 are the left and right water tanks and the balanced pressure adjustment chamber respectively, 41 is the buoyancy chamber housing, 42 is the piston, 43 is the spring, 44 is the water passage hole, 45 is the pulley, and 46 is the steel wire rope. Detailed implementation manner

[0041] Example 1, as Figures 1-5 , the outer shape of the main body is in the shape of a dolphin, the battery pack is a rechargeable battery pack, the thrust generating mechanism is that a motor arranged at the tail of the pipeline drives the propeller to rotate and spray water jets, and the buoyancy adjustment mechanism makes the piston move through mechanical transmission by the motor to realize water injection into the buoyancy chamber. The buoyancy chamber includes a buoyancy chamber housing 41, a piston 42, a spring 43, and a pulley 45. The piston 42 is in close contact with the inner wall of the housing 41, dividing the buoyancy chamber into two independent upper and lower chambers. The piston 42 can only move axially along the buoyancy chamber. In the lower chamber, several springs 43 connect the piston 42 and the bottom of the housing 41. The outer housing 41 of the lower chamber is provided with several water passage holes 44 to connect the water in the lower chamber with the water outside the buoyancy chamber. A pulley 45 is arranged on the upper part of the piston 42, and the steel wire rope 46 passing through the top of the buoyancy chamber can be pulled up to drive the piston 42 to move up. A stepping motor and a clutch are also arranged in the main control chamber. The integrated control unit controls the stepping motor, the clutch, and the stretching and retracting of the spring 43 to make the piston 42 move up and down periodically. The infrared anti-collision module of the anti-collision recognition mechanism it sets recognizes an obstacle. The integrated control unit receives the electrical signal fed back by it and controls the solenoid valve switch of the corresponding water spray pipe of the direction control mechanism to spray high-pressure water jets to achieve turning around or steering; the horizontal stability and balance mechanism is automatically maintained; the sewage filtering and sedimentation mechanism filters the sewage in the water body passing through the pipeline; in the detergent slow-release mechanism, the slow-release control module can squeeze the detergent in the detergent chamber into the water by the energy release of the spring;

[0042] Example 2, as Figures 1-4, the body is in the shape of an orca, the battery pack is a rechargeable lithium battery pack, the thrust of the thrust generating mechanism is provided by an axial flow pump arranged at the tail, the buoyancy adjustment mechanism realizes the water injection of the buoyancy chamber by pushing the piston to move through the water pump, a spring can be arranged in the upper chamber of the buoyancy chamber, the spring connects the piston and the top of the outer shell, an electromagnetic drain valve is arranged in the lower chamber to control the drain to be in an open state all the time, a high-pressure water pump water injection pipe orifice is arranged, the water injection pipe is controlled by an electromagnetic valve and is in a normally closed state. When injecting water, the electromagnetic drain valve is controlled by the integrated control unit to close, and the electromagnetic valve of the high-pressure water pump water injection pipe is opened. The injected high-pressure water pushes the piston to move upward, and the body dives; when draining water, the electromagnetic valve of the high-pressure water pump water injection pipe is controlled by the integrated control unit to close, and the electromagnetic drain valve is opened. Under the action of the gravity of the metal piston and the release of the spring potential energy, the piston moves downward, and the water in the lower chamber of the buoyancy chamber is gradually drained, and the body gradually floats; the anti-collision recognition mechanism, the transverse stability and balance mechanism, and the filter pollution and sedimentation mechanism are set the same as in Embodiment 1, and the slow release control module extrudes the detergent in the detergent chamber into the water by the energy release of the spring.

