A swimming pool robot with flexible obstacle avoidance and its reversing method

Abstract

The present invention discloses a flexible obstacle-avoiding swimming pool robot and its reversing method. The robot comprises a cleaning body, a control panel, and a driving structure providing driving force. The cleaning body is provided with a roller assembly, and a water-resistance deflector is provided on the cleaning body for rotation. When the cleaning body moves, the water-resistance deflector rotates from a stationary state to a deflected state due to water resistance. A sensor is provided between the water-resistance deflector and the body, and the control panel is electrically connected to the sensor to control the direction of the roller assembly. A reset structure is provided between the water-resistance deflector and the cleaning body, and the reset structure always has a movement tendency to drive the water-resistance deflector back to a stationary state. The robot automatically turns after encountering an obstacle, reduces manual intervention, and achieves high work efficiency.

Description

Technical Field

[0001] The present invention relates to the technical field of swimming pool cleaning machines, and in particular to a swimming pool robot capable of flexibly avoiding obstacles and a reversing method thereof. Background Art

[0002] As people pay more and more attention to health, swimming has been sought after by young people as a very good form of fitness exercise. For this reason, more and more swimming pools have been built. However, due to the large water storage capacity in the swimming pool, the cost of frequent replacement is too high. Therefore, people often use sedimentation to deal with impurities. This method causes impurities to form sediments and accumulate at the bottom of the swimming pool. Subsequently, manual or machine cleaning of the sediment at the bottom of the swimming pool is required. For this reason, swimming pool cleaning robots were created. Traditional swimming pool cleaning robots greatly save labor costs. The debris and sediment where they pass are well cleaned, and the swimming pool cleaning robots can perform continuous operations in the swimming pool.

[0003] An existing Chinese patent, CN 219081148U, discloses a pool cleaning robot. The robot comprises a housing and a water pressure sensing mechanism located in a non-negative pressure zone of the housing. The pressure sensing mechanism includes a sensor located within the housing that senses the water pressure at its location, enabling the robot to intelligently operate based on its position within the water. The robot also includes a map planning module for mapping the pool bottom and planning the robot's movement path during the cleaning process.

[0004] However, the above-mentioned pool cleaning robot has the following disadvantages: before the pool cleaning robot operates, it needs to carry out path planning and design according to the shape and structure of different pools. If it needs to clean pools of other shapes and sizes in the future, it needs to input the corresponding program separately. In addition, when there are large external objects falling from the swimming pool that block the cleaning robot's route or touch an obstacle, the cleaning robot cannot realize autonomous steering, which makes the operation more cumbersome and reduces work efficiency. Summary of the Invention

[0005] The purpose of the present invention is to provide a swimming pool robot with flexible obstacle avoidance and a reversing method thereof, which has the effects of automatically turning after touching an obstacle, reducing manual intervention and having high working efficiency.

[0006] The above technical objectives of the present invention are achieved through the following technical solutions: a flexible obstacle-avoiding swimming pool robot, comprising a cleaning body and a driving structure for providing driving force, wherein the cleaning body is rotatably connected to a volute, the volute is provided with a water spray port, the volute is rotatably provided with a water resistance deflection piece, and a steering control structure is provided between the water resistance deflection piece and the cleaning body. When the driving structure drives the cleaning body forward in the water, the water resistance deflection piece is rotated from a stationary state to a deflected state by the resistance of the water flow, and the water resistance deflection piece controls the volute to maintain its position relative to the cleaning body through the steering control structure; the water resistance deflection piece is provided with a reset structure, and the reset structure always has a movement tendency to drive the water resistance deflection piece to return to a stationary state. When the reset structure drives the water resistance deflection piece to a stationary state, the driving structure drives the volute to rotate to achieve reverse thrust of the cleaning body.

[0007] By adopting the above technical solution, when the present invention is placed in a swimming pool, the driving structure sucks the water flow into the volute and throws it out from the water spray port, driving the cleaning body forward. The water resistance deflection plate is rotated from a static state to a deflected state by the resistance of the water flow when moving forward. When it rotates to a predetermined angle, the steering control structure acts to clamp the water resistance deflection plate and the cleaning body with each other. At this time, the water resistance deflection plate and the volute also remain stationary, thereby keeping the position of the volute relative to the cleaning body stationary. The driving structure drives the water flow to be sprayed out from the water spray port of the volute in the same direction, and the cleaning body keeps moving forward and does not turn. When the cleaning body hits a wall, the water resistance deflection plate is subjected to the resistance of the forward water flow, and the reset structure drives the water resistance deflection plate to rotate to a static state. At this time, the driving structure drives the volute to turn, thereby changing the direction of the water spraying from the water spray port relative to the cleaning body to realize the turning of the cleaning body in the water. It has the effects of automatic steering after touching an obstacle, reducing manual intervention, and high work efficiency.

