A pool dirt suction machine and its control method

Abstract

The present invention discloses a pool dirt suction machine, which includes a machine base, a control system, a battery assembly, a drive wheel assembly, a sealed box, a water pump assembly, a collection box, a top cover assembly, a brush assembly, a charging device, and further includes a collision plate assembly, a collision return assembly, a rotating rod assembly, a magnetic induction member, and a Hall plate. The inside of the machine base is divided into an inner ring water distribution chamber and an outer ring water distribution chamber by the collection box. The inner ring water distribution chamber is annular. A vertically penetrating annular docking seat is arranged in the middle of the collection box and sleeved on the water pump assembly. A filter screen is arranged on the side wall of the annular docking seat. An opening is arranged at the top of the collection box. The top cover assembly is rotatably connected to the machine base and covers the opening at the top of the collection box. Through the above structural arrangement, on the one hand, the stability of the posture of the pool dirt suction machine when it enters the water and walks underwater is ensured; on the other hand, the influence of the bottom slope, unevenness, and water flow change of the pool on the judgment of obstacles or the pool boundary is avoided, and the accuracy of the judgment is greatly improved.

Description

Technical Field

[0001] The present invention relates to the field of pool cleaning, and particularly to a pool dirt suction machine and a control method thereof. Background Art

[0002] A pool dirt suction machine is a machine that can clean stains on the pool surface at the bottom of the pool. However, the center of gravity of existing pool dirt suction machines is generally at the front or rear, which may sometimes cause the machine to tip over during the process of entering the water. It is necessary for manual workers to right the machine or hold the machine until the pool dirt suction machine is completely submerged in the water, which not only takes a long time and is inconvenient when entering the water, but also the pool dirt suction machine often hits the protrusions at the bottom when walking on the pool bottom, sometimes causing the pool dirt suction machine to turn significantly or tip over.

[0003] In addition, during the process of the pool dirt suction machine walking underwater, it often encounters obstacles or reaches the boundary of the pool. The current pool dirt suction machine judges the boundary by setting an indicating sail at the top, that is, during normal walking, the indicating sail is driven by the water flow to face the rear, and when the pool dirt suction machine encounters an obstacle or the boundary, the direction of the indicating sail will rotate forward and return to the normal position under the action of the return spring. However, this judgment structure is not stable. When the pool dirt suction machine passes over a protrusion at the bottom of the pool, or the slope at the bottom of the pool is large, or the water flow direction changes, it is also easy to cause the indicating sail to turn, resulting in misjudgment of the pool dirt suction machine. Therefore, further improvement is needed. Summary of the Invention

[0004] In view of the defects in the prior art that the attitude of the pool dirt suction machine is not stable enough when entering the water or walking on the pool bottom, and the judgment of the bottom boundary or obstacles of the pool is not accurate enough, the present invention provides a new pool dirt suction machine and a control method thereof.

[0005] To solve the above technical problems, the present invention is realized through the following technical solutions:

[0006] A pool dirt suction machine, comprising a machine base, a control system, a battery assembly, a drive wheel assembly, a sealed box, a water pump assembly, a collection box, a top cover assembly, a brush assembly, and a charging device. The control system is located inside the sealed box. The charging device is arranged on the machine base and electrically connected to the control system inside the sealed box. The battery assembly is arranged inside the sealed box and electrically connected to the control system. The brush assembly is arranged at the bottom of the machine base. The X-axis, Y-axis, and Z-axis are respectively arranged along the length direction, width direction, and height direction at the center of the pool dirt suction machine. It further includes a collision plate assembly, a collision return assembly, a rotating rod assembly, a magnetic induction component, and a Hall plate. The sealed box is arranged in the middle of the bottom of the machine base. The drive wheel assembly and the water pump assembly are respectively connected to the sealed box and electrically connected to the control system. The inside of the machine base is divided into an inner ring water distribution chamber and an outer ring water distribution chamber by the collection box. Air-liquid circulation holes are also arranged at the front and rear ends of the bottom of the machine base, and the air-liquid circulation holes are communicated with the outer ring water distribution chamber. A dirt suction port communicated with the inner ring water distribution chamber is arranged at the bottom of the collection box. A dirt inlet corresponding to the dirt suction port is also arranged at the bottom of the machine base. The inner ring water distribution chamber is annular. An annular docking seat penetrating up and down is arranged in the middle of the collection box and sleeved on the water pump assembly. A filter screen is arranged on the side wall of the annular docking seat. An opening is arranged at the top of the collection box. The top cover assembly is rotatably connected to the machine base and covers the opening at the top of the collection box. The collision plate assembly is arranged at the edge of the machine base and extends into the machine base. The collision return assembly is arranged inside the machine base and provides a restoring force for the collision plate assembly. The rotating rod assembly is rotatably connected inside the machine base. One end of the rotating rod assembly is connected to the collision plate assembly. The magnetic induction component is arranged at the other end of the rotating rod assembly. The Hall plate is arranged inside the sealed box and cooperates with the magnetic induction component. The Hall plate is electrically connected to the control system.

[0007] Among them, the sealed box is arranged in the middle of the bottom of the machine base, which can anchor the position of the center of gravity of the entire pool dirt suction machine and improve the balance of the pool dirt suction machine when entering the water and walking underwater. The air-liquid circulation holes are communicated with the outer ring water distribution chamber, and the dirt inlet and the dirt suction port are communicated with the inner ring water distribution chamber, which can quickly allow air and water flow to enter the outer ring water distribution chamber and the inner ring water distribution chamber through these places when the pool dirt suction machine enters the water, and then flow out through the gaps on the machine base or through the water pump assembly. When the pool dirt suction machine enters the water, it can prevent air from being covered by the pool dirt suction machine and forming a reaction force after entering the water. On the one hand, it can accelerate the water entry speed of the pool dirt suction machine, and on the other hand, it can automatically stabilize the attitude of the pool dirt suction machine when entering the water and enable it to maintain balance.

[0008] When the machine is operating normally, the magnetic induction component cooperates with the Hall plate in the sealed box, and the machine is in the induction-on state. When the machine collides with an obstacle or the pool boundary during travel, the collision plate assembly will collide, and at the same time, the rotating rod assembly will be driven, causing the magnetic induction component on the rotating rod assembly to separate from the Hall plate. After the control system receives the signal, it can determine that an obstacle or the pool boundary has been collided with at this time, thus preparing for the next action. After the collision ends, as the collision plate assembly leaves the obstacle or the pool boundary, under the restoring force of the collision return component, the collision plate assembly can automatically return to its position, thus preparing for the next collision.

[0009] Through the setting of the above structure, on the one hand, it ensures the stability of the posture of the pool cleaner when it enters the water and walks underwater; on the other hand, it avoids the influence of the bottom slope, unevenness and water flow changes of the pool on the judgment of obstacles or the pool boundary, greatly improving the accuracy of the judgment.

