A lateral movement method of a swimming pool cleaning device and a swimming pool cleaning device

Abstract

The present invention discloses a method for lateral movement of a swimming pool cleaning device, comprising: when the swimming pool cleaning device meets the lateral movement condition, controlling the drainage pump of the swimming pool cleaning device to enter the lateral movement working mode, so that the swimming pool cleaning device moves toward one side, wherein after the drainage pump enters the lateral movement working mode, it provides a water flow driving force toward the opposite side of the one side; in the lateral movement working mode, controlling the swimming pool cleaning device to drive the driving wheels on both sides with a target speed difference, so that the swimming pool cleaning device tilts toward the one side. The lateral movement method of the swimming pool cleaning device solves the problem of lateral movement of the swimming pool cleaning device in water, so that the swimming pool cleaning device can move at multiple angles and directions, thereby cleaning the swimming pool without leaving any dead corners and fully covering the cleaning. The present invention also discloses a swimming pool cleaning device.

Description

Technical Field

[0001] The invention relates to the technical field of swimming pool cleaning, and in particular to a lateral movement method of swimming pool cleaning equipment and the swimming pool cleaning equipment. Background Art

[0002] Most of the suspended matter and impurities in the pool will adhere to the waterline position of the side wall of the pool. Existing swimming pool cleaning equipment usually cleans the waterline while cleaning the pool wall. It is not possible to clean the waterline directly. Continuously rising and falling on the pool wall is not only time-consuming, but also the cleaning effect of the waterline is omitted. Therefore, the related technology has the problem of poor cleaning effect on the area near the waterline position of the side wall of the pool. Summary of the invention

[0003] The technical problem to be solved by the present invention is to provide a lateral movement method of a swimming pool cleaning device and a swimming pool cleaning device, which can enable the swimming pool cleaning device to move laterally and can effectively and conveniently clean the swimming pool waterline.

[0004] In order to solve the above technical problems, the present invention adopts a technical solution 1: a lateral movement method of a swimming pool cleaning device, comprising the following steps:

[0005] When the swimming pool cleaning device meets the lateral movement condition, the drainage pump of the swimming pool cleaning device is controlled to enter the lateral movement working mode, so that the swimming pool cleaning device moves toward one side, wherein after the drainage pump enters the lateral movement working mode, a water flow driving force is provided toward the opposite side of the one side;

[0006] In the lateral movement working mode, the swimming pool cleaning device is controlled to drive the driving wheels on both sides at a target rotation speed difference, so that the swimming pool cleaning device is tilted toward the one side.

[0007] In order to solve the above technical problems, the second technical solution adopted by the present invention is: a swimming pool cleaning device, comprising a detection device for detecting whether the swimming pool cleaning device meets the lateral movement condition, a drainage pump capable of lateral drainage, driving wheels on both sides and a control system, wherein the control system can control the drainage pump to enter a lateral movement working mode based on the output result of the detection device, thereby causing the swimming pool cleaning device to move toward one side; wherein, in the lateral movement working mode, the control system controls the speed difference of the driving wheels on both sides of the swimming pool cleaning device to cause the swimming pool cleaning device to tilt toward the one side.

[0008] The beneficial effects of the present invention are as follows: the lateral movement method of the swimming pool cleaning device or the swimming pool cleaning device realizes the lateral movement of the swimming pool cleaning device in the swimming pool, which can effectively solve the problem of movement trajectory at the waterline, as well as problems such as cleaning steps and avoiding obstacles, so that the swimming pool cleaning device can move in a horizontal direction, thereby cleaning the swimming pool without leaving any dead corners and fully covering the swimming pool. When cleaning the waterline, the swimming pool cleaning device moves along the waterline in an inclined posture, which can increase the coverage area of ​​the cleaning roller brush on the area near the waterline, which is conducive to improving the cleaning effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] Figure 1 This is a step diagram of a lateral movement method of a swimming pool cleaning device according to Embodiment 1 of the present invention;

[0010] Figure 2 A front view of a swimming pool cleaning device for a lateral movement method of a swimming pool cleaning device according to Embodiment 1 of the present invention;

[0011] Figure 3 A top view of a swimming pool cleaning device for a lateral movement method of a swimming pool cleaning device according to Embodiment 1 of the present invention;