[0008] The present invention is further configured as follows: the steering control structure includes a latch and a fan-shaped groove, the cleaning body is provided with a connecting portion, the latch is symmetrically provided on both sides of the connecting portion, the water resistance deflection plate is provided with a fan-shaped groove corresponding to the latch, when the water resistance deflection plate is in a deflected state, the fan-shaped groove cooperates with the latch limit stop; when the water resistance deflection plate is in a stationary state, the latch cooperates with the fan-shaped groove in an avoidance manner.

[0009] By adopting the above technical solution, when the cleaning body is in a stationary state, the symmetrically arranged cams limit the rotation angle of the volute, so that the volute can drive the water resistance deflection plate to rotate relative to the cleaning body to achieve a 180° reversal. When the volute rotates 180°, the water spraying direction of the water nozzle is reversed, and the cleaning body is pushed in the reverse direction. At the same time, when the cleaning body moves in the reverse direction, water resistance is generated again, and the water resistance deflection plate is forced to rotate in the reverse direction from a stationary state to a deflected state. When the water resistance deflection plate rotates to the deflected state, the steering control structure acts on the water resistance deflection plate, the volute and the cleaning body to reach a relatively fixed state again, so that the driving structure acts on the water flow to spray out from the water nozzle and push the cleaning body to move straight in the reverse direction.

[0010] The present invention is further configured as follows: the water resistance deflection plate is provided with a rotating connection part, the cleaning body is fixed with a reset column, the reset column is coaxially provided with a rotating shaft, the rotating connection part is rotatably connected to the rotating shaft, and the reset structure is provided between the rotating connection part and the reset column.

[0011] The present invention is further configured as follows: the reset structure is configured as a torsion spring sleeved on the rotating shaft, one end of the torsion spring is fixedly connected to the water resistance deflection plate, and the other end of the torsion spring is fixedly connected to the volute.

[0012] By adopting the above technical solution, when the cleaning body moves in the water, the water resistance deflector is rotated from a stationary state to a deflected state due to the resistance of the water flow. At this time, the torsion spring is compressed to accumulate elastic potential energy. When the cleaning body hits the wall, the water flow resistance disappears, and the torsion spring releases the elastic potential energy to drive the water resistance deflector back to a stationary state.

[0013] The present invention is further configured as follows: the reset structure includes a first reset slope and a second reset slope, the reset column is provided with the first reset slope, the water resistance deflection piece is provided with a second reset slope corresponding to the first reset slope, the first reset slope and the second reset slope are guided and cooperated so that the water resistance deflection piece can be spirally rotated along the rotating shaft, and when the water resistance deflection piece rotates along the rotating shaft from a stationary state, the rotating connection part moves away from the reset column axially along the rotating shaft.

[0014] By adopting the above technical solution, when the cleaning body moves, the water resistance deflection piece rotates from a stationary state to an offset state along the steering axis due to the resistance of the water. During the rotation of the water resistance deflection piece, under the guidance of the first reset slope and the second reset slope, the water resistance deflection pieces on both sides make a spiral upward turning motion relative to the reset column along the rotation axis. When the cleaning body touches an obstacle, the forward water resistance disappears, and the water resistance deflection piece rotates spirally downward along the rotation axis under the action of its own gravity until it returns to a stationary state.

[0015] The present invention is further configured as follows: the reset column is provided with the first reset inclined surface symmetrically with the rotation axis as the center, and the water resistance deflection plate is provided with the second reset inclined surface symmetrically corresponding to the first reset inclined surface.

[0016] By adopting the above technical solution, the symmetrically arranged first reset slope and the second reset slope cooperate with each other, so that the present invention can realize the process of automatic steering when encountering an obstacle during forward or backward movement, and when the water resistance steering piece is in a stationary state relative to the reset column, the first reset slope and the second reset slope fit together up and down, so that the high-position groove of the reset column and the high-position protrusion of the rotating connection part, and the low-position groove of the reset column and the low-position protrusion of the rotating connection part are vertically aligned.

