A pool cleaning robot

Abstract

The application discloses a pool cleaning robot, comprising: a shell defining the shape of the pool cleaning robot, the shell inside forming a containing cavity; a sealed cabin fixed in the containing cavity of the shell; a detection module comprising a first detection unit and a second detection unit, the first detection unit being arranged on the sealed cabin, and the second detection unit being arranged in the sealed cabin; a signal processing module processing detection signals generated by the detection module to obtain first detection signals and second detection signals; a control module receiving the first detection signals and the second detection signals; the first detection unit is used for detecting whether the pool cleaning robot is in a diving state; the second detection unit is used for detecting whether the sealed cabin of the pool cleaning robot leaks; and the control module is used for controlling the pool cleaning robot to execute corresponding instructions according to the first detection signals and the second detection signals, thereby improving the instruction response speed, timely issuing a water leakage warning, and effectively improving the work efficiency and safety.

Description

Technical Field

[0001] This invention relates to the field of underwater intelligent equipment technology, and in particular to a swimming pool cleaning robot. Background Technology

[0002] Existing pool cleaning robots cannot recognize their own environment; for example, they cannot determine whether they are underwater. Furthermore, the waterproof sealing requirements for the robot's enclosure are extremely high. If the enclosure leaks, the circuit boards, motors, and electronic components inside will be damaged by water, rendering the robot inoperable. Therefore, pool cleaning robots need to autonomously detect their surroundings and inspect their enclosure for leaks, and if a leak is detected, they must immediately leave the pool for maintenance.

[0003] Therefore, the existing technology still needs to be improved and enhanced. Summary of the Invention

[0004] The main objective of this invention is to provide a swimming pool cleaning robot that solves the problem in the prior art where underwater swimming pool cleaning robots cannot detect whether there is water leakage inside, which can lead to damage to electronic components.

[0005] To achieve the above objectives, the present invention adopts the following technical solution:

[0006] A pool cleaning robot, comprising:

[0007] A housing defines the shape of the pool cleaning robot, and a receiving cavity is formed inside the housing;

[0008] A sealed chamber, fixed within the receiving cavity of the shell;

[0009] The detection module includes a first detection unit and a second detection unit, with the first detection unit disposed on the sealed chamber and the second detection unit disposed inside the sealed chamber.

[0010] A signal processing module is connected to the first detection unit and the second detection unit, and processes the detection signals generated by the detection module to obtain the first detection signal and the second detection signal.

[0011] The control module is connected to the signal processing module and receives the first detection signal and the second detection signal;

[0012] The first detection unit is used to detect whether the pool cleaning robot is in a submerged state; the second detection unit is used to detect whether the sealed compartment of the pool cleaning robot is leaking; and the control module is used to control the pool cleaning robot to execute corresponding instructions based on the first detection signal and the second detection signal.

[0013] In the swimming pool cleaning robot, the first detection unit includes a diving detection probe, and the second detection unit includes a leakage detection probe; the signal processing module includes a diving signal processing unit and a leakage signal processing unit; the diving detection probe is located outside the sealed chamber; the diving signal processing unit, the leakage detection probe, and the leakage signal processing unit are located inside the sealed chamber.

[0014] In the swimming pool cleaning robot, the control module is used to control the swimming pool cleaning robot to start the working mode when it receives the first detection signal from the signal processing module; the control module is used to control the swimming pool cleaning robot to issue a warning signal that the sealed chamber is leaking when it receives the second detection signal from the signal processing module.

[0015] In the swimming pool cleaning robot, a circuit board is installed inside the sealed chamber. The diving signal processing unit, the leakage signal processing unit, and the control module are all installed on the circuit board. The control module is communicatively connected to the diving signal processing unit and the leakage signal processing unit, respectively.

[0016] In the swimming pool cleaning robot, both the diving signal processing unit and the leakage signal processing unit are used to amplify the detection signal to obtain a first detection signal and a second detection signal.

