A water jet propulsion type pool robot and its control method

Abstract

The present invention relates to the technical field of pool cleaning equipment, and particularly relates to a water jet propulsion type pool robot and its control method. The pool robot includes a main body, and further includes a driving component and a detecting component arranged on the main body; the driving component includes a first component and a second component for driving the main body to move; the detecting component includes a gyroscope arranged on the main body, and the gyroscope is located between the first component and the second component; the moving component includes a front wheel group and a rear wheel group rotatably connected to the base. The front wheel group includes two front wheel members rotatably connected to the base, and the rear wheel group includes two rear wheel members rotatably connected to the base. The front wheel members are generally in the shape of gears. By using a gyroscope to replace an external detecting device, the waterproof airtightness of the pool robot is ensured. At the same time, the gyroscope can also detect the angle difference formed by the front wheel group and the rear wheel group to judge whether the pool robot touches the wall, taking into account the detection accuracy while ensuring the airtightness of the pool robot.

Description

Technical Field

[0001] The present invention relates to the technical field of pool cleaning equipment, and particularly relates to a water jet propulsion type pool robot and a control method thereof. Background Art

[0002] A swimming pool is a place where people carry out swimming activities. After a period of use, garbage and sundries will appear in the pool. If these garbage and sundries are not cleaned, it will cause a large number of bacteria to breed and pollute the water quality. Therefore, it is necessary to regularly clean the pool.

[0003] Pool cleaning robots can perform pool cleaning work. Pool robots are generally divided into surface and underwater robots. Their main working principle is to carry a cleaning mechanism to move in the pool, so as to clean garbage and sundries.

[0004] During the movement of the pool robot, it is necessary to detect the movement process of the pool robot. At this time, it is necessary to externally connect sensors or mechanical detection components and other devices to the pool robot to sense whether the robot encounters an obstacle during movement, so as to adjust the movement of the robot. However, externally connecting these devices requires a large number of external wiring harnesses at the same time, which is not conducive to the waterproof sealing of the pool robot. Summary of the Invention

[0005] Therefore, in order to improve the problem of insufficient waterproofness caused by external wiring harnesses when detecting the movement of the pool cleaning robot in the related art, the present invention provides a water jet propulsion type pool robot and a control method thereof.

[0006] In a first aspect, the present invention provides a water jet propulsion type pool robot, which includes a body. The body includes a base having a cavity, a filtering component disposed in the cavity of the base, and a moving component disposed on the base. A sewage suction port is provided below the base, and a driving component and a detecting component are further provided on the body;

[0007] The driving component includes a first component and a second component for driving the body to move, and the body moves under the drive of the first component or the second component;

[0008] The detecting component includes a gyroscope disposed on the body, and the gyroscope is located between the first component and the second component;

[0009] The moving component includes a front wheel set and a rear wheel set rotatably connected to the base. The front wheel set includes two front wheel members rotatably connected to the base, the rear wheel set includes two rear wheel members rotatably connected to the base, and the front wheel members are generally in the shape of gears.

[0010] Further, the outer diameter of the front wheel member is not equal to the outer diameter of the rear wheel member. The front wheel member jacks up the base, and the upper plane of the base forms a undulating angle α with the horizontal plane, and the undulating angle α is 1° to 10°.

[0011] Further, the undulating angle α is 2°.

[0012] Further, it further includes a housing component disposed on the body. The housing component includes a housing member disposed on the body. The housing member is disposed outside the driving component and the detecting component in a covering manner. Both sides in the length direction of the housing member are provided with a first nozzle and a second nozzle.

[0013] Further, a first cover plate for closing the first nozzle and a second cover plate for closing the second nozzle are respectively disposed on both sides in the length direction of the housing member. The first cover plate is rotatably connected to the housing member, and the second cover plate is rotatably connected to the housing member.

[0014] Further, the first assembly includes a first axial flow pump disposed on the body. The first axial flow pump has a water inlet and a water outlet. The water inlet of the first axial flow pump communicates with the cavity of the base, and the water outlet of the first axial flow pump faces the first nozzle of the housing member.

[0015] Further, the first assembly further includes a first flow guiding vane rotatably connected to the first nozzle, and the second assembly further includes a second flow guiding vane rotatably connected to the second nozzle.

[0016] Further, the second assembly is located on the side of the housing member far from the first assembly. The second assembly includes a second axial flow pump disposed in the cabin. The second axial flow pump has a water inlet and a water outlet. The water inlet of the second axial flow pump communicates with the cavity of the base, and the water outlet of the second axial flow pump faces the second nozzle of the housing member.