[0017] The present invention is further configured as follows: the water resistance deflector is connected to a pressing device, and the pressing device always has a tendency to drive the water resistance deflector to move toward a stationary state.

[0018] By adopting the above technical solution, the downward pressure device can make up for the insufficient gravity of the water-resistance steering plate alone, so that when the cleaning body stops moving, the water-resistance steering plate can be ensured to be completely restored to a stationary state, thereby realizing the steering control of the roller assembly by the control panel.

[0019] The present invention is further configured as follows: the pressing device is configured as a spring sleeved on the rotating shaft, one end of the spring is against the water resistance deflection plate, and the other end of the spring is against the rotating connection part, and the spring always has a movement tendency to press down the water resistance deflection plate.

[0020] By adopting the above technical solution, when the cleaning body moves in the water, the water flow resistance overcomes the elastic force of the spring and drives the water resistance deflector to rotate spirally upward along the rotating axis. At this time, the spring accumulates elastic potential energy. When the cleaning body hits the wall, the water flow resistance disappears, and the spring releases the elastic potential energy to press down the rotating connection part, causing the water resistance deflector to move downward and reset to a stationary state.

[0021] The present invention is further configured as follows: the driving structure also includes a driving motor and an impeller, the output shaft of the driving motor is coaxially fixed with the impeller, the impeller is placed in the volute, and the driving motor drives the impeller to rotate and drive water to spray out from the water outlet.

[0022] By adopting the above technical solution, the driving motor drives the impeller to rotate in the volute, and relies on centrifugal force to throw water out of the water outlet. When the water resistance deflector is in a stationary state, the volute can achieve the purpose of automatic rotation by relying on the centrifugal force of the water flow.

[0023] Another object of the present invention is to provide a method for reversing a swimming pool robot with flexible obstacle avoidance, comprising the following steps:

[0024] S1: Place the cleaning body into the water bottom;

[0025] S2: Forward movement: The driving structure drives the cleaning body forward in the water. When the cleaning body moves forward, the water resistance deflector blade is subjected to water flow resistance. The water flow resistance drives the water resistance deflector blade, which is in a stationary state, to rotate to a deflected state. During the forward movement of the cleaning body, the steering control structure controls the water resistance deflector blade to maintain its position with the cleaning body, so that the water spray direction of the water nozzle remains consistent.

[0026] S3: Touching an obstacle: When the cleaning body touches an obstacle, the cleaning body stops moving forward, the water flow resistance on the water resistance deflector disappears, and the reset structure drives the water resistance deflector back to the equilibrium position;

[0027] S4: Steering: When the water resistance steering plate is at the equilibrium position, the driving structure drives the volute to rotate 180 degrees relative to the cleaning body;

[0028] S5: Reverse thrust: When the volute rotates 180 degrees relative to the cleaning body, the reversed water nozzle is used to spray water to achieve reverse thrust on the cleaning body. When the cleaning body moves in the reverse direction in the water, it is again subjected to water flow resistance. The water flow resistance causes the water resistance steering piece to rotate to a deflected state. At the same time, the steering control structure controls the volute and the cleaning body to maintain their positioning.

[0029] In summary, the present invention has the following beneficial effects:

[0030] 1. A water-resistance deflection piece is rotatably arranged on the cleaning body, and a steering control structure is arranged between the water-resistance deflection piece and the cleaning body. The water-resistance deflection piece is connected to the reset structure. When the cleaning body moves, the water-resistance deflection piece keeps the volute and the cleaning body relatively fixed through the steering control structure, so that the moving direction of the cleaning body remains consistent; when the cleaning body hits the wall, the braking force of the steering control structure disappears, and the reset structure acts on the water-resistance deflection piece to restore it to a stationary state. At the same time, the driving structure relies on the water flow with centrifugal force thrown out by the volute to push the volute to turn relative to the cleaning body, thereby realizing the reverse thrust of the cleaning body. It has the effects of automatic steering after touching an obstacle, reducing manual intervention, and high work efficiency.

[0031] 2. The clamping protrusions are symmetrically arranged on both sides of the connection part of the cleaning body, and a fan-shaped groove is opened on the side wall of the rotating connection part of the water resistance deflection piece on one side. The fan-shaped groove and the clamping protrusion are used as a stopper. At the same time, when the volute drives the water resistance deflection piece to rotate 180 degrees synchronously, the water flow sprayed from the water nozzle pushes the cleaning body back to make the water resistance deflection piece deflect again. At this time, the clamping protrusion on the other side can be positioned and matched with the water resistance deflection piece, which has the effect of preventing the water resistance deflection piece from excessive rotation and causing abnormal operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 It is the overall structural diagram of the present invention.