[0017] In the swimming pool cleaning robot, the circuit board further includes: a power module and a first voltage divider resistor, a second voltage divider resistor, a first electrostatic protection module, and a second electrostatic protection module;

[0018] The first voltage divider resistor is connected to the power module, the signal processing module, and the first electrostatic protection module, respectively. The second voltage divider resistor is connected to the power module, the water leakage signal processing module, and the second electrostatic protection module, respectively.

[0019] In the swimming pool cleaning robot, the first electrostatic protection module includes a first capacitor and a first Zener diode, and the second electrostatic protection module includes a second capacitor and a second Zener diode. One end of the first capacitor and the cathode of the first Zener diode are connected to the diving signal processing unit, and one end of the second capacitor and the cathode of the second Zener diode are connected to the leakage signal processing unit. The other end of the first capacitor, the anode of the first Zener diode, the other end of the second capacitor, and the anode of the second Zener diode are all grounded.

[0020] In the swimming pool cleaning robot, the circuit board further includes a signal output module, which includes a first signal output unit connected to the diving signal processing unit and a second signal output unit connected to the leakage signal processing unit.

[0021] In the swimming pool cleaning robot, the diving detection probe includes at least two diving water detection probes installed on the top of the sealed chamber shell; the leakage detection probe includes at least two leakage detection probes installed on the bottom shell inside the sealed chamber.

[0022] In the swimming pool cleaning robot, the diving detection probe includes at least two submerged water detection probes disposed on the top of the sealed chamber shell and two exit water detection probes disposed on the bottom of the sealed chamber shell.

[0023] Compared to existing technologies, this invention provides a swimming pool cleaning robot. In this invention, a first detection unit detects whether the swimming pool cleaning robot is in a submerged state, and a second detection unit detects whether the sealed compartment of the swimming pool cleaning robot leaks. After obtaining the detection signals, a signal processing module processes the detection signals to obtain the first detection signal and the second detection signal. The control module then controls the swimming pool cleaning robot to execute corresponding instructions based on the first and second detection signals. This enables timely operation after entering the water and provides timely alerts in case of leaks, thereby improving the operational efficiency of the underwater robot and effectively avoiding safety hazards caused by leaks. Attached Figure Description

[0024] Figure 1 A structural block diagram of a preferred embodiment of the liquid detection circuit provided by the present invention;

[0025] Figure 2 A simplified internal structure diagram of an underwater robot according to a preferred embodiment of the liquid detection circuit provided by the present invention;

[0026] Figure 3 This is a circuit diagram of a preferred embodiment of the liquid detection circuit provided by the present invention.

[0027] Reference numerals: 100: Detection module; 110: First detection unit; 120: Second detection unit; 200: Signal processing module; 210: Diving signal processing unit; 220: Leakage signal processing unit; 300: Control module; 400: Power supply module; 500: First electrostatic protection module; 600: Second electrostatic protection module; 700: Signal output module; 710: First signal output unit; 720: Second signal output unit; C1: First capacitor; C2: Second capacitor; C3: Third capacitor; R1: First voltage divider resistor; R2: Second voltage divider resistor; R3: Third voltage divider resistor; R4: Fourth voltage divider resistor; Q1: First Zener diode; Q2: Second Zener diode; CN1: Connector; AD-ES-IN: Diving detection probe; AD-IS-IN: Leakage detection probe; AD-ES: First output port; AD-IS: Second output port; VCC: Power supply pin; GND: Ground pin. Detailed Implementation

[0028] To make the objectives, technical solutions, and effects of this invention clearer and more explicit, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

[0029] Those skilled in the art will understand that, unless specifically stated otherwise, the singular forms “a,” “an,” “the,” and “the” used herein may also include the plural forms. It should be further understood that the term “comprising” as used in this specification means the presence of the stated features, integers, steps, operations, elements, and / or components, but does not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or groups thereof. It should be understood that when we say an element is “connected” or “coupled” to another element, it can be directly connected or coupled to the other element, or there may be intermediate elements. Furthermore, “connected” or “coupled” as used herein can include wireless connections or wireless coupling. The term “and / or” as used herein includes all or any units and all combinations of one or more associated listed items.