[0010] Preferably, in the above-mentioned pool cleaner, a diversion chamber is further provided at the gas-liquid circulation hole on the machine base. The diversion chamber is a cover body with an opening downward, and its projection in the height direction of the pool cleaner is on the X axis. The gas-liquid circulation holes are arranged in a circular array on the diversion chamber.

[0011] The projection of the diversion chamber in the height direction of the pool cleaner is on the X axis. When the pool cleaner is operating, it can keep the pool cleaner in better stability and balance. The cover body structure with an opening downward can, on the one hand, reduce the influence of the lateral water flow on the gas-liquid circulation holes when walking underwater, and on the other hand, can better guide and gather air or water flow during the process of entering the water, accelerating the speed of entering the water. The gas-liquid circulation holes are arranged in a circular array on the diversion chamber, which can make the pool cleaner enter the water better when entering the water, improving the smoothness of entering the water.

[0012] Preferably, in the above-mentioned pool cleaner, a counterweight is further provided in the sealed box, and the counterweight is symmetrically arranged front and back with the Y axis as the center line.

[0013] The counterweight can increase the weight of the pool cleaner, facilitating the pool cleaner to enter the water better and walk underwater. The counterweight is symmetrically arranged front and back with the Y axis as the center line, which can better maintain the balance of the pool cleaner.

[0014] Preferably, in the above-mentioned pool cleaner, it further includes universal wheels. The number of the universal wheels is 2, and they are respectively connected to the front and rear ends of the bottom of the machine base. The projection of the universal wheels in the height direction of the pool cleaner is on the X axis. The number of the drive wheel assemblies is 2, and they are respectively connected to the middle parts of the left and right sides of the sealed box. The projection of the drive wheel assemblies in the height direction of the pool cleaner is on the Y axis.

[0015] Among them, the universal wheels are responsible for steering, and the drive wheel assembly is used to drive the pool cleaner to move. Connecting the drive wheel assembly to the middle parts of the left and right sides of the sealed box can further enhance the centering effect of the sealed box's center of gravity. The projection of the universal wheels on the pool cleaner in the height direction is located on the X-axis, and the projection of the drive wheel assembly on the pool cleaner in the height direction is located on the Y-axis. This cross-shaped wheel arrangement design can further improve the stability of the pool cleaner when it is moving.

[0016] Preferably, for the above-mentioned pool cleaner, the distance between the center of the universal wheels and the central plane of the sealed box is 120 mm - 200 mm.

[0017] Within the above distance range, it is convenient for the universal wheels to turn and can well balance the stability of the pool cleaner.

[0018] Preferably, for the above-mentioned pool cleaner, the sealed box is located at the intersection of the X-axis, Y-axis, and Z-axis, and the collection box is symmetrically arranged with the X-axis and Y-axis as the center lines.

[0019] Through the above structural settings, the balance of the pool cleaner can be better maintained.

[0020] Preferably, for the above-mentioned pool cleaner, the cross-sectional area ratio of the dirt suction port to the air-liquid circulation hole is 1.2:1 - 1.8:1.

[0021] The cross-sectional area of the dirt suction port being larger than that of the air-liquid circulation hole allows the flow rate of air and water entering the dirt suction port to be greater than that entering the air-liquid circulation hole during the process of the pool cleaner entering the water, that is, the flow rate entering the inner ring water distribution chamber is greater than that entering the outer ring water distribution chamber, thereby further enhancing the centering effect of the center of gravity of the entire pool cleaner and improving the attitude stability of the pool cleaner.

[0022] Preferably, for the above-mentioned pool cleaner, a shielding structure is further provided in the collection box near the dirt suction port. The shielding structure includes a shielding connection seat, a fastener, and a flexible baffle. The shielding connection seat is arranged on the inner wall of the collection box, and one end of the flexible baffle is connected to the shielding connection seat through the fastener, and the other end of the flexible baffle covers the dirt suction port.

[0023] Setting the flexible baffle on the inner wall of the clamping foot can prevent friction between the flexible baffle and the pool, and the flexible baffle can also better block foreign objects and prevent some abnormal objects from being sucked into the collection box.

[0024] Preferably, for a pool cleaner described above, the top cover assembly includes a left rotating cover and a right rotating cover, the left rotating cover and the right rotating cover are respectively rotatably connected to the machine base, a left notch is provided on the left rotating cover, a right notch is provided on the right rotating cover, and the left notch and the right notch enclose a socket and are placed at the edge of the water pump assembly.

[0025] The left notch and the right notch are sleeved on the edge of the water pump assembly, which can effectively prevent dirt from overflowing, making the collection effect of the collection box better. The socket structure design also makes the cleaning of the collection box more convenient.

[0026] Preferably, for a pool cleaner described above, the depth H of the inner ring water distribution chamber is 20 mm to 120 mm, the cross-sectional area of the inner ring water distribution chamber is 20000 mm 2 ~60000 mm 2 , and the cross-sectional area of the dirt suction port is 2000 mm 2 ~6000 mm 2 .

[0027] The depth H and cross-sectional area of the receiving cavity indirectly affect the dirt collection capacity of the receiving cavity. Within the above parameter range, it can not only ensure the dirt collection capacity of the collection box but also well balance the stability of the machine. And within the above range of the cross-sectional area of the dirt suction port, it can better cooperate with the receiving cavity to form a diffusion effect, so that the dirt sucked in from the dirt suction port can quickly spread throughout the receiving cavity, avoiding dirt accumulation.

[0028] Preferably, for a pool cleaner described above, rotating connection seats are further provided at both ends of the machine base, rotating shafts are provided at both ends of the brush assembly, and the brush assembly is rotatably connected to the machine base through the rotating shafts and the rotating connection seats.

[0029] Rotating shafts are provided at both ends of the brush assembly. Due to the existence of the rotating shafts, during the forward movement of the pool cleaner, the brush assembly will automatically rotate in the opposite direction of the movement direction of the pool cleaner. Even when encountering a protrusion at the bottom of the pool, it will not be lifted by the protrusion at the bottom of the pool, so as to avoid the problem of the pool cleaner being lifted off the ground.

[0030] Preferably, for a pool cleaner described above, a limiting groove is further provided on the bottom of the machine base, the brush assembly is located in the middle of the limiting groove, and the maximum rotation angle α of the brush assembly is 90°.

[0031] If the rotation angle of the brush assembly is too large, the brush assembly will not be able to clean the bottom surface of the pool. Limiting the maximum rotation angle of the brush assembly to 90° can effectively prevent the problem of excessive angle, so that the pool cleaner will not affect the cleaning efficiency due to the excessive angle of the brush assembly when cleaning the pool.

[0032] Preferably, for the above-mentioned pool cleaner, the brush assembly is located in the middle of the bottom of the machine base.