[0017] Further, the filtering assembly includes a filter screen. The filter screen is horizontally disposed in the middle of the cavity of the base and is fixedly connected to the inner wall of the base. The filter screen divides the cavity of the base into an upper chamber and a lower chamber.

[0018] In a second aspect, the present invention provides a control method for a water jet propulsion type pool robot, including the following steps:

[0019] S1: When the pool robot is moving, continuously detect the undulating angular velocity a of the pool robot by using a gyroscope;

[0020] S2: Compare the absolute value of the undulating angular velocity a with a preset value in real time;

[0021] S3: If the absolute value of the undulating angular velocity a is greater than the preset value, it is determined that the pool robot is moving forward, and no action is taken, and the pool robot continues to move forward; if the absolute value of a is less than or equal to the preset value and lasts for more than a predetermined time, it is determined that the pool robot has touched the wall, and the pool robot is stopped from moving forward.

[0022] Compared with the prior art, the technical solution of the present invention has the following advantages:

[0023] 1. A water jet propulsion type pool robot of the present invention enhances the obstacle crossing ability of the pool robot by providing front wheel sets and rear wheel sets with different outer diameters. At the same time, a gyroscope is also provided between the first component and the second component. By using the gyroscope to replace the external detection device, the waterproof airtightness of the pool robot is ensured, and the problem of insufficient waterproofness caused by the need for external wiring harnesses in the detection of the movement of pool cleaning robots in the related art is improved.

[0024] 2. The pool robot of the present invention forms a water flow channel as the propulsion driving component of the pool robot by providing a first nozzle and a second nozzle at the housing of the top mechanism and a sewage suction port below the base, and cooperating with the first axial flow pump and the second axial flow pump with the nozzles and the sewage suction port. The first axial flow pump and the second axial flow pump can not only adsorb and clean the garbage and sundries in the pool, but also propel the pool robot. The structure of the pool robot is compact, which is convenient for manufacturing and reducing production costs;

[0025] 3. The pool robot of the present invention is provided with a first flow guiding vane and a second flow guiding vane at the first nozzle and the second nozzle. When the pool robot is moving, the pool robot can be controlled to change direction by controlling the rotation of the first flow guiding vane or the second flow guiding vane. The commutation operation is simple, which increases the controllability of the pool robot.

[0026] 4. The present invention can also detect the angle difference formed by the front wheel set and the rear wheel set through the gyroscope to determine whether the pool robot touches the wall. The gyroscope is used to replace the external detection device to detect the angle difference formed by the front wheel set and the rear wheel set to determine whether the pool robot touches the wall, so as to facilitate the next control of the pool robot, and at the same time ensure the airtightness of the pool robot and take into account the detection accuracy. Description of the Drawings

[0027] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following will briefly introduce the drawings required for the description of the specific embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0028] Figure 1 This is a schematic structural diagram of a water jet propulsion type pool robot of the present application;

[0029] Figure 2 This is a rear view of the water jet propulsion type pool robot of the present application;

[0030] Figure 3 This is a working schematic diagram of the detection component in the water jet propulsion type pool robot of the present application.

[0031] Explanation of reference numerals:

[0032] 1, body; 11, base; 111, dirt suction port; 112, bottom cover plate; 12, filtering component; 121, filter screen; 13, moving component; 131, front wheel set; 132, rear wheel set; 2, driving component; 21, first component; 211, first axial flow pump; 212, first guide vane; 22, second component; 221, second axial flow pump; 23, sealed cabin; 3, detection component; 31, gyroscope; 4, housing component; 41, housing part; 411, first nozzle; 412, second nozzle; 42, first cover plate; 43, second cover plate. Detailed implementation manners

[0033] Next, the technical solutions of the present invention will be clearly and completely described in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all of the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0034] In addition, the technical features involved in different implementation manners of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0035] Embodiment 1:

[0036] Referring to Figure 1 and Figure 2 , in a first aspect, the present invention provides a water jet propulsion type pool robot, including a body 1, a driving component 2, a detection component 3 and a housing component 4 arranged on the body 1. The driving component 2 is located above the body 1. On the one hand, the driving component 2 is used to propel and move the pool robot, and on the other hand, it is used to generate an adsorption force to adsorb garbage and sundries into the body 1.