[0033] Figure 2 It is an exploded view of the first specific embodiment of the present invention.

[0034] Figure 3 It is a longitudinal sectional view of a first specific embodiment of the present invention.

[0035] Figure 4 It is another longitudinal cross-sectional view of the first specific embodiment of the present invention.

[0036] Figure 5 1 is a structural diagram of a volute and a steering control structure according to a first specific embodiment of the present invention.

[0037] Figure 6 It is a top view of the first specific embodiment of the present invention, in which the water resistance deflector is in a stationary state, and the volute and the protective cover are hidden.

[0038] Figure 7 It is a top view of the first specific embodiment of the present invention, in which the water resistance deflector is in a deflected state, and the volute and the protective cover are hidden.

[0039] Figure 8 It is a structural diagram of the second specific embodiment of the present invention, in which the water resistance deflector is in a stationary state.

[0040] Figure 9 This invention Figure 8 A partial enlarged view of area A in the middle.

[0041] Figure 10 It is an exploded view of the reset structure of the second specific embodiment of the present invention.

[0042] Figure 11 It is an exploded view of the reset structure of the second specific embodiment of the present invention from another perspective.

[0043] In the figure: 1. Cleaning body; 11. Control panel; 12. Roller assembly; 13. Sensor; 14. Upper shell; 141. Connecting part; 1411. Boss; 142. Protective cover; 142a. Water inlet hole; 142b. Drain hole; 15. Lower shell; 15a. Water outlet; 151. Bristles; 16. Handle; 21. Driving motor; 22. Impeller; 23. Volute; 23a. Water outlet; 3. Water resistance deflector; 3a. Rotating connecting part; 3a1. High-position protrusion; 3a2. Low-position protrusion; 31. Magnetic part; 32. Second reset slope; 33. Fan-shaped groove; 4. Reset column; 4a. High-position groove; 4b. Low-position groove; 41. First reset slope; 42. Rotating shaft; 43. Spring; 44. Torsion spring. DETAILED DESCRIPTION

[0044] The present invention will be further described below with reference to the accompanying drawings. Specific embodiment 1

[0046] A swimming pool robot with flexible obstacle avoidance, such as Figure 1-5 As shown, it includes a cleaning body 1, a control panel 11 and a driving structure for providing driving force, the driving structure also includes a driving motor 21 and an impeller 22, the cleaning body 1 includes an upper shell 14 and a lower shell 15, a water extraction port 15a is provided at the bottom of the lower shell 15, and a brush 151 is provided at a position corresponding to the water extraction port 15a at the bottom of the lower shell 15, and two water extraction ports 15a are provided, and the corresponding bristles 151 are also provided in two groups, and the two groups of bristles 151 are relatively far away from the corresponding water extraction ports 15a, so that the present invention can remove impurities from different movement directions whether it moves forward or backward. Cleaning and suction; There is a handle 16 on each side of the upper shell 14. The operator can hold the handle 16 on the corresponding side with both hands to pick up the cleaning body 1 for easy operation. A roller assembly 12 for rolling to achieve movement is also provided at the bottom of the lower shell 15; The output shaft of the driving motor 21 is coaxially fixed with an impeller 22, and the impeller 22 is placed in the volute 23. The driving motor 21 drives the impeller 22 to rotate and drives the water to be sprayed out from the water spray port 23a. The cleaning body 1 is rotatably connected to the volute 23, and the volute 23 is provided with a water spray port 23a. The volute 23 is provided with a water resistance deflection piece 3 when it rotates, and a steering control structure is provided between the water resistance deflection piece 3 and the cleaning body 1. When the driving structure drives the cleaning body 1 to move forward in the water, the water resistance deflection piece 3 is rotated from a static state (equilibrium position) to a deflected state by the water flow resistance, and the water resistance deflection piece 3 controls the volute 23 to maintain its position relative to the cleaning body 1 through the steering control structure; the water resistance deflection piece 3 is provided with a reset structure, and the reset structure always has a movement tendency to drive the water resistance deflection piece 3 to return to a static state, and the driving motor 21 drives the impeller 22 to rotate in the volute 23, relying on the centrifugal force to throw the water flow out of the water nozzle 23a, so that when the water resistance deflection piece 3 is in a static state, the volute 23 can realize automatic rotation by relying on the centrifugal force of the water flow. Purpose, therefore, when the reset structure drives the water resistance deflection piece 3 to be in a stationary state, the driving structure drives the volute 23 to deflect to realize the reverse thrust of the cleaning body 1; the cleaning body 1 is provided with a protective cover 142, and the protective cover 142 is provided with a water inlet hole 142a and a drain hole 142b corresponding to the water resistance deflection piece 3. The protective cover 142 can protect the water resistance deflection piece 3 and effectively prevent the water resistance deflection piece 3 from being accidentally damaged. The water inlet hole 142a can enable the present invention to move forward in the water, and the water flow can enter the protective cover 142 from the water inlet hole 142a and be discharged from the drain hole 142b, thereby achieving the purpose of the water flow driving the water resistance deflection piece 3 to deflect.