[0033] The above structure can further improve the balance of the pool cleaner.

[0034] Preferably, for the above-mentioned pool cleaner, magnets are further provided at the bottom of the machine base, and the magnets are respectively located on both sides of the brush assembly.

[0035] The magnets can attract some small metal objects such as keys at the bottom of the pool, further improving the cleaning efficiency.

[0036] Preferably, for the above-mentioned pool cleaner, the collision plate assembly includes a bumper and a drive bracket, and the collision return assembly includes a guide shaft and a guide shaft return spring. The bumper is located at the edge of the machine base and is slidably connected to the machine base. One end of the drive bracket abuts against the bumper, and the other end of the drive bracket abuts against the rotating rod assembly. One end of the guide shaft is connected to the bumper, and the other end of the guide shaft is slidably connected inside the machine base. The guide shaft return spring is sleeved on the guide shaft and provides a restoring force for the bumper.

[0037] The separate setting of the bumper and the drive bracket is more convenient for the separate repair and replacement of the bumper. The cooperation between the guide shaft and the guide shaft return spring can better provide a restoring force for the bumper.

[0038] Preferably, for the above-mentioned pool cleaner, it further includes a bracket pulley, a bracket pressing plate, and a pressing plate fixing member. A bracket slide rail is provided inside the machine base. The drive bracket is slidably connected to the bracket slide rail through the bracket pulley. The bracket pressing plate is connected inside the machine base through the pressing plate fixing member. The bracket pressing plate is located above the drive bracket and limits the height direction of the drive bracket.

[0039] The cooperation between the bracket pulley and the bracket slide rail can make the bumper move more smoothly when it extends into the machine base after a collision. The bracket pressing plate and the pressing plate fixing member can prevent the drive bracket from being lifted after a collision, so that the drive bracket always moves in a straight line.

[0040] Preferably, for the above-mentioned pool cleaner, it further includes a roller and a roller shaft. A roller slideway is provided inside the machine base. A shaft connecting seat is provided on the bumper and extends into the machine base. The roller is sleeved in the middle of the roller shaft and is located on the roller slideway inside the machine base. The end of the roller shaft is connected to the shaft connecting seat on the bumper.

[0041] The cooperation among the roller, the roller shaft, and the shaft connecting seat makes the bumper move more smoothly when it extends into the machine base after a collision, and also move more smoothly when it pops out outward after the collision ends.

[0042] Preferably, for a pool dirt suction machine as described above, the rotating rod assembly includes a rotating connection seat, a rotating rod, and a rotating shaft. The rotating connection seat is arranged inside the machine base. A rotating shaft hole is provided on the rotating rod. The rotating shaft passes through the rotating shaft hole on the rotating rod and is connected to the rotating connection seat. One end of the rotating rod is connected to the collision plate assembly, and the magnetic induction part is arranged at the other end of the rotating rod. The ratio of the distance from the rotating shaft hole to one end of the rotating rod to the distance from the rotating shaft hole to the other end of the rotating rod is 1:2 to 1:3.

[0043] Through the mutual cooperation of the rotating connection seat, the rotating rod, and the rotating shaft, the disassembly and assembly of the rotating rod assembly are more convenient. The setting of the distance ratio can better improve the accuracy of judgment, and further reduce the disturbance of non-obstacles and non-boundaries to the machine during the underwater walking process through this lever principle.

[0044] Preferably, for a pool dirt suction machine as described above, the collision return assembly further includes a rotating rod return spring. One end of the rotating rod return spring is connected to the other end of the rotating rod, and the other end of the rotating rod return spring is connected to the machine base.

[0045] The rotating rod return spring is located between the rotating rod and the machine base, and can provide an elastic return force for the rotating rod, and can better return the rotating rod and then return the collision plate assembly after the collision ends.

[0046] Preferably, for a pool dirt suction machine as described above, it further includes a floating member and a pulling rope. One end of the pulling rope is connected to the machine base, and the other end of the pulling rope is connected to the floating member.

[0047] The floating member can float on the water surface when the pool dirt suction machine is working, so that it is convenient for the user to pull up the pool dirt suction machine through the floating member and the pulling rope at any time.

[0048] A control method for a pool dirt suction machine, the control system further includes a current sampling module and a gyroscope. The drive wheel assembly includes a left drive motor, a left wheel, a right drive motor, and a right wheel. The control method includes the following steps:

[0049] S1. When the pool dirt suction machine is powered on, the control system controls the water pump assembly to start working. The current sampling module obtains the working current of the water pump assembly and transmits it to the control system;

[0050] S2. The control system continuously monitors the working current of the water pump assembly. When the change in the working current of the water pump assembly exceeds 5A, it is determined that the pool dirt suction machine has entered the water and jumps to step S3;

[0051] S3, the gyroscope obtains the spatial data of the current swimming pool suction machine and transmits it to the control system, the control system continuously monitors the spatial data of the swimming pool suction machine, when the spatial data of the swimming pool suction machine no longer changes, it is determined that the swimming pool suction machine has reached the bottom of the swimming pool and is in a stable posture, at this time, the current spatial data is saved as stable posture data and transmitted to the control system, and then jumps to step S4;

[0052] S4, the control system sets the basic speed V and sets the basic direction F through the gyroscope, and then the control system controls the left drive motor and the right drive motor to start;

[0053] S5, the left drive motor and the right drive motor drive the left wheel and the right wheel to rotate synchronously respectively until the speeds of the left wheel and the right wheel reach the basic speed V and remain unchanged;

[0054] S6, the control system obtains the current spatial data in real time through the gyroscope and compares it with the stored stable posture data to determine whether the swimming pool suction machine has deviated from the basic direction F. If it has deviated from the basic direction F, the control system speeds up the wheel with a relatively slow rotation speed and slows down the wheel with a relatively fast rotation speed, so that the swimming pool suction machine returns to the basic direction F;

[0055] S7, if the rotation speed of the left wheel and the right wheel has not reached the basic rotation speed V at this time, the control system synchronously adjusts the left wheel and the right wheel to reach the basic rotation speed V;

[0056] S8. If a collision occurs, the control system randomly selects a left or right deviation of 15 to 60 degrees and controls the swimming pool suction machine to turn, and then the control system resets the opposite direction of the current direction as the basic direction F, and re-saves the current spatial data as stable posture data;

[0057] S9, the control system controls the left drive motor and the right drive motor to reverse, so that the swimming pool suction machine moves in the basic direction F reset in step S8 and makes the speed of the left wheel and the right wheel reach the basic speed V;

[0058] S10, the control system obtains the power of the battery assembly, and when the power of the battery assembly is 15-30% of the total power, jumps to step S12;

[0059] S11, repeat steps S6-S10;

[0060] S12, the control system turns off the water pump assembly. When the swimming pool suction machine collides with the boundary, the control system turns off the left drive motor and the right drive motor, and controls the swimming pool suction machine to turn off.