[0037] Specifically, the body 1 is used to support the driving component 2. The body 1 includes a base 11 with a cavity, a filtering component 12 disposed in the cavity of the base 11, and a moving component 13 disposed on the base 11. The base 11 is a housing, and the cavity inside the base 11 is used to cooperate with the driving component 2. A sewage suction port 111 is provided below the base 11, and the sewage suction port 111 communicates with the swimming pool and the cavity of the base 11. The garbage and sundries adsorbed by the driving component 2 will be blocked by the filtering component 12 and thus collected in the cavity of the base 11.

[0038] In order to block the garbage and sundries, the filtering component 12 in this embodiment includes a filter screen 121. The filter screen 121 has a number of meshes. The filter screen 121 is horizontally disposed in the middle of the cavity of the base 11. The filter screen 121 is fixedly connected to the inner wall of the base 11, thereby dividing the cavity of the base 11 into an upper chamber and a lower chamber. The sewage suction port 111 is located in the lower chamber. When the driving component 2 adsorbs, the garbage and sundries as well as the water flow will be sucked from the sewage suction port 111 into the lower chamber and move upward to the upper chamber. Since the filter screen 121 will block the garbage and sundries, the garbage and sundries will be blocked and thus collected in the lower chamber for subsequent processing. At the same time, a bottom cover plate 112 is rotatably connected to the sewage suction port 111, and the bottom cover plate 112 is used to control the closing of the sewage suction port 111.

[0039] The moving component 13 is used to cooperate with the driving component 2 for movement. Specifically, the moving component 13 includes a front wheel group 131 and a rear wheel group 132 that are rotatably connected to the base 11. The front wheel group 131 and the rear wheel group 132 are respectively located on both sides of the length direction of the base 11. The front wheel group 131 includes two front wheel members rotatably connected to the base 11, and the rear wheel group 132 includes two rear wheel members rotatably connected to the base 11. In addition, in order to increase the ability of the pool robot to cross obstacles, the outer diameters of the front wheel members of the moving component 13 and the outer diameters of the rear wheel members are not equal. In this embodiment, the outer diameter of the front wheel members is larger than the outer diameter of the rear wheel members. In actual applications, the outer diameter of the front wheel members can also be smaller than that of the rear wheel members.

[0040] The purpose of setting the outer shell component 4 is to protect the driving component 2 and the detection component 3. Specifically, the outer shell component 4 is located outside the driving component 2 and the detection component 3. The outer shell component 4 includes a shell member 41 that is snap-fitted to the base 11. The shell member 41 can be specifically installed on the base 11 by means of threaded connection. A first nozzle 411 and a second nozzle 412 for cooperating with the driving component 2 are respectively opened on both sides of the length direction of the shell member 41. At the same time, a first cover plate 42 for closing the first nozzle 411 and a second cover plate 43 for closing the second nozzle 412 are respectively provided on both sides of the length direction of the shell member 41. The first cover plate 42 is rotatably connected to the shell member 41, and the rotation axis of the first cover plate 42 is horizontally disposed. The second cover plate 43 is rotatably connected to the shell member 41, and the rotation axis of the second cover plate 43 is horizontally disposed.

[0041] The driving component 2 includes a first component 21, a second component 22 and a sealed cabin 23 disposed within the housing member 41. Specifically, the sealed cabin 23 is installed inside the housing member 41, and the purpose of setting the sealed cabin 23 is to increase the waterproof and sealing performance of the first component 21 and the second component 22. The first component 21 includes a first axial flow pump 211 disposed within the sealed cabin 23. The first axial flow pump 211 has a water inlet and a water outlet. The water inlet of the first axial flow pump 211 communicates with the cavity of the base 11, and the water outlet of the first axial flow pump 211 faces the first nozzle 411 of the housing member 41. When the first axial flow pump 211 operates, the first axial flow pump 211 adsorbs the water and debris in the swimming pool from the dirt suction port 111 into the cavity of the base 11. Since the debris is blocked by the filter screen 121, only the water flow is sucked by the first axial flow pump 211 and then discharged from the water outlet. During this process, the water flow discharged by the first axial flow pump 211 will form a thrust, thereby pushing the pool robot to move. That is, by utilizing the advantage of the large flow rate of the first axial flow pump 211, the first axial flow pump 211 can not only play the role of adsorbing debris, but also play the role of propulsion.