[0047] like Figure 5-7As shown, the steering control structure includes a cam 1411 and a fan-shaped groove 33. The cleaning body 1 is provided with a connecting portion 141. The cams 1411 are symmetrically provided on both sides of the connecting portion 141. The water resistance deflection piece 3 is provided with a fan-shaped groove 33 corresponding to the cam 1411. When the water resistance deflection piece 3 is in a deflected state, the fan-shaped groove 33 cooperates with the cam 1411 to limit the stop; when the water resistance deflection piece 3 is in a stationary state, the cam 1411 and the fan-shaped groove 33 avoid and cooperate. When the cleaning body 1 is in a stationary state, the symmetrically arranged cams 1411 limit the rotation angle of the volute 23, so that the volute 23 can drive the water resistance deflection piece 3 to rotate. The deflector plate 3 rotates relative to the cleaning body 1 to achieve 180° reversal. When the volute 23 rotates 180°, the water spraying direction of the water outlet 23a is reversed, and the cleaning body 1 is pushed in the reverse direction. At the same time, when the cleaning body 1 moves in the reverse direction, water resistance is generated, and the water resistance deflector plate 3 is forced to rotate in the reverse direction from a static state to a deflected state. When the water resistance deflector plate 3 rotates to the deflected state, the water resistance deflector plate 3, the volute 23 and the cleaning body 1 are again relatively fixed through the action of the steering control structure, so that the driving structure acts to eject water from the water outlet 23a and push the cleaning body 1 to move straight in the reverse direction.

[0048] like Figure 3-7 As shown, the water resistance deflector 3 is provided with a rotating connection part 3a, the cleaning body 1 is fixed with a reset column 4, the reset column 4 is coaxially provided with a rotating shaft 42, the rotating connection part 3a is rotatably connected to the rotating shaft 42, and the reset structure is provided between the rotating connection part 3a and the reset column 4; the reset structure is provided as a torsion spring 44 sleeved on the rotating shaft 42, one end of the torsion spring 44 is fixedly connected to the water resistance deflector 3, and the other end of the torsion spring 44 is fixedly connected to the volute 23. When the cleaning body 1 moves in the water, the water resistance deflector 3 is rotated from a static state to a deflected state by the water flow resistance. At this time, the torsion spring 44 is compressed to accumulate elastic potential energy. When the cleaning body 1 hits the wall, the water flow resistance disappears, and the torsion spring 44 releases the elastic potential energy to drive the water resistance deflector 3 to return to the static state; the main body is provided with a sensor 13, and a magnetic part 31 is provided in the middle of the water resistance deflector 3. The sensor 13 and the magnetic part 31 are inductively matched. The control board 11 is electrically connected to the sensor 13 to adjust the output power of the drive motor 21.