[0061] Through the above control method, the posture of the pool suction cleaner can be more stable during the process of entering the water and walking underwater, and it can maintain a straight walk when walking underwater. When the pool suction cleaner collides with an obstacle or a boundary, the pool suction cleaner can automatically turn and walk in the reverse direction, so that the entire range of the pool suction cleaner can be covered by the continuous back-and-forth walking of the pool suction cleaner. BRIEF DESCRIPTION OF THE DRAWINGS

[0062] Figure 1 is a top view of the present invention;

[0063] Figure 2 is a cross-sectional view of the present invention;

[0064] Figure 3 is a schematic diagram of the internal structure of the present invention;

[0065] Figure 4 is a cross-sectional view of the rotating rod assembly in the present invention;

[0066] Figure 5 is a cross-sectional view of the collection box in the present invention;

[0067] Figure 6 is a schematic diagram of the structure of the present invention;

[0068] Figure 7 is Figure 6 a partial enlarged view of part A in

[0069] Figure 8 is an exploded view of the present invention;

[0070] Figure 9 is an exploded view of the drive wheel assembly in the present invention;

[0071] Figure 10 is an exploded view of the collision plate assembly, the collision return assembly, and the rotating rod assembly in the present invention;

[0072] Figure 11 is a cross-sectional view of the collision plate assembly, the collision return assembly, and the rotating rod assembly in the present invention;

[0073] Figure 12 is a schematic diagram of the structure of the rotating rod assembly in the present invention;

[0074] Figure 13 is a module connection diagram of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0075] The present invention will be further described in detail below in conjunction with the drawings and specific embodiments, but they are not limitations to the present invention:

[0076] Embodiment 1

[0077] As Figures 1 to 13As shown, a pool dirt suction machine includes a machine base 1, a control system 6, a battery assembly 7, a drive wheel assembly 3, a sealed box 8, a water pump assembly 4, a collection box 10, a top cover assembly 5, a brush assembly 9, and a charging device 2. The control system 6 is located inside the sealed box 8. The charging device 2 is arranged on the machine base 1 and is electrically connected to the control system 6 inside the sealed box 8. The battery assembly 7 is arranged inside the sealed box 8 and is electrically connected to the control system 6. The brush assembly 9 is arranged at the bottom of the machine base 1. The X-axis, Y-axis, and Z-axis are respectively arranged along the length direction, width direction, and height direction at the center of the pool dirt suction machine. It also includes a collision plate assembly 11, a collision return assembly 12, a rotating rod assembly 13, a magnetic induction part 14, and a Hall plate 15. The sealed box 8 is arranged in the middle of the bottom of the machine base 1. The drive wheel assembly 3 and the water pump assembly 4 are respectively connected to the sealed box 8 and are electrically connected to the control system 6. The inside of the machine base 1 is divided into an inner ring water distribution chamber 16 and an outer ring water distribution chamber 17 by the collection box 10. Air-liquid circulation holes 18 are also arranged at the front and rear ends of the bottom of the machine base 1. The air-liquid circulation holes 18 are communicated with the outer ring water distribution chamber 17. A dirt suction port 19 communicated with the inner ring water distribution chamber 16 is arranged at the bottom of the collection box 10. A sewage inlet 20 corresponding to the dirt suction port 19 is also arranged at the bottom of the machine base 1. The inner ring water distribution chamber 16 is annular. An annular docking seat 21 that penetrates up and down is arranged in the middle of the collection box 10 and is sleeved on the water pump assembly 4. A filter screen 22 is arranged on the side wall of the annular docking seat 21. An opening 23 is arranged at the top of the collection box 10. The top cover assembly 5 is rotatably connected to the machine base 1 and covers the opening 23 at the top of the collection box 10. The collision plate assembly 11 is arranged at the edge of the machine base 1 and extends into the machine base 1. The collision return assembly 12 is arranged inside the machine base 1 and provides a restoring force for the collision plate assembly 11. The rotating rod assembly 13 is rotatably connected inside the machine base 1. One end of the rotating rod assembly 13 is connected to the collision plate assembly 11. The magnetic induction part 14 is arranged at the other end of the rotating rod assembly 13. The Hall plate 15 is arranged inside the sealed box 8 and cooperates with the magnetic induction part 14. The Hall plate 15 is electrically connected to the control system 6.

[0078] When the pool cleaner is ready to be lowered into the water, the user places the pool cleaner flat and lowers it into the water. During this process, since there are air-liquid circulation holes 18 and a sewage inlet 20 at the bottom of the machine base 1, the air and water squeezed by the bottom of the machine base 1 will automatically enter the inner ring water distribution chamber 16 and the outer ring water distribution chamber 17 continuously along the air-liquid circulation holes 18, the sewage inlet 20, and the sewage suction port 19, thereby accelerating the speed of the pool cleaner being lowered into the water, reducing the reaction force of the water on the bottom of the machine base 1, improving the attitude stability of the pool cleaner during the process of being lowered into the water. At the same time, since the sealing box 8 is arranged in the middle of the bottom of the machine base 1, and various control devices are generally concentrated in the sealing box 8 for waterproof sealing, the position setting of the sealing box 8 makes the center of gravity of the entire pool cleaner tend to the center of the machine base 1, further strengthening the stability of the pool cleaner when being lowered into the water, and also enhancing the stability of the pool cleaner during underwater walking.

[0079] During the underwater walking process of the pool cleaner, under the elastic restoring force of the collision return component 12, it can continuously apply an outward force to the collision plate component 11, so that when the machine passes over the slope at the bottom of the pool or passes over uneven areas or when the water flow direction changes, it will not cause misjudgment of obstacles and boundaries by the machine.

[0080] When the pool cleaner encounters an obstacle or a boundary, due to the collision plate component 11 receiving a large impact force in a short period of time, the collision plate component 11 slides rapidly towards the inside of the machine base 1 under the action of the impact force. During the sliding process of the collision plate component 11, it will push the rotating rod component 13 to rotate, thereby driving the magnetic induction part 14 at the other end of the rotating rod component 13 to move away from the Hall plate 15, so that the pool cleaner can accurately judge that it has collided with an obstacle or the pool boundary at present. When the pool cleaner leaves the obstacle or the pool boundary, under the elastic restoring force of the collision return component 12, the collision plate component 11 can automatically return, thus preparing for the next collision detection.

[0081] Preferably, a diversion chamber 24 is further arranged on the machine base 1 at the position of the air-liquid circulation holes 18. The diversion chamber 24 is a cover body with an opening downward, and its projection in the height direction of the pool cleaner is on the X axis. The air-liquid circulation holes 18 are arranged in an annular array on the diversion chamber 24.

[0082] Preferably, a counterweight 25 is further arranged in the sealing box 8, and the counterweight 25 is symmetrically arranged front and back with the Y axis as the center line.