[0042] During the movement of the pool robot, it needs to turn. For this purpose, the first component 21 further includes a first deflector 212. The first deflector 212 is rotatably connected to the first nozzle 411, and the rotation axis of the first deflector 212 is vertically arranged. During the propulsion process of the first axial flow pump 211, only by driving the first deflector 212 to swing can the turning of the pool robot be controlled.

[0043] The purpose of setting the second component 22 is to enable the pool robot to move in another direction. The structure and working principle of the second component 22 are similar to those of the first component 21. Specifically, the second component 22 is located on the side of the sealed cabin 23 away from the first component 21. The second component 22 includes a second axial flow pump 221 and a second deflector disposed within the sealed cabin 23. The second axial flow pump 221 has a water inlet and a water outlet. The water inlet of the second axial flow pump 221 communicates with the cavity of the base 11, and the water outlet of the second axial flow pump 221 faces the second nozzle 412 of the housing member 41. The second deflector is rotatably connected to the second nozzle 412. During the propulsion process of the second axial flow pump 221, only by driving the second deflector to swing can the turning of the pool robot be controlled.

[0044] Refer to Figure 1 and Figure 3, In addition, the driving component 2 further includes a detection component 3. The detection component 3 includes a gyroscope 31 disposed in the sealed cabin 23. The gyroscope 31 is located between the first component 21 and the second component 22, and the gyroscope 31 is used to detect the motion state of the pool robot. Since the axial flow pump is used in the present invention, the first axial flow pump 211 and the second axial flow pump 221 need to be arranged horizontally during installation, and it is impossible to use the rotational torque of the motor combined with the gyroscope 31 to determine whether the pool robot encounters an obstacle like a centrifugal pump. To solve the problem of obstacle detection, the front wheel part of the present invention is in a gear shape to lift the base 11. The upper plane of the base 11 forms a undulating angle α with the horizontal plane, and the undulating angle α is 1° to 10°. Within this angle range, it will neither make the pool robot too bumpy during operation nor be inaccurate due to the undulating angle α being too small. In this embodiment, the undulating angle α is 2°. When the undulating angle α is 2°, the judgment result accuracy of the gyroscope 31 of the pool robot is the highest.

[0045] The working principle of a water jet propulsion type pool robot of the present invention is as follows: When the pool robot operates, the first axial flow pump 211 operates, adsorbing garbage and debris in the pool while propelling the pool robot, and at the same time, the first deflector 212 swings to control the moving direction of the pool robot. When a direction change is required, the first axial flow pump 211 and the first deflector 212 stop operating, and the second axial flow pump 221 and the second deflector start operating.

[0046] Embodiment 2:

[0047] On the other hand, the present invention provides a control method for a water jet propulsion type pool robot, including the following steps:

[0048] S1: When the pool robot is moving forward, use the gyroscope 31 to continuously detect the undulating angular velocity a of the pool robot;

[0049] Specifically, since the front wheel part will lift the base 11 to form an undulating angle α, during the forward movement of the pool robot, due to the rotation of the gear-shaped front wheel part, the undulating angle α will continuously change, thereby forming an undulating angular velocity a, which is continuously detected and collected by the gyroscope 31.

[0050] S2: Compare the absolute value of the undulating angular velocity a with a preset value in real time;

[0051] Specifically, a fixed value of the angular velocity a is preset in the pool robot, and this fixed value is the preset value of the angular velocity a. The gyroscope 31 continuously calculates and converts the detected undulating angle α into an undulating angular velocity a during the forward movement of the pool robot, and then compares the absolute value of the undulating angular velocity a with the preset value.

[0052] S3: If the absolute value of the undulating angular velocity a is greater than the preset value, it is determined that the pool robot is moving forward, and no action is taken. The pool robot continues to move forward. If the absolute value of a is less than or equal to the preset value and lasts for more than the predetermined time, it is determined that the pool robot has touched the wall, and the pool robot is stopped from continuing to move forward.

[0053] Specifically, a duration t is preset in the pool robot, and t is the predetermined time. When the pool robot is moving forward, since the undulating angle α will constantly change, if the absolute value of the undulating angular velocity a is greater than the preset value of the angular velocity a at this time, it can be determined that the pool robot is moving forward normally at this time.

[0054] When the pool robot touches the wall, the change in the undulating angle α will be very small or even unchanged. The absolute value of the undulating angular velocity a is less than or equal to the preset value and lasts for more than the predetermined time t, then it can be determined that the pool robot touches the wall or encounters an obstacle at this time. At this time, the pool robot needs to be stopped and the pool robot is driven to turn.