[0049] It should be noted that during the underwater operation of this device, when the cleaning body 1 hits the wall and is in a stationary state, the fan-shaped groove 33 and the cam 1411 on one side of the connecting part 141 avoid and cooperate. At this time, the driving motor 21 drives the impeller 22 to throw the water flow out from the water outlet 23a of the volute 23. Due to the centrifugal force of the ejected water flow, the water flow impacts the side wall of the opening side of the water outlet 23a, causing the volute 23 to rotate. At the same time, the volute 23 drives the water resistance deflection piece 3 from the position of the cam 1411 on one side of the connecting part 141 to the position of the cam 1411 on the other side. In addition, in the process of the water resistance deflection piece 3 disengaging from the cam 1411 on one side and rotating toward the cam 1411 on the other side, the water resistance deflection piece 3 is slightly deflected by the resistance of the water flow during rotation, causing the fan-shaped groove 33 to turn During the process, the opening of the fan-shaped angle between the groove wall of the fan-shaped groove 33 located at the head end of the rotation direction and the tangential direction of the connecting part 141 becomes larger, and at the same time, the opening of the fan-shaped angle between the groove wall of the fan-shaped groove 33 located at the tail end of the rotation direction and the tangential direction of the connecting part 141 becomes smaller. When the water resistance deflector 3 rotates 180 degrees to the other side of the bulge 1411, the groove wall of the fan-shaped groove 33 located at the tail end of the rotation direction can cooperate with the stopper of the bulge 1411 on the corresponding side to achieve positioning. Thereafter, under the action of the reset structure, the water resistance deflector 3 returns to a stationary state. The setting of the fan-shaped groove 33 can effectively prevent the water flow ejected from the water outlet 23a from having excessive centrifugal force, which causes the water resistance deflector 3 to fail to stop immediately when it rotates to the alignment position of the bulge 1411 on the other side, making the present invention unable to operate normally.

[0050] A method for commutating a swimming pool robot with flexible obstacle avoidance includes the following steps:

[0051] S1: Place the cleaning body into the water bottom;

[0052] S2: Forward movement: The driving structure drives the cleaning body forward in the water. When the cleaning body moves forward, the water resistance deflector blade is subjected to water flow resistance. The water flow resistance drives the water resistance deflector blade, which is in a stationary state, to rotate to a deflected state. During the forward movement of the cleaning body, the steering control structure controls the water resistance deflector blade to maintain its position with the cleaning body, so that the water spray direction of the water nozzle remains consistent.

[0053] S3: Touching an obstacle: When the cleaning body touches an obstacle, the cleaning body stops moving forward, the water flow resistance on the water resistance deflector disappears, and the reset structure drives the water resistance deflector back to the equilibrium position;

[0054] S4: Steering: When the water resistance steering plate is at the equilibrium position, the driving structure drives the volute to rotate 180 degrees relative to the cleaning body;

[0055] S5: Reverse thrust: When the volute rotates 180 degrees relative to the cleaning body, the reversed water nozzle is used to spray water to achieve reverse thrust on the cleaning body. When the cleaning body moves in the reverse direction in the water, it is again subjected to water flow resistance. The water flow resistance causes the water resistance steering piece to rotate to a deflected state. At the same time, the steering control structure controls the volute and the cleaning body to maintain their positioning.

[0056] The basic working principle of the present invention is as follows: when the present invention is placed in a swimming pool, the driving structure draws water into the volute 23 and ejects it from the water outlet 23a, driving the cleaning body 1 forward. The water resistance deflection plate 3 rotates from a stationary state to a deflected state due to the resistance of the water flow during forward movement. When it rotates to a predetermined angle, the steering control structure acts to clamp the water resistance deflection plate 3 and the cleaning body 1 together. At this time, the water resistance deflection plate 3 and the volute 23 also remain stationary, thereby maintaining the position of the volute 23 relative to the cleaning body 1. The driving structure drives the water flow to be ejected from the water outlet 23a of the volute 23 in a consistent direction, and the cleaning body 1 continues to move forward without turning. When the cleaning body 1 hits a wall, the water resistance deflection plate 3 is resisted by the forward water flow, and the reset structure drives the water resistance deflection plate 3 to rotate to a stationary state. At this time, the driving structure drives the volute 23 to turn, thereby changing the direction of water sprayed from the water outlet 23a relative to the cleaning body 1, and the cleaning body 1 is turned in the water. The cleaning body 1 has the advantages of automatic steering after hitting an obstacle, reducing manual intervention, and improving work efficiency. Specific embodiment 2