[0030] It will be understood by those skilled in the art that, unless otherwise defined, all terms used herein (including technical and scientific terms) have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. It should also be understood that terms such as those defined in general dictionaries should be understood to have the same meaning as in the context of the prior art, and should not be interpreted in an idealized or overly formal sense unless specifically defined as herein.

[0031] This invention provides a swimming pool cleaning robot. In this invention, a signal processing module processes the detection signals generated by a first detection unit and a second detection unit to obtain a first detection signal and a second detection signal. This allows the control module to detect when the swimming pool cleaning robot is submerged or when there is a leak in its sealed compartment, and then control the robot to execute corresponding commands. This enables timely operation after entering the water and provides timely alerts in case of leaks, thereby improving the efficiency of underwater operations and effectively avoiding safety hazards caused by leaks.

[0032] The liquid detection circuit design is described below through specific exemplary embodiments. It should be noted that the following embodiments are only used to explain the technical solution of the invention and are not intended to limit it.

[0033] Please see Figure 1 and Figure 2 The present invention provides a swimming pool cleaning robot, comprising:

[0034] The shell defines the shape of the pool cleaning robot, and a receiving cavity is formed inside the shell; the sealed chamber is fixed to the receiving cavity of the shell; the detection module 100 includes a first detection unit 110 and a second detection unit 120, the first detection unit 110 is disposed on the sealed chamber, and the second detection unit 120 is disposed inside the sealed chamber.

[0035] The signal processing module 200 is connected to the first detection unit 110 and the second detection unit 120, and processes the detection signal generated by the detection module 100 to obtain the first detection signal and the second detection signal; the control module 300 is connected to the signal processing module 200 and receives the first detection signal and the second detection signal.

[0036] The first detection unit 110 is used to detect whether the pool cleaning robot is in a submerged state; the second detection unit 120 is used to detect whether the sealed chamber of the pool cleaning robot is leaking water; the control module 300 is used to control the pool cleaning robot to execute corresponding instructions according to the first detection signal and the second detection signal; wherein, the control module 300 is an MCU (Microcontroller Unit).

[0037] Specifically, a simplified internal structure diagram of the pool cleaning robot in one embodiment of the present invention is shown below. Figure 2 As shown, the first detection unit 110 is mounted on the sealed chamber and is used to detect whether the pool cleaning robot is in a submerged state, that is, to detect whether the pool cleaning robot has entered or left the liquid. The second detection unit 120 is mounted inside the sealed chamber and is used to detect whether the sealed chamber of the pool cleaning robot is leaking. Two drive wheels are mounted on the bottom of the pool cleaning robot, which also includes a waste collection and filtration module.

[0038] The process of using the first detection unit 110 to detect whether the pool cleaning robot is in a submerged state, and using the second detection unit 120 to detect whether the sealed compartment of the pool cleaning robot is leaking, is as follows:

[0039] First, the first detection unit 110 is used to detect whether the pool cleaning robot is in a submerged state: that is, after the pool cleaning robot is submerged, the liquid (e.g., water) on the shell is detected (when not submerged, the first detection unit 110 detects air), and the detection signal is generated; at the same time, the second detection unit 120 is used to detect whether the sealed chamber of the pool cleaning robot is leaking water: that is, the liquid inside the sealed chamber of the pool cleaning robot is detected, and the detection signal is generated.

[0040] Then, the signal processing module 200 processes the detection signals generated by the detection module 100 to obtain the first detection signal and the second detection signal. The control module 300 then controls the pool cleaning robot to execute corresponding instructions based on the first detection signal and the second detection signal: for example, issuing a warning after a leak; starting work after diving, etc.