[0055] Obviously, the above embodiments are only examples for clear illustration and not limitations on the implementation manners. For those of ordinary skill in the art, other different forms of changes or variations can be made based on the above description. It is not necessary and impossible to list all the implementation manners here. And the obvious changes or variations derived therefrom are still within the protection scope of the present invention.

Claims

1. A water jet propulsion pool robot, comprising a main body (1), the main body (1) includes a base (11) with a cavity, a filtering component (12) disposed in the cavity of the base (11), and a moving component (13) disposed on the base (11). A dirt suction port (111) is provided below the base (11), and it is characterized in that, It further includes a driving component (2) and a detecting component (3) disposed on the body (1); The driving component (2) includes a first component (21) and a second component (22) for driving the body (1) to move, and the body (1) moves under the drive of the first component (21) or the second component (22); The detecting component (3) includes a gyroscope (31) disposed on the body (1), and the gyroscope (31) is located between the first component (21) and the second component (22); The moving component (13) includes a front wheel set (131) and a rear wheel set (132) rotatably connected to the base (11). The front wheel set (131) includes two front wheel members rotatably connected to the base (11), and the rear wheel set (132) includes two rear wheel members rotatably connected to the base (11). The front wheel members are in the shape of gears; The outer diameter of the front wheel member is not equal to the outer diameter of the rear wheel member. The front wheel member jacks up the base (11), and the upper plane of the base (11) forms a undulating angle α with the horizontal plane.

2. The water jet propulsion type pool robot according to claim 1, wherein, The undulating angle α is 1° - 10°; 3. The water jet propulsion type pool robot according to claim 2, wherein The undulating angle α is 2°; 4. A water jet propulsion type pool robot according to any one of claims 1 to 3, characterized in that, It further includes a housing component (4) disposed on the body (1). The housing component (4) includes a housing member (41) disposed on the body (1). The housing member (41) covers the outside of the driving component (2) and the detecting component (3). Both sides in the length direction of the housing member (41) have a first nozzle (411) and a second nozzle (412).

5. The water jet propulsion type pool robot according to claim 4, characterized in that, Both sides in the length direction of the housing member (41) are respectively provided with a first cover plate (42) for closing the first nozzle (411) and a second cover plate (43) for closing the second nozzle (412). The first cover plate (42) is rotatably connected to the housing member (41), and the second cover plate (43) is rotatably connected to the housing member (41).

6. The water jet propulsion type pool robot according to claim 4, characterized in that, The first component (21) includes a first axial flow pump (211) disposed on the body (1). The first axial flow pump (211) has a water inlet and a water outlet. The water inlet of the first axial flow pump (211) communicates with the cavity of the base (11), and the water outlet of the first axial flow pump (211) faces the first nozzle (411) of the housing member (41).

7. A water jet propulsion type pool robot according to claim 5, characterized in that, The first component (21) further includes a first flow guiding flap (212) rotatably connected to the first nozzle (411). The second component (22) further includes a second flow guiding flap rotatably connected to the second nozzle (412).

8. The water jet propulsion type pool robot according to claim 4, wherein The second component (22) is located on a side of the housing member (41) away from the first component (21). The second component (22) includes a second axial flow pump (221) disposed in the housing member (41). The second axial flow pump (221) has a water inlet and a water outlet. The water inlet of the second axial flow pump (221) communicates with the cavity of the base (11), and the water outlet of the second axial flow pump (221) faces the second nozzle (412) of the housing member (41).

9. The water jet propulsion type pool robot according to claim 1, characterized in that, The filtering component (12) includes a filter screen (121). The filter screen (121) is horizontally disposed in the middle of the cavity of the base (11). The filter screen (121) is fixedly connected to the inner wall of the base (11). The filter screen (121) divides the cavity of the base (11) into an upper chamber and a lower chamber.

10. A control method for a water jet propulsion type pool robot according to any one of claims 1-9, characterized in that, It includes the following steps: S1: When the pool robot is moving, use a gyroscope to continuously detect the pitching angular velocity a of the pool robot; S2: Compare the absolute value of the pitching angular velocity a with a preset value in real time; S3: If the absolute value of the pitching angular velocity a is greater than the preset value, it is determined that the pool robot is moving and no action is taken, and the pool robot continues to move forward; if the absolute value of a is less than or equal to the preset value and lasts for more than a predetermined time, it is determined that the pool robot has touched the wall, and the pool robot is stopped from moving forward.

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