[0058] A swimming pool robot with flexible obstacle avoidance, such as Figure 8-11As shown, the difference between this embodiment and the specific embodiment 1 is that the reset structure includes a first reset slope 41 and a second reset slope 32, the reset column 4 is provided with a first reset slope 41, and the water resistance deflection piece 3 is provided with a second reset slope 32 corresponding to the first reset slope 41. The first reset slope 41 and the second reset slope 32 are guided and matched so that the water resistance deflection piece 3 can rotate spirally along the rotation axis 42. When the water resistance deflection piece 3 rotates along the rotation axis 42 from a stationary state, the rotation connection part 3a moves axially away from the reset column 4 along the rotation axis 42. When the cleaning body 1 moves, the water resistance deflection piece 3 is subjected to the resistance of water and rotates along the steering axis from a stationary state to an offset state. During the rotation process of the water resistance deflection piece 3, under the guidance of the first reset slope 41 and the second reset slope 32, the water resistance deflection pieces 3 on both sides perform a spiral upward steering motion relative to the reset column 4 along the rotation axis 42. When the cleaning body 1 touches an obstacle, the forward water resistance disappears, and the water resistance deflector 3 rotates spirally downward along the rotating shaft 42 under the action of its own gravity until it returns to a stationary state; the reset column 4 is symmetrically provided with a first reset inclined surface 41 with the rotating shaft 42 as the center, and the water resistance deflector 3 is symmetrically provided with a second reset inclined surface 32 corresponding to the first reset inclined surface 41. The symmetrically provided first reset inclined surface 41 and the second reset inclined surface 32 cooperate with each other, so that the present invention can realize the automatic steering process when it touches an obstacle during the forward or backward process, and when the water resistance deflector 3 is in a stationary state relative to the reset column 4, the first reset inclined surface 41 and the second reset inclined surface 32 are fitted together up and down, so that the high groove 4a of the reset column 4 and the high protrusion 3a1 of the rotating connection part 3a, the low groove 4b of the reset column 4 and the low protrusion 3a2 of the rotating connection part 3a are vertically aligned.

[0059] like Figure 9-11 As shown, the water resistance deflector 3 is connected to a downward pressing device, which always has a tendency to drive the water resistance deflector 3 to move toward a stationary state. The downward pressing device can make up for the situation where the gravity relying solely on the water resistance deflector 3 is insufficient, so that when the cleaning body 1 stops moving, the water resistance deflector 3 can be ensured to be completely restored to a stationary state, thereby realizing the steering control of the roller assembly 12 by the control panel 11; the downward pressing device is configured as a spring 43 sleeved on the rotating shaft 42, one end of the spring 43 is against the water resistance deflector 3, and the other end of the spring 43 is against the rotating connection part 3a. The spring 43 always has a tendency to press the water resistance deflector 3 downward. When the cleaning body 1 moves in the water, the water flow resistance overcomes the elastic force of the spring 43 to drive the water resistance deflector 3 to spirally rotate upward along the rotating shaft 42. At this time, the spring 43 accumulates elastic potential energy. When the cleaning body 1 hits the wall, the water flow resistance disappears, and the spring 43 releases the elastic potential energy to press down the rotating connection part 3a, causing the water resistance deflector 3 to move downward and reset to a stationary state.

[0060] The other structures of this embodiment are the same as those of the first embodiment and will not be described again here.

[0061] The above description is only a preferred embodiment of the present invention. Therefore, any equivalent changes or modifications made according to the structure, characteristics and principles described in the scope of the patent application of the present invention are included in the scope of the patent application of the present invention.