[0041] In this invention, the first detection unit 110 detects whether the pool cleaning robot is in a submerged state, the second detection unit 120 detects whether the sealed chamber of the pool cleaning robot is leaking, and the control module 300 then controls the pool cleaning robot to execute corresponding instructions based on the first detection signal and the second detection signal, thereby achieving efficient response and reducing waiting time.

[0042] Furthermore, such as Figure 2 As shown, the first detection unit 110 includes a diving detection probe AD-ES-IN, and the second detection unit 120 includes a leak detection probe AD-IS-IN; the signal processing module 200 includes a diving signal processing unit 210 and a leak signal processing unit 220; the diving detection probe AD-ES-IN is disposed outside the sealed chamber; the diving signal processing unit 210, the leak detection probe AD-IS-IN, and the leak signal processing unit 220 are disposed inside the sealed chamber.

[0043] For details, please refer to [link / reference]. Figure 2 The diving detection probe AD-ES-IN is located outside the sealed chamber (above the outer shell); the diving signal processing unit 210, the leakage detection probe AD-IS-IN, and the leakage signal processing unit 220 are located inside the sealed chamber.

[0044] Furthermore, the control module 300 is specifically used to control the pool cleaning robot to start working mode when it receives the first detection signal from the signal processing module 200; the control module 300 is specifically used to control the pool cleaning robot to issue a warning signal that the sealed chamber is leaking when it receives the second detection signal from the signal processing module 200.

[0045] Specifically, when the detection signal generated by the first detection unit 110 is processed by the signal processing module 200 to obtain the first detection signal, that is, after the pool cleaning robot is detected to start diving, the signal processing module 200 transmits the first detection signal to the control module 300. When the control module 300 receives the first detection signal, it controls the pool cleaning robot to start working mode: it starts controlling the water pump motor and drive wheel motor to start cleaning work immediately, thereby reducing waiting time and effectively improving the working efficiency of the pool cleaning robot.

[0046] When the detection signal generated by the first detection unit 110 is processed by the signal processing module 200 to obtain the second detection signal, i.e., after detecting water leakage in the sealed chamber, the signal processing module 200 transmits the second detection signal to the control module 300. When the control module 300 receives the second detection signal, it controls the speaker and other devices to emit a warning sound indicating water leakage.

[0047] In this invention, the control module 300 controls the pool cleaning robot to start its working mode based on the first detection signal and controls the pool cleaning robot to issue a warning signal for water leakage in the sealed chamber based on the second detection signal. This reduces the waiting time of the pool cleaning robot after it enters the water and issues a timely water leakage warning, thereby effectively improving work efficiency and safety.

[0048] Furthermore, a circuit board is provided inside the sealed chamber, on which the diving signal processing unit 210, the water leakage signal processing unit 220, and the control module 300 are all mounted. The control module 300 is communicatively connected to the diving signal processing unit 210 and the water leakage signal processing unit 220, respectively.

[0049] Among them, such as Figure 3 As shown, the signal processing module 200 is connected to the circuit via connector CN1.

[0050] Specifically, the signal processing module 200 (which includes the diving signal processing unit 210 and the leakage signal processing unit 220) and the control module 300 are both mounted on the circuit board, which is located inside the sealed chamber. The control module 300 is communicatively connected to both the diving signal processing unit 210 and the leakage signal processing unit 220, and is used to receive the first detection signal and the second detection signal, and then control the pool cleaning robot to execute corresponding instructions based on the first detection signal and the second detection signal.

[0051] Furthermore, both the diving signal processing unit 210 and the leakage signal processing unit 220 are used to amplify the detection signal to obtain a first detection signal and a second detection signal.

[0052] Specifically, when the first detection unit 110 detects that the pool cleaning robot is in a diving state, it transmits the detection signal to the diving signal processing unit 210, which amplifies the detection signal to obtain the first detection signal.

[0053] When the second detection unit 120 detects a leak in the sealed chamber, it transmits the detection signal to the leak signal processing unit 220, which amplifies the detection signal to obtain the second diving detection signal.