[0083] Preferably, it further includes universal wheels 26. The number of the universal wheels 26 is two, and they are respectively connected to the front and rear ends of the bottom of the machine base 1. The projection of the universal wheels 26 in the height direction of the pool suction cleaner is located on the X axis. The number of the drive wheel assemblies 3 is two, and they are respectively connected to the middle parts of the left and right sides of the sealed box 8. The projection of the drive wheel assemblies 3 in the height direction of the pool suction cleaner is located on the Y axis.

[0084] Preferably, the distance between the center of the universal wheel 26 and the central plane of the sealed box 8 is 120 mm.

[0085] Preferably, the sealed box 8 is located at the intersection of the X axis, Y axis, and Z axis. The collection box 10 is symmetrically arranged with the X axis and Y axis as the center lines.

[0086] Preferably, the ratio of the cross-sectional area of the dirt suction port 19 to the cross-sectional area of the gas-liquid circulation hole 18 is 1.2:1.

[0087] Preferably, a shielding structure is further arranged in the collection box 10 near the dirt suction port 19. The shielding structure includes a shielding connection seat 27, a fastener 28, and a flexible baffle 29. The shielding connection seat 27 is arranged on the inner wall of the collection box 10. One end of the flexible baffle 29 is connected to the shielding connection seat 27 through the fastener 28, and the other end of the flexible baffle 29 covers the dirt suction port 19.

[0088] Preferably, the top cover assembly 5 includes a left rotating cover 30 and a right rotating cover 31. The left rotating cover 30 and the right rotating cover 31 are respectively rotatably connected to the machine base 1. A left notch 32 is arranged on the left rotating cover 30, and a right notch 33 is arranged on the right rotating cover 31. The left notch 32 and the right notch 33 enclose a socket 34 and are placed on the edge of the water pump assembly 4.

[0089] Preferably, the depth H of the inner ring water distribution chamber 16 is 20 mm, the cross-sectional area of the inner ring water distribution chamber 16 is 20000 mm 2 , and the cross-sectional area of the dirt suction port 19 is 2000 mm 2 .

[0090] Preferably, rotating connection seats 35 are further arranged at both ends of the machine base 1. Rotating shafts 36 are arranged at both ends of the brush assembly 9. The brush assembly 9 is rotatably connected to the machine base 1 through the rotating shafts 36 and the rotating connection seats 35.

[0091] Preferably, a limiting groove 37 is further arranged on the bottom of the machine base 1. The brush assembly 9 is located in the middle of the limiting groove 37. The maximum rotation angle α of the brush assembly 9 is 90°.

[0092] Preferably, the brush assembly 9 is located in the middle of the bottom of the base 1.

[0093] Preferably, magnets 38 are further provided at the bottom of the base 1, and the magnets 38 are respectively located on both sides of the brush assembly 9.

[0094] Preferably, the collision plate assembly 11 includes a bumper 39 and a driving bracket 40, and the collision return assembly 12 includes a guide shaft 41 and a guide shaft return spring 42. The bumper 39 is located at the edge of the base 1 and is slidably connected to the base 1. One end of the driving bracket 40 abuts against the bumper 39, and the other end of the driving bracket 40 abuts against the rotating rod assembly 13. One end of the guide shaft 41 is connected to the bumper 39, and the other end of the guide shaft 41 is slidably connected inside the base 1. The guide shaft return spring 42 is sleeved on the guide shaft 41 and provides a restoring force for the bumper 39.

[0095] Preferably, it further includes a bracket pulley 43, a bracket pressing plate 44, and a pressing plate fixing member 45. A bracket slide rail 46 is provided inside the base 1. The driving bracket 40 is slidably connected to the bracket slide rail 46 through the bracket pulley 43. The bracket pressing plate 44 is connected inside the base 1 through the pressing plate fixing member 45. The bracket pressing plate 44 is located above the driving bracket 40 and limits the height direction of the driving bracket 40.

[0096] Preferably, it further includes a roller 47 and a roller shaft 48. A roller slideway 49 is provided inside the base 1. A shaft connecting seat 50 is provided on the bumper 39 and the shaft connecting seat 50 extends into the base 1. The roller 47 is sleeved on the middle of the roller shaft 48 and is located on the roller slideway 49 inside the base 1. The end of the roller shaft 48 is connected to the shaft connecting seat 50 on the bumper 39.

[0097] Preferably, the rotating rod assembly 13 includes a rotating connection seat 51, a rotating rod 52, and a rotating shaft 53. The rotating connection seat 51 is provided inside the base 1. A rotating shaft hole 54 is provided on the rotating rod 52. The rotating shaft 53 passes through the rotating shaft hole 54 on the rotating rod 52 and is connected to the rotating connection seat 51. One end of the rotating rod 52 is connected to the collision plate assembly 11, and the magnetic induction member 14 is provided at the other end of the rotating rod 52. The ratio of the distance from the rotating shaft hole 54 to one end of the rotating rod 52 to the distance from the rotating shaft hole 54 to the other end of the rotating rod 52 is 1:2.

[0098] Preferably, the collision return assembly 12 further includes a rotating rod return spring 55. One end of the rotating rod return spring 55 is connected to the other end of the rotating rod 52, and the other end of the rotating rod return spring 55 is connected to the base 1.

[0099] Preferably, it further includes a floating member 56 and a pulling rope 57. One end of the pulling rope 57 is connected to the machine base 1, and the other end of the pulling rope 57 is connected to the floating member 56.

[0100] More specifically, during the launching process, on the one hand, air and water flow will automatically flow towards the gas-liquid circulation holes 18 under the gathering action of the diversion chamber 24 and then flow into the outer ring water distribution chamber 17. Since the gas-liquid circulation holes 18 are arranged in an annular array on the diversion chamber 24, the water flow can be more stable when entering the gas-liquid circulation holes 18; on the other hand, air and water flow will flow into the inner ring water distribution chamber 16 along the sewage inlet 20 and the sewage suction port 19, thereby accelerating the launching speed of the swimming pool suction cleaner.

[0101] During the launching process, since the inner ring water distribution chamber 16 is annular, and the annular docking seat 21 in the middle of the collection box 10 is sleeved on the water pump assembly 4, and the water pump assembly 4 is connected to the sealing box 8, the water entering the inner ring water distribution chamber 16 will always rise around the water pump assembly 4 located at the center of the machine base 1. And because the cross-sectional area of the sewage suction port 19 is larger than that of the gas-liquid circulation holes 18, the flow rate entering the inner ring water distribution chamber 16 will be greater than the flow rate entering the outer ring water distribution chamber 17. Therefore, the swimming pool suction cleaner can maintain the stability of the center of gravity of the whole machine during the launching process. In addition, since the sealing box 8 is arranged in the middle of the bottom of the machine base 1, the water pump assembly 4 is connected to the sealing box 8, and a counterweight 25 is arranged in the sealing box 8. The counterweight 25 is symmetrically arranged front and back with the Y axis as the center line, and the drive wheel assembly 3 is connected to the middle parts of the left and right sides of the sealing box 8. The cooperation of these structures greatly enhances the anchoring effect of the sealing box 8 on the center of gravity, making the center of gravity of the whole machine tend to the center of the machine, further improving the attitude stability of the swimming pool suction cleaner during the launching process and also enhancing the attitude stability of the swimming pool suction cleaner during the underwater walking process.