[0012] Figure 4 Schematic diagram of the waterline cleaning path of the swimming pool cleaning equipment in the lateral movement method of the swimming pool cleaning equipment according to the first embodiment of the present invention Figure 1 ;

[0013] Figure 5 Schematic diagram of the force of the swimming pool cleaning device in the lateral movement method of the swimming pool cleaning device according to the first embodiment of the present invention Figure 1 ;

[0014] Figure 6 Schematic diagram of the waterline cleaning path of the swimming pool cleaning equipment in the lateral movement method of the swimming pool cleaning equipment according to the first embodiment of the present invention Figure 2 ;

[0015] Figure 7 Schematic diagram of the force of the swimming pool cleaning device in the lateral movement method of the swimming pool cleaning device according to the first embodiment of the present invention Figure 2 .

[0016] Description of labels:

[0017] 11. A first water immersion sensor; 12. A second water immersion sensor;

[0018] 21. Drain pump on the left; 22. Drain pump on the right;

[0019] 31. Left driving wheel; 32. Right driving wheel;

[0020] 41. Left obstacle detection sensor; 42. Right obstacle detection sensor. DETAILED DESCRIPTION

[0021] Please refer to Figures 1 to 7 The present invention relates to a swimming pool cleaning device, including a detection device for detecting whether the swimming pool cleaning device meets the lateral movement condition, a power mechanism for controlling the walking of the swimming pool cleaning device, a drainage mechanism for drainage, and a control system. The swimming pool cleaning device of the present invention can achieve lateral movement, for example, it can move laterally along the waterline direction at the swimming pool waterline to clean the waterline, it can also move laterally at the swimming pool steps to clean the steps, and it can also move laterally to avoid obstacles, etc. It can be understood that the description in this application does not limit the usage of the swimming pool cleaning device.

[0022] Specifically, the drainage mechanism may be drainage pumps 21 and 22 disposed on both sides of the pool cleaning device along the direction of movement of the machine. The orientation of the drainage pumps shown in the figure is not determined to be unique. In other embodiments, the orientation of the drainage pumps may be set as required, such as perpendicular to the direction of movement of the machine and away from the machine. It is understood that the drainage direction of the drainage pumps may also be changed by a grille disposed thereon. In this embodiment, the drainage pumps are capable of at least draining water toward the opposite side of the direction of lateral movement of the pool cleaning device.

[0023] The power mechanism may be a driving wheel, and at least one driving wheel is provided on each side of the pool cleaning device. In this embodiment, there are two driving wheels 31 and 32. In other embodiments, it is also feasible to provide track assemblies on each side of the pool cleaning device as the power mechanism.

[0024] The detection device for detecting whether the swimming pool cleaning device meets the lateral movement condition may be a variety of different devices to detect whether the swimming pool cleaning device meets the lateral movement condition.

[0025] The control system can control the drainage pump to enter a lateral movement working mode based on the output result of the detection device, so that the swimming pool cleaning device moves toward one side.

[0026] The lateral movement method of the swimming pool cleaning equipment comprises the following steps:

[0027] When the swimming pool cleaning device meets the lateral movement condition, the drainage pump of the swimming pool cleaning device is controlled to enter the lateral movement working mode, so that the swimming pool cleaning device moves toward one side, wherein after the drainage pump enters the lateral movement working mode, a water flow driving force is provided toward the opposite side of the one side;

[0028] In the lateral movement working mode, the swimming pool cleaning device is controlled to drive the driving wheels on both sides at a target rotation speed difference, so that the swimming pool cleaning device is tilted toward the one side.

[0029] It should be understood that the two steps of the lateral movement method of the swimming pool cleaning device can be performed simultaneously or in sequence, and the sequence of the two steps is not limited.

[0030] The lateral movement condition may be satisfied when the swimming pool cleaning device is within a preset range of the waterline, when the swimming pool cleaning device reaches a predetermined location, when the swimming pool cleaning device senses an obstacle, or when the swimming pool cleaning device receives a preset operation task.

[0031] For example, when the lateral movement condition is that the swimming pool cleaning equipment is within a preset range of the waterline, the detection device for detecting whether the swimming pool cleaning equipment meets the lateral movement condition may be a water separation detection device, which is used to detect whether the swimming pool cleaning equipment is out of water. The water separation detection device may be water immersion sensors 11, 12. In other embodiments, the water separation detection device may be a Hall sensor, a drain pump motor power detection module (the drain pump motor power within the preset range indicates that the swimming pool cleaning equipment is within the preset range of the waterline), or any other device capable of detecting whether the swimming pool cleaning equipment is out of water.