[0054] Furthermore, the circuit board also includes: a power module 400, a first voltage divider resistor R1, a second voltage divider resistor R2, a first electrostatic discharge (ESD) protection module 500, and a second ESD protection module 600; one end of the first voltage divider resistor R1 is connected to the power module 400, the signal processing module 200, and the first ESD protection module 500, respectively; one end of the second voltage divider resistor R2 is connected to the power module 400, the water leakage signal processing module 200, and the second ESD protection module 600, respectively.

[0055] Specifically, both the first electrostatic discharge (ESD) protection module 500 and the second ESD protection module 600 are designed to prevent damage to the circuit caused by static electricity generated when the detection module 100 is connected to the circuit. The first voltage divider resistor R1 is 1KΩ; the second voltage divider resistor R2 is 1KΩ.

[0056] Furthermore, the first electrostatic discharge protection module 500 includes a first capacitor C1 and a first Zener diode Q1, and the second electrostatic discharge protection module 600 includes a second capacitor C2 and a second Zener diode Q2. One end of the first capacitor C1 and the cathode of the first Zener diode Q1 are connected to the diving signal processing unit 210, and one end of the second capacitor C2 and the cathode of the second Zener diode Q2 are connected to the water leakage signal processing unit 220. The other end of the first capacitor C1, the anode of the first Zener diode Q1, the other end of the second capacitor C2, and the anode of the second Zener diode Q2 are all grounded.

[0057] Specifically, both the first Zener diode Q1 and the second Zener diode Q2 have the function of stabilizing the voltage in the circuit; the first capacitor C1 is 0.1uF; and the second capacitor C2 is 0.1uF.

[0058] Furthermore, the power module 400 includes: a power supply pin VCC, a third capacitor C3, a third voltage divider resistor R3, and a fourth voltage divider resistor R4;

[0059] One end of the third voltage divider resistor R3 is connected to the first voltage divider resistor R1, one end of the first capacitor C1, the cathode of the first Zener diode Q1, and the signal processing module 200, respectively. The other end of the third voltage divider resistor R3 is connected to one end of the third capacitor C3 and the power supply pin VCC, respectively. The other end of the third capacitor C3 is connected to the ground pin GND.

[0060] One end of the fourth voltage divider resistor R4 is connected to one end of the second voltage divider resistor R2, one end of the second capacitor C2, the cathode of the second Zener diode Q2, and pin 3 of the connector CN1. The other end of the fourth voltage divider resistor R4 is connected to one end of the third capacitor C3 and the power supply pin VCC. The other end of the third capacitor C3 is connected to the ground pin GND.

[0061] Specifically, the power supply pin VCC is 3.3V; the third voltage divider resistor R3 is 200KΩ; the fourth voltage divider resistor R4 is 200KΩ; and the third capacitor C3 is 0.1uf.

[0062] Furthermore, the circuit board also includes a signal output module 700, which includes a first signal output unit 710 connected to the diving signal processing unit 210 and a second signal output unit 720 connected to the water leakage signal processing unit 220.

[0063] Specifically, the first signal output unit 710 includes a first output port AD-ES, and the second signal output unit 720 includes a second output port AD-IS.

[0064] Furthermore, the diving detection probe AD-ES-IN includes at least two diving detection probes AD-ES-IN disposed on the top of the sealed chamber shell; the leakage detection probe AD-IS-IN includes at least two leakage detection probes AD-IS-IN disposed on the bottom shell inside the sealed chamber.

[0065] Specifically, by setting up multiple water detection probes AD-ES-IN and leakage detection probes AD-IS-IN, the efficiency and speed of detection can be improved.

[0066] Furthermore, the AD-ES-IN diving detection probe includes at least two submersible water detection probes located on the top of the sealed chamber shell and two water exit detection probes located on the bottom of the sealed chamber shell.