Claims

1. A swimming pool robot with flexible obstacle avoidance, comprising a cleaning body (1) and a driving structure for providing driving force, wherein a volute (23) is rotatably connected to the cleaning body (1), and the volute (23) is provided with a water spray port (23a), characterized in that: The volute (23) is provided with a water resistance deflection piece (3) when it rotates, and a steering control structure is provided between the water resistance deflection piece (3) and the cleaning body (1). When the driving structure drives the cleaning body (1) to move forward in the water, the water resistance deflection piece (3) is subjected to the resistance of the water flow and rotates from a stationary state to a deflected state. The water resistance deflection piece (3) controls the volute (23) to maintain its position relative to the cleaning body (1) through the steering control structure. The water resistance deflection piece (3) is provided with a reset structure. The reset structure always has a movement tendency to drive the water resistance deflection piece (3) to return to a stationary state. When the reset structure drives the water resistance deflection piece (3) to a stationary state, the driving structure drives the volute (23) to rotate to achieve reverse thrust of the cleaning body (1). The steering control structure comprises a clamping protrusion (1411) and a fan-shaped groove (33); the cleaning body (1) is provided with a connecting portion (141); the clamping protrusions (1411) are symmetrically provided on both sides of the connecting portion (141); the water resistance steering piece (3) is provided with a fan-shaped groove (33) corresponding to the clamping protrusion (1411); when the water resistance steering piece (3) is in a deflected state, the fan-shaped groove (33) cooperates with the clamping protrusion (1411) to limit and stop; when the water resistance steering piece (3) is in a stationary state, the clamping protrusion (1411) cooperates with the fan-shaped groove (33) to avoid and stop; The water resistance deflection plate (3) is provided with a rotating connection portion (3a), the cleaning body (1) is fixedly provided with a reset column (4), the reset column (4) is coaxially provided with a rotating shaft (42), the rotating connection portion (3a) is rotatably connected to the rotating shaft (42), and the reset structure is provided between the rotating connection portion (3a) and the reset column (4); The reset structure is configured as a torsion spring (44) sleeved on the rotating shaft (42), one end of the torsion spring (44) is fixedly connected to the water resistance deflection plate (3), and the other end of the torsion spring (44) is fixedly connected to the volute (23); The reset structure comprises a first reset slope (41) and a second reset slope (32); the reset column (4) is provided with the first reset slope (41); the water resistance deflection plate (3) is provided with a second reset slope (32) corresponding to the first reset slope (41); the first reset slope (41) and the second reset slope (32) are guided and matched so that the water resistance deflection plate (3) can be spirally rotated along the rotation axis (42); when the water resistance deflection plate (3) rotates along the rotation axis (42) from a stationary state, the rotation connection portion (3a) moves axially away from the reset column (4) along the rotation axis (42); The cleaning body (1) is provided with a sensor (13), and a magnetic part (31) is provided in the middle of the water resistance deflection plate (3), and the sensor (13) and the magnetic part (31) are inductively matched.

2. The swimming pool robot with flexible obstacle avoidance according to claim 1, characterized in that: The reset column (4) is symmetrically provided with the first reset inclined surface (41) with the rotation axis (42) as the center, and the water resistance deflection plate (3) is symmetrically provided with the second reset inclined surface (32) corresponding to the first reset inclined surface (41).

3. The swimming pool robot with flexible obstacle avoidance according to claim 1, characterized in that: The water resistance deflection plate (3) is connected to a pressing device, and the pressing device always has a tendency to drive the water resistance deflection plate (3) to move toward a stationary state.

4. The swimming pool robot with flexible obstacle avoidance according to claim 3, characterized in that: The pressing device is configured as a spring (43) sleeved on the rotating shaft (42), one end of the spring (43) abuts against the water resistance deflection plate (3), and the other end of the spring (43) abuts against the rotating connecting portion (3a), and the spring (43) always has a movement tendency to press down the water resistance deflection plate (3).

5. The swimming pool robot with flexible obstacle avoidance according to claim 1, characterized in that: The driving structure further comprises a driving motor (21) and an impeller (22); the output shaft of the driving motor (21) is coaxially fixed with the impeller (22); the impeller (22) is placed in the volute (23); the driving motor (21) drives the impeller (22) to rotate and drives water to be ejected from the water outlet (23a).

6. A method for reversing a swimming pool robot with flexible obstacle avoidance according to any one of claims 1 to 5, characterized in that: The following steps are involved: S1: Place the cleaning body into the water bottom; S2: Forward movement: The driving structure drives the cleaning body forward in the water. When the cleaning body moves forward, the water resistance deflector blade is subjected to water flow resistance. The water flow resistance drives the water resistance deflector blade, which is in a stationary state, to rotate to a deflected state. During the forward movement of the cleaning body, the steering control structure controls the water resistance deflector blade to maintain its position with the cleaning body, so that the water spray direction of the water nozzle remains consistent. S3: Touching an obstacle: When the cleaning body touches an obstacle, the cleaning body stops moving forward, the water flow resistance on the water resistance deflector disappears, and the reset structure drives the water resistance deflector back to the equilibrium position; S4: Steering: When the water resistance steering plate is at the equilibrium position, the driving structure drives the volute to rotate 180 degrees relative to the cleaning body; S5: Reverse thrust: When the volute rotates 180 degrees relative to the cleaning body, the reversed water nozzle is used to spray water to achieve reverse thrust on the cleaning body. When the cleaning body moves in the reverse direction in the water, it is again subjected to water flow resistance. The water flow resistance causes the water resistance steering piece to rotate to a deflected state. At the same time, the steering control structure controls the volute and the cleaning body to maintain their positioning.

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