[0032] The lateral movement condition may be that the swimming pool cleaning device reaches a predetermined location, and the swimming pool cleaning device reaches the predetermined location including: the swimming pool cleaning device is at a step, or at the junction of a pool wall and a pool bottom, or at any location that may require lateral movement.

[0033] The lateral movement condition may also be that the swimming pool cleaning device senses an obstacle, wherein the swimming pool cleaning device moves laterally to bypass the obstacle after detecting the obstacle.

[0034] The lateral movement condition may also be that the swimming pool cleaning device receives a preset work task, wherein the specific work task may be a lateral movement instruction from the user or any instruction requiring lateral movement.

[0035] In one embodiment, if Figure 2 As shown, the swimming pool cleaning device includes two water immersion sensors, wherein the first water immersion sensor 11 is located at the front half of the swimming pool cleaning device, and the second water immersion sensor 12 is located at the rear half of the swimming pool cleaning device. When the first water immersion sensor 11 does not touch the water and the second water immersion sensor 12 touches the water, a signal is triggered. At this time, it is considered that the swimming pool cleaning device is within the preset range of the water line, and the swimming pool cleaning device starts to move sideways to clean the water line.

[0036] It is understandable that in other embodiments, the number of water immersion sensors may be one, and the pool cleaning device may determine whether the pool cleaning device is discharging water based on the water immersion sensor. Other signals of the pool cleaning device, such as water pump power, travel speed, position of the pool cleaning device, etc., may also be used as auxiliary judgment factors for whether water is discharging.

[0037] The pool cleaning device detecting an obstacle specifically includes: obtaining sensing information of an obstacle detection device; and judging whether the pool cleaning device is close to an obstacle according to the sensing information of the obstacle detection device. Optionally, the obstacle detection device is an infrared sensor, a trigger of an external device, or other device capable of detecting whether there is an object in front.

[0038] The target rotation speed difference of the driving wheels on both sides of the swimming pool cleaning device makes the forces on the swimming pool cleaning device body balanced so that the swimming pool cleaning device body can be tilted and stay at the waterline. The setting conditions of the tilt angle of the swimming pool cleaning device tilting toward one side include at least one of the shape and weight of the swimming pool cleaning device, the wall condition of the swimming pool, the driving power of the driving wheel or the preset cleaning efficiency.

[0039] Specifically, Figure 5 As shown, from a perspective perpendicular to the swimming pool wall, when the rotation speed of the left driving wheel 31 of the swimming pool cleaning device is greater than the rotation speed of the right driving wheel 32 of the swimming pool cleaning device, the driving wheels on both sides of the swimming pool cleaning device will apply a clockwise torque to the swimming pool cleaning device, causing the swimming pool cleaning device to tilt to the right; when the swimming pool cleaning device tilts to the right, the buoyancy of the swimming pool cleaning device will move a certain distance to the right from the center of gravity of the swimming pool cleaning device. Since gravity is vertically downward, the buoyancy of water is vertically upward, and the point of action of buoyancy is located to the right of the center of gravity, when the swimming pool cleaning device tilts to the right, gravity and buoyancy will apply a counterclockwise torque to the swimming pool cleaning device. Similarly, Figure 7 As shown, when the rotation speed of the driving wheel 32 on the right side of the swimming pool cleaning device is greater than the rotation speed of the driving wheel 31 on the left side of the swimming pool cleaning device, the driving wheels on both sides of the swimming pool cleaning device will apply a counterclockwise torque to the swimming pool cleaning device, causing the swimming pool cleaning device to tilt toward the left; when the swimming pool cleaning device tilts toward the left, the buoyancy of the swimming pool cleaning device will move a certain distance to the left from the center of gravity of the swimming pool cleaning device. Since the gravity is vertically downward, the buoyancy of the swimming pool cleaning device is vertically upward, and the point of action of the buoyancy is located on the left side of the center of gravity, so when the swimming pool cleaning device tilts to the left, the buoyancy will apply a clockwise torque to the swimming pool cleaning device. When the swimming pool cleaning device tilts to one side to a preset angle, the torque applied by the driving wheel to the swimming pool cleaning device is equal to the torque applied by the buoyancy to the swimming pool cleaning device, but in the opposite direction. At this time, the swimming pool cleaning device can maintain the preset tilt angle on the waterline. It is easy to understand that the swimming pool cleaning device can maintain the preset tilt angle by using the differential rotation of the driving wheels located on both sides of the swimming pool cleaning device. The way to adjust the position angle of the swimming pool cleaning device is simple and easy to operate without repeated movement.