[0067] Specifically, in one embodiment of the present invention, the submersion detection probe is used to monitor whether the pool cleaning robot is submerged in water, and when the pool cleaning robot is detected to be submerged in water, the control module 300 controls the pool cleaning robot to start working mode according to the first detection signal.

[0068] In another embodiment of the present invention, the water-free detection probe is used to monitor whether the pool cleaning robot leaves the water surface, and when the pool cleaning robot leaves the water surface, the control module 300 controls the pool cleaning robot to turn off its working mode according to the first detection signal.

[0069] To better understand this invention, the following is combined with... Figures 1-3 The working principle of the liquid detection circuit of the present invention will be explained in detail below:

[0070] like Figure 2 As shown, at least two of the submersion water detection probes are located on the top of the sealed chamber shell; while at least two of the leakage detection probes AD-IS-IN are located on the bottom shell inside the sealed chamber.

[0071] When the pool cleaning robot submerges underwater, the submersible detection probe and the GND base come into contact with the water. Then, pins 1 and 2 on the connector CN1 (which is connected to the diving signal processing unit 210 at this time) are connected (when not submerged, there is air between pins 1 and 2, and since the air resistance is infinite, pins 1 and 2 are considered to be in an open state). There is a potential difference between pins 1 and 2, which is the detection signal, that is, the voltage value that can be obtained by measuring between pins 1 and 2.

[0072] Then, the specific voltage value U1 is related to the first on-resistance r1 between pin 1 and pin 2. The first on-resistance r1 and the fourth voltage divider resistor R4 are used to perform the first voltage division on the power supply pin VCC. Then, the submersible signal processing unit 210 amplifies the detection signal to obtain the first detection signal. The first detection signal is used to perform voltage division on the power supply module 400 to obtain the first voltage divider signal U1: U1 = r1(r1 / R4) * U source, where R4 is the fourth voltage divider resistor R4.

[0073] Similarly, when water leaks into the sealed chamber of the pool cleaning robot, the leak detection probe AD-IS-IN and the ground pin GND come into contact with the water. Then, pins 1 and 3 on the connector CN1 (which is connected to the leak signal processing unit 220 at this time) are connected (when not in the water, there is air between pins 1 and 3. Since the air resistance is infinite, pins 1 and 3 are considered to be in an open state). There is a potential difference between pins 1 and 3, which is the detection signal. That is, the voltage value can be obtained by measuring between pins 1 and 3.

[0074] Then, the specific voltage value U2 is related to the second on-resistance r2 between pin 1 and pin 3. The second on-resistance r2 and the third voltage divider resistor R3 are used to perform the first voltage division on the power supply pin VCC. Then, the leakage signal processing unit 220 amplifies the detection signal to obtain the second leakage detection signal. The second leakage detection signal is used to divide the voltage of the power module 400 to obtain the second voltage divider signal U2: U2 = r2(r2 / R3)*U source, where R3 is the third voltage divider resistor R3.

[0075] Finally, the first voltage divider resistor R1 divides the first voltage divider signal U1 and outputs it to the first signal output unit 710. Similarly, the second voltage divider resistor R2 divides the second voltage divider signal U2 and outputs it to the second signal output unit 720.

[0076] In summary, the present invention provides a swimming pool cleaning robot, comprising: a shell defining the shape of the swimming pool cleaning robot, with a receiving cavity formed inside the shell; a sealed chamber fixed to the receiving cavity of the shell; a detection module including a first detection unit and a second detection unit, the first detection unit being disposed on the sealed chamber and the second detection unit being disposed inside the sealed chamber; a signal processing module processing the detection signals generated by the detection module to obtain a first detection signal and a second detection signal; and a control module receiving the first detection signal and the second detection signal; the first detection unit is used to detect whether the swimming pool cleaning robot is in a submerged state; the second detection unit is used to detect whether the sealed chamber of the swimming pool cleaning robot is leaking; and the control module is used to control the swimming pool cleaning robot to execute corresponding instructions based on the first detection signal and the second detection signal, thereby improving the instruction response speed, issuing timely leakage warnings, and effectively improving work efficiency and safety.