[0102] During the underwater walking process of the swimming pool suction cleaner, when the swimming pool suction cleaner walks forward, the magnet 38 will absorb some small metal objects such as keys on the bottom of the swimming pool in advance, and then the brush assembly 9 will clean the stains on the surface of the swimming pool. At the same time, because the rotating shaft 36 and the rotating connection seat 35 are rotationally connected, the brush assembly 9 will be driven by the frictional force on the surface of the swimming pool to automatically rotate in the direction opposite to the walking direction of the swimming pool suction cleaner during the process of contacting the surface of the swimming pool. Therefore, even when the swimming pool suction cleaner passes through the raised parts on the surface of the swimming pool, the swimming pool suction cleaner cannot be lifted by the brush assembly 9, saving the process of manual remedy and improving the cleaning efficiency of the swimming pool suction cleaner.

[0103] During the underwater movement of the pool cleaner, under the elastic restoring forces of the rotary rod return spring 55 and the guide shaft return spring 42, it can continuously apply an outward force to the bumper 39, so that when the machine passes over the slope at the bottom of the pool or through uneven areas or when the water flow direction changes, it will not cause the machine to misjudge obstacles and boundaries. The ratio of the distance from the rotating shaft hole 54 to one end of the rotary rod 52 to the distance from the rotating shaft hole 54 to the other end of the rotary rod 52 is set, which further increases the difficulty of the rotary rod 52 to rotate, can further reduce the influence of various adverse factors underwater on the machine, and improve the accuracy of obstacle and boundary judgment.

[0104] When the pool cleaner hits an obstacle or a boundary, due to the bumper 39 receiving a large impact force in a short time, the bumper 39 slides quickly into the machine base 1 through the roller 47 under the action of the impact force. During the sliding process of the bumper 39, it will push the drive bracket 40 to slide inward. During the sliding process of the drive bracket 40, it will push the rotary rod 52 to rotate, thereby driving the magnetic induction part 14 at the other end of the rotary rod 52 to move away from the Hall plate 15, so that the pool cleaner can accurately judge that it has collided with an obstacle or the pool boundary at present.

[0105] When the pool cleaner leaves the obstacle or the pool boundary, under the elastic restoring forces of the rotary rod return spring 55 and the guide shaft return spring 42, the bumper 39 can automatically return, thus preparing for the next collision detection.

[0106] A control method for a pool cleaner, the control system 6 further includes a current sampling module 58 and a gyroscope 59. The drive wheel assembly 3 includes a left drive motor 60, a left wheel 61, a right drive motor 62, and a right wheel 63. The control method includes the following steps:

[0107] S1. The pool cleaner is powered on, and the control system 6 controls the water pump assembly 4 to start working. The current sampling module 58 obtains the working current of the water pump assembly 4 and transmits it to the control system 6;

[0108] S2. The control system 6 continuously monitors the working current of the water pump assembly 4. When the change in the working current of the water pump assembly 4 exceeds 5A, it is determined that the pool cleaner has entered the water and jumps to step S3;

[0109] S3. The gyroscope 59 obtains the spatial data of the current pool cleaner and transmits it to the control system 6. The control system 6 continuously monitors the spatial data of the pool cleaner. When the spatial data of the pool cleaner no longer changes, it is determined that the pool cleaner has reached the bottom of the pool and is in a stable posture. At this time, the current spatial data is saved as stable posture data and transmitted to the control system 6, and then it jumps to step S4;

[0110] S4, the control system 6 sets the basic rotation speed V, and sets the basic direction F through the gyroscope 59, and then the control system 6 controls the left drive motor 60 and the right drive motor 62 to start;

[0111] S5, the left drive motor 60 and the right drive motor 62 respectively drive the left wheel 61 and the right wheel 63 to rotate synchronously until the speed of the left wheel 61 and the right wheel 63 reaches the basic speed V and remains unchanged;

[0112] S6, the control system 6 obtains the current spatial data in real time through the gyroscope 59 and compares it with the stored stable posture data to determine whether the swimming pool suction machine has deviated from the basic direction F. If it has deviated from the basic direction F, the control system 6 speeds up the wheel with a relatively slow rotation speed and slows down the wheel with a relatively fast rotation speed, so that the swimming pool suction machine returns to the basic direction F;

[0113] S7, if the rotation speed of the left wheel 61 and the right wheel 63 does not reach the basic rotation speed V at this time, the control system 6 synchronously adjusts the left wheel 61 and the right wheel 63 to reach the basic rotation speed V;

[0114] S8, if a collision occurs, the control system 6 randomly selects a left or right deviation of 15 to 60 degrees and controls the swimming pool suction machine to turn, and then the control system 6 resets the opposite direction of the current direction as the basic direction F, and re-saves the current spatial data as stable posture data;

[0115] S9, the control system 6 controls the left drive motor 60 and the right drive motor 62 to reverse, so that the swimming pool suction machine moves in the basic direction F reset in step S8 and the rotation speed of the left wheel 61 and the right wheel 63 reaches the basic rotation speed V;

[0116] S10, the control system 6 obtains the power of the battery assembly 7, and when the power of the battery assembly 7 is 15% of the total power, jumps to step S12;

[0117] S11, repeat steps S6-S10;

[0118] S12, the control system 6 turns off the water pump assembly 4. When the swimming pool suction machine collides with the boundary, the control system 6 turns off the left drive motor 60 and the right drive motor 62, and controls the swimming pool suction machine to turn off.

[0119] At this time, the user can pull up the entire swimming pool vacuum cleaner through the floating member 56 and the pull rope 57, and charge the swimming pool vacuum cleaner through the charging device 2.

[0120] Example 2

[0121] The distance between the center of the universal wheel 26 and the center plane of the sealing box 8 is 200 mm.

[0122] The cross-sectional area ratio of the sewage suction port 19 to the gas-liquid flow hole 18 is 1.8:1.

[0123] The depth H of the inner ring water distribution chamber 16 is 120 mm, and the cross-sectional area of the inner ring water distribution chamber 16 is 60000 mm 2 , and the cross-sectional area of the sewage suction port 19 is 6000 mm 2 .

[0124] The distance ratio from the rotating shaft hole 54 to one end of the rotating rod 52 to the distance from the rotating shaft hole 54 to the other end of the rotating rod 52 is 1:3.