Claims

1. A pool submersible and floating sewage cleaning robot, comprising a main body, a battery pack, an integrated control unit, a buoyancy adjustment mechanism, a thrust generation mechanism, a direction control mechanism, and a sewage filtering and sedimentation mechanism, characterized in that: A dorsal fin-shaped gripper is provided at the upper part of the body. Inside, there is a main control chamber, as well as the buoyancy adjustment mechanism, thrust generation mechanism, direction control mechanism, and the sewage filtration and sedimentation mechanism is combined on the body. The battery pack is arranged in a sealed chamber below the longitudinal axis of the body, which also serves as a ballast chamber; on the body, there are also a water inlet, a water outlet, and several connecting pipes. There are water spray pipes and several sealed chambers arranged at the front, left, and right sides of the body. Without adjusting the buoyancy, the body is immersed in the pool water, and only the dorsal fin-shaped gripper at the top is exposed above the water surface; the comprehensive control unit includes a microcomputer chip or a single-chip microcomputer and the corresponding operating system, which is arranged in the main control chamber. When the main control chamber works, it forms a waterproof and airtight chamber after being closed; the thrust generation mechanism includes a motor and a propeller. Powered by the battery pack, connected by wires, and controlled by the comprehensive control unit, the motor arranged at the tail of the pipe drives the propeller to rotate and spray water jets, so that the body moves forward, and at the same time, the pool water is sucked in and flows backward from the water inlet, pipe, and water outlet; the direction control mechanism includes a high-pressure water pump. The outlet pipe of the high-pressure water pump is connected to the water spray pipes at the front, left, and right sides of the body. Controlled by the comprehensive control unit, by controlling the stop of the forward thrust, setting the working time threshold of the front water spray pipe and one of the left and right water spray pipes, the water jets are sprayed to generate a reaction force to change the moving direction of the body, and then the thrust is started again to continue moving forward; the sewage filtration and sedimentation mechanism is composed of a sedimentation chamber and a filter screen layer for filtering sundries and dirt. There is a collision protection plate in front of the body. There is a touch switch on the collision protection plate that is connected to the comprehensive control unit of the main control chamber. The collision protection plate is connected to the body by a spring. When the forward-moving body touches one side of the swimming pool, the comprehensive control unit receives the electrical signal of the touch switch and starts a series of turning operations; the body is made of metal materials or is injection-molded from plastic materials, and its shape is a dolphin shape. The buoyancy chamber of the buoyancy adjustment mechanism inside the body is divided into two non-communicating chambers by a piston that is in close contact with the inner wall of the shell. On one side, there is a spring connecting the top of the buoyancy chamber and the piston. Controlled by the comprehensive control unit, the piston is moved by the motor through mechanical transmission or the piston is moved by injecting water through a water pump to realize water injection. When injecting water, the spring stores energy, and the spring releases energy to reset the piston; the comprehensive control unit controls the water injection speed of the buoyancy chamber with the water injection volume of the buoyancy chamber as the threshold, so that the diving time is randomly adjusted between 10 seconds and 100 seconds, and the time when the body is exposed above the water surface each time is also different. The battery pack is a rechargeable lithium battery pack, and there are also a transverse stability and balance mechanism and a cleaning agent slow-release mechanism. The transverse stability and balance mechanism includes a single-axis inclination sensor module and a pump machine that are horizontally fixed in the main control chamber. When working, the single-axis inclination sensor module outputs an analog voltage value of 0.5V - 4 corresponding to an inclination angle of 0 - 180 degrees.5V is supplied to the integrated control unit, and the integrated control unit controls the pump to adjust the water volume in the two water tanks on the left and right of the main body to maintain balance. The detergent slow-release mechanism includes a detergent bin and a slow-release control module arranged at the rear of the main body. The detergent bin is divided into two non-connecting chambers by a piston in close contact with the inner wall of the outer shell. One chamber contains detergent and is provided with a valve communicating with the pipeline, which is controlled by the integrated control unit to open and close. The other chamber communicates with the pipeline water and is provided with a slow-release control module for pushing the piston. During operation, the piston in the detergent bin pushes and presses the detergent to slowly and evenly discharge into the pipeline water, and the overall drainage volume of the detergent bin remains unchanged.

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