[0077] It is understood that those skilled in the art can make equivalent substitutions or modifications to the technical solution and inventive concept of the present invention, and all such substitutions or modifications should fall within the protection scope of the appended claims.

Claims

1. A swimming pool cleaning robot, characterized in that, include: A housing defines the shape of the pool cleaning robot, and a receiving cavity is formed inside the housing; A sealed chamber, fixed within the receiving cavity of the shell; The detection module includes a first detection unit and a second detection unit, with the first detection unit disposed on the sealed chamber and the second detection unit disposed inside the sealed chamber. A signal processing module is connected to the first detection unit and the second detection unit, and processes the detection signals generated by the detection module to obtain the first detection signal and the second detection signal. The control module is connected to the signal processing module and receives the first detection signal and the second detection signal; The first detection unit is used to detect whether the pool cleaning robot is in a submerged state; the second detection unit is used to detect whether the sealed compartment of the pool cleaning robot is leaking; and the control module is used to control the pool cleaning robot to execute corresponding instructions based on the first detection signal and the second detection signal.

2. The pool cleaning robot according to claim 1, characterized in that, The first detection unit includes a diving detection probe, and the second detection unit includes a leakage detection probe; the signal processing module includes a diving signal processing unit and a leakage signal processing unit; the diving detection probe is disposed outside the sealed chamber; the diving signal processing unit, the leakage detection probe, and the leakage signal processing unit are disposed inside the sealed chamber.

3. The pool cleaning robot according to claim 1, characterized in that, The control module is used to control the pool cleaning robot to start working mode when it receives the first detection signal from the signal processing module; the control module is used to control the pool cleaning robot to issue a warning signal that the sealed chamber is leaking when it receives the second detection signal from the signal processing module.

4. The swimming pool cleaning robot according to claim 2, characterized in that, The sealed chamber is equipped with a circuit board, on which the diving signal processing unit, the water leakage signal processing unit, and the control module are all mounted. The control module is communicatively connected to the diving signal processing unit and the water leakage signal processing unit, respectively.

5. The pool cleaning robot according to claim 4, characterized in that, Both the diving signal processing unit and the leakage signal processing unit are used to amplify the detection signal to obtain the first detection signal and the second detection signal.

6. The pool cleaning robot according to claim 4, characterized in that, The circuit board further includes: a power module and a first voltage divider resistor, a second voltage divider resistor, a first electrostatic discharge (ESD) protection module, and a second ESD protection module; the first voltage divider resistor is connected to the power module, the signal processing module, and the first ESD protection module respectively, and the second voltage divider resistor is connected to the power module, the water leakage signal processing module, and the second ESD protection module respectively.

7. The pool cleaning robot according to claim 6, characterized in that, The first electrostatic discharge protection module includes a first capacitor and a first Zener diode. The second electrostatic discharge protection module includes a second capacitor and a second Zener diode. One end of the first capacitor and the cathode of the first Zener diode are connected to the diving signal processing unit. One end of the second capacitor and the cathode of the second Zener diode are connected to the water leakage signal processing unit. The other end of the first capacitor, the anode of the first Zener diode, the other end of the second capacitor, and the anode of the second Zener diode are all grounded.

8. The pool cleaning robot according to claim 5, characterized in that, The circuit board further includes a signal output module, which includes a first signal output unit connected to the diving signal processing unit and a second signal output unit connected to the leakage signal processing unit.

9. The swimming pool cleaning robot according to claim 2, characterized in that, The diving detection probe includes at least two submersible water detection probes installed on the top of the sealed chamber shell; the leakage detection probe includes at least two leakage detection probes installed on the bottom shell inside the sealed chamber.

10. The pool cleaning robot according to claim 2, characterized in that, The diving detection probe includes at least two submersible water detection probes located on the top of the sealed chamber shell and two water exit detection probes located on the bottom of the sealed chamber shell.

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