[0125] In the step S10, when the power of the battery assembly 7 is 30% of the total power, it jumps to step S12; other embodiments are the same as those of Embodiment 1.

[0126] Embodiment 3

[0127] The distance between the center of the universal wheel 26 and the central plane of the sealing box 8 is 160 mm.

[0128] The cross-sectional area ratio of the sewage suction port 19 to the gas-liquid flow hole 18 is 1.5:1.

[0129] The depth H of the inner ring water distribution chamber 16 is 70 mm, and the cross-sectional area of the inner ring water distribution chamber 16 is 40000 mm 2 , and the cross-sectional area of the sewage suction port 19 is 4000 mm 2 .

[0130] The distance ratio from the rotating shaft hole 54 to one end of the rotating rod 52 to the distance from the rotating shaft hole 54 to the other end of the rotating rod 52 is 1:2.5.

[0131] In the step S10, when the power of the battery assembly 7 is 22% of the total power, it jumps to step S12;

[0132] Other embodiments are the same as those of Embodiment 1.

[0133] In summary, the above are only the preferred embodiments of the present invention, and all equal changes and modifications made within the scope of the patent application of the present invention shall fall within the scope covered by the present invention.

Claims

1. A pool cleaner, comprising a machine base (1), a control system (6), a battery assembly (7), a drive wheel assembly (3), a sealed box (8), a water pump assembly (4), a collection box (10), a top cover assembly (5), a brush assembly (9), and a charging device (2). The control system (6) is located inside the sealed box (8). The charging device (2) is arranged on the machine base (1) and is electrically connected to the control system (6) inside the sealed box (8). The battery assembly (7) is arranged inside the sealed box (8) and is electrically connected to the control system (6). The brush assembly (9) is arranged at the bottom of the machine base (1). The X-axis, Y-axis, and Z-axis are respectively arranged along the length direction, width direction, and height direction at the center of the pool cleaner. It is characterized in that: It further includes a collision plate assembly (11), a collision return assembly (12), a rotating rod assembly (13), a magnetic induction element (14), and a Hall plate (15). The sealed box (8) is arranged in the middle of the bottom of the machine base (1). The drive wheel assembly (3) and the water pump assembly (4) are respectively connected to the sealed box (8) and are electrically connected to the control system (6). The inside of the machine base (1) is divided into an inner ring water distribution chamber (16) and an outer ring water distribution chamber (17) by the collection box (10). Gas-liquid circulation holes (18) are further arranged at the front and rear ends of the bottom of the machine base (1). The gas-liquid circulation holes (18) are communicated with the outer ring water distribution chamber (17). A dirt suction port (19) communicated with the inner ring water distribution chamber (16) is arranged at the bottom of the collection box (10). A dirt inlet (20) corresponding to the dirt suction port (19) is further arranged at the bottom of the machine base (1). The inner ring water distribution chamber (16) is annular. An annular docking seat (21) penetrating up and down is arranged in the middle of the collection box (10) and is sleeved on the water pump assembly (4). A filter screen (22) is arranged on the side wall of the annular docking seat (21). An opening (23) is arranged at the top of the collection box (10). The top cover assembly (5) is rotatably connected to the machine base (1) and covers the opening (23) at the top of the collection box (10). The collision plate assembly (11) is arranged at the edge of the machine base (1) and extends into the machine base (1). The collision return assembly (12) is arranged inside the machine base (1) and provides a restoring force for the collision plate assembly (11). The rotating rod assembly (13) is rotatably connected inside the machine base (1). One end of the rotating rod assembly (13) is connected to the collision plate assembly (11). The magnetic induction element (14) is arranged at the other end of the rotating rod assembly (13). The Hall plate (15) is arranged inside the sealed box (8) and cooperates with the magnetic induction element (14). The Hall plate (15) is electrically connected to the control system (6).

2. A pool cleaner according to claim 1, It is characterized in that: A flow guiding bin (24) is further arranged on the machine base (1) at the gas-liquid circulation hole (18). The flow guiding bin (24) is a cover body with an opening facing downward, and its projection in the height direction of the pool suction cleaner is located on the X axis. The gas-liquid circulation holes (18) are arranged in an annular array on the flow guiding bin (24).

3. A pool suction cleaner according to claim 1, characterized in that: A counterweight block (25) is further arranged in the sealing box (8), and the counterweight blocks (25) are symmetrically arranged front and back with the Y axis as the center line.

4. A pool suction cleaner according to claim 1, characterized in that: It further includes universal wheels (26). The number of the universal wheels (26) is 2, and they are respectively connected to the front and rear ends of the bottom of the machine base (1). The projection of the universal wheels (26) in the height direction of the pool suction cleaner is located on the X axis. The number of the drive wheel assemblies (3) is 2, and they are respectively connected to the middle parts of the left and right side surfaces of the sealing box (8). The projection of the drive wheel assemblies (3) in the height direction of the pool suction cleaner is located on the Y axis.

5. A pool suction cleaner according to claim 4, characterized in that: The distance between the center of the universal wheel (26) and the central plane of the sealing box (8) is 120 mm - 200 mm.

6. A pool suction cleaner according to claim 1, characterized in that: The sealing box (8) is located at the intersection of the X axis, the Y axis, and the Z axis. The collection box (10) is symmetrically arranged with the X axis and the Y axis as the center lines.

7. A pool suction cleaner according to claim 1, characterized in that: The ratio of the cross-sectional area of the suction port (19) to the cross-sectional area of the gas-liquid circulation hole (18) is 1.2:1 to 1.8:

1.

8. A pool suction cleaner according to claim 1, characterized in that: A shielding structure is further arranged in the collection box (10) near the suction port (19). The shielding structure includes a shielding connection seat (27), a fastener (28), and a flexible baffle (29). The shielding connection seat (27) is arranged on the inner wall of the collection box (10). One end of the flexible baffle (29) is connected to the shielding connection seat (27) through the fastener (28), and the other end of the flexible baffle (29) covers the suction port (19).

9. A pool suction cleaner according to claim 1, characterized in that: The top cover assembly (5) includes a left rotating cover (30) and a right rotating cover (31). The left rotating cover (30) and the right rotating cover (31) are respectively rotatably connected to the machine base (1). A left notch (32) is arranged on the left rotating cover (30), and a right notch (33) is arranged on the right rotating cover (31). The left notch (32) and the right notch (33) enclose a socket (34) and are placed on the edge of the water pump assembly (4).

10. A pool suction cleaner according to claim 1, characterized in that: The depth H of the inner ring water distribution sump (16) is 20 mm to 120 mm, and the cross-sectional area of the inner ring water distribution sump (16) is 20000 mm 2 to 60000 mm 2 , and the cross-sectional area of the sewage suction port (19) is 2000 mm 2 to 6000 mm 2 .

11. A pool suction cleaner according to claim 1, characterized in that: Both ends of the base (1) are further provided with rotating connection seats (35). Both ends of the brush assembly (9) are provided with rotating shafts (36). The brush assembly (9) is rotatably connected to the base (1) through the rotating shafts (36) and the rotating connection seats (35).

12. A pool dirt suction machine according to claim 11, wherein: A limiting groove (37) is further provided on the bottom of the base (1). The brush assembly (9) is located in the middle of the limiting groove (37). The maximum rotation angle α of the brush assembly (9) is 90°.

13. A pool dirt suction machine according to claim 11, wherein: The brush assembly (9) is located in the middle of the bottom of the base (1).

14. A pool dirt suction machine according to claim 1, wherein: Magnets (38) are further provided on the bottom of the base (1). The magnets (38) are respectively located on both sides of the brush assembly (9).

15. A pool dirt suction machine according to claim 1, wherein: The collision plate assembly (11) includes a bumper (39) and a driving bracket (40). The collision return assembly (12) includes a guide shaft (41) and a guide shaft return spring (42). The bumper (39) is located at the edge of the base (1) and is slidably connected to the base (1). One end of the driving bracket (40) abuts against the bumper (39), and the other end of the driving bracket (40) abuts against the rotating rod assembly (13). One end of the guide shaft (41) is connected to the bumper (39), and the other end of the guide shaft (41) is slidably connected inside the base (1). The guide shaft return spring (42) is sleeved on the guide shaft (41) and provides a restoring force for the bumper (39).

16. A pool dirt suction machine according to claim 15, wherein: It further includes a bracket pulley (43), a bracket pressing plate (44), and a pressing plate fixing member (45). A bracket slide rail (46) is provided inside the base (1). The driving bracket (40) is slidably connected to the bracket slide rail (46) through the bracket pulley (43). The bracket pressing plate (44) is connected inside the base (1) through the pressing plate fixing member (45). The bracket pressing plate (44) is located above the driving bracket (40) and limits the height direction of the driving bracket (40).

17. A pool dirt suction machine according to claim 15, wherein: It further includes a roller (47) and a roller shaft (48). A roller slideway (49) is provided inside the base (1). A shaft connection seat (50) is provided on the bumper (39) and extends into the base (1). The roller (47) is sleeved in the middle of the roller shaft (48) and is located on the roller slideway (49) inside the base (1). The end of the roller shaft (48) is connected to the shaft connection seat (50) on the bumper (39).

18. A pool dirt suction machine according to claim 1, wherein: The rotating rod assembly (13) includes a rotating connection seat (51), a rotating rod (52), and a rotating shaft (53). The rotating connection seat (51) is arranged inside the machine base (1). A rotating shaft hole (54) is provided on the rotating rod (52). The rotating shaft (53) passes through the rotating shaft hole (54) on the rotating rod (52) and is connected to the rotating connection seat (51). One end of the rotating rod (52) is connected to the collision plate assembly (11), and the magnetic induction part (14) is arranged at the other end of the rotating rod (52). The ratio of the distance from the rotating shaft hole (54) to one end of the rotating rod (52) to the distance from the rotating shaft hole (54) to the other end of the rotating rod (52) is 1:2 to 1:

3.

19. A pool dirt suction machine according to claim 18, characterized in that: The collision return assembly (12) further includes a rotating rod return spring (55). One end of the rotating rod return spring (55) is connected to the other end of the rotating rod (52), and the other end of the rotating rod return spring (55) is connected to the machine base (1).

20. A pool dirt suction machine according to claim 1, characterized in that: It further includes a floating member (56) and a pulling rope (57). One end of the pulling rope (57) is connected to the machine base (1), and the other end of the pulling rope (57) is connected to the floating member (56).

21. A control method of a pool dirt suction machine according to claim 1, characterized in that: The control system (6) further includes a current sampling module (58) and a gyroscope (59). The drive wheel assembly (3) includes a left drive motor (60), a left wheel (61), a right drive motor (62), and a right wheel (63). The control method includes the following steps: S1. When the pool dirt suction machine is powered on, the control system (6) controls the water pump assembly (4) to start working. The current sampling module (58) obtains the working current of the water pump assembly (4) and transmits it to the control system (6); S2. The control system (6) continuously monitors the working current of the water pump assembly (4). When the change in the working current of the water pump assembly (4) exceeds 5A, it is determined that the pool dirt suction machine has entered the water and jumps to step S3; S3. The gyroscope (59) obtains the spatial data of the current pool dirt suction machine and transmits it to the control system (6). The control system (6) continuously monitors the spatial data of the pool dirt suction machine. When the spatial data of the pool dirt suction machine no longer changes, it is determined that the pool dirt suction machine has reached the bottom of the pool and is in a stable posture. At this time, the current spatial data is saved as stable posture data and transmitted to the control system (6), and then it jumps to step S4; S4. The control system (6) sets a basic rotation speed V and sets a basic direction F through the gyroscope (59). Then the control system (6) controls the left drive motor (60) and the right drive motor (62) to start; S5. The left drive motor (60) and the right drive motor (62) respectively drive the left wheel (61) and the right wheel (63) to rotate synchronously until the rotation speeds of the left wheel (61) and the right wheel (63) reach the basic rotation speed V and remain unchanged; S6, the control system (6) obtains the current spatial data in real time through the gyroscope (59) and compares it with the stored stable posture data to determine whether the swimming pool suction machine has deviated from the basic direction F. If it has deviated from the basic direction F, the control system (6) speeds up the wheel with a relatively slow rotation speed and slows down the wheel with a relatively fast rotation speed, so that the swimming pool suction machine returns to the basic direction F; S7, if the rotation speed of the left wheel (61) and the right wheel (63) has not reached the basic rotation speed V, the control system (6) synchronously adjusts the left wheel (61) and the right wheel (63) to reach the basic rotation speed V; S8, if a collision occurs, the control system (6) randomly selects a left deviation or a right deviation of 15 to 60 degrees and controls the swimming pool suction machine to turn, and then the control system (6) resets the opposite direction of the current direction as the basic direction F, and re-saves the current spatial data as stable posture data; S9, the control system (6) controls the left drive motor (60) and the right drive motor (62) to reverse, so that the swimming pool suction machine moves in the basic direction F reset in step S8 and the rotation speed of the left wheel (61) and the right wheel (63) reaches the basic rotation speed V; S10, the control system (6) obtains the power of the battery assembly (7), and when the power of the battery assembly (7) is 15-30% of the total power, jumps to step S12; S11, repeat steps S6-S10; S12, the control system (6) turns off the water pump assembly (4), and when the swimming pool sewage suction machine collides with the boundary, the control system (6) turns off the left drive motor (60) and the right drive motor (62), and controls the swimming pool sewage suction machine to turn off.

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