[0040] When the swimming pool cleaning device tilts toward the first side to a preset angle, the swimming pool cleaning device changes the power of at least one drainage pump. It is understandable that the drainage direction of the drainage pump after the power is changed has at least a component force parallel to the horizontal plane, and this component force enables the swimming pool cleaning device to achieve lateral movement along the waterline. The lateral movement of the swimming pool cleaning device is not related to the driving wheel. The swimming pool cleaning device achieves lateral movement along the waterline by controlling the drainage pump to enter the lateral movement working mode. Controlling the drainage pump to enter the lateral movement working mode includes at least any one of the following control methods: increasing the power of the first drainage pump, reducing the power of the second drainage pump, and shutting down the second drainage pump. The working mode of the drainage pump can be selected according to actual use needs.

[0041] Specifically, a left drainage pump 21 and a right drainage pump 22 are respectively provided on both sides of the swimming pool cleaning device. The directions of the drainage pumps shown in the figure are for reference only. Figure 2 As shown, from the perspective of a vertical plane parallel to the swimming pool wall, when the length direction of the swimming pool cleaning device is vertically arranged, the projection of the direction of the drainage pump 21 on the left side of the swimming pool cleaning device is a preset angle downward to the left relative to the length direction of the swimming pool cleaning device, and the projection of the direction of the drainage pump 22 on the right side of the swimming pool cleaning device is a preset angle downward to the right. Figure 3 As shown, in a top-down perspective parallel to the horizontal plane, the projection of the direction of the left drainage pump 21 of the swimming pool cleaning equipment deviates to the left and away from the pool wall by a certain angle, and the projection of the direction of the right drainage pump 22 of the swimming pool cleaning equipment deviates to the right and away from the pool wall by a certain angle.

[0042] like Figure 4 and Figure 5 As shown, when the swimming pool cleaning device needs to be translated toward the right to clean the waterline, the rotation speed of the left driving wheel 31 of the swimming pool cleaning device is controlled to be greater than the rotation speed of the right driving wheel 32, so that the swimming pool cleaning device is tilted to the right to a preset angle. Since the drainage direction of the left drainage pump 21 of the swimming pool cleaning device has a horizontal component force, the force applied by the left drainage pump 21 to the swimming pool cleaning device has a horizontal thrust to the right. At this time, the power of at least one drainage pump is changed, such as reducing the power of the right drainage pump 22 or turning off the right drainage pump 22. The thrust applied by the left drainage pump 21 to the swimming pool cleaning device will drive the swimming pool cleaning device to move horizontally to the right along the waterline.

[0043] Similarly, if Figure 6 and Figure 7As shown, when the swimming pool cleaning device needs to be translated toward the left to clean the waterline, the rotation speed of the right driving wheel 32 of the swimming pool cleaning device is controlled to be greater than the rotation speed of the left driving wheel 31, so that the swimming pool cleaning device tilts to the left to a preset angle. Since the drainage direction of the right drainage pump 22 of the swimming pool cleaning device has a horizontal component force, the force applied by the right drainage pump 22 to the swimming pool cleaning device has a horizontal thrust to the left. At this time, the power of at least one drainage pump is changed, such as reducing the power of the left drainage pump 21 or turning off the left drainage pump 21. The thrust applied by the right drainage pump 22 to the swimming pool cleaning device will drive the swimming pool cleaning device to move horizontally to the left along the waterline.

[0044] In one embodiment, in order to keep the swimming pool cleaning device in an inclined posture during the lateral movement, the lateral movement method of the swimming pool cleaning device further includes the step of: during the lateral movement, controlling the speed difference of the driving wheels on both sides of the swimming pool cleaning device to maintain the inclination angle of the swimming pool cleaning device within a predetermined range.

[0045] Specifically, the swimming pool cleaning device also includes a gyroscope. The gyroscope can detect the tilt angle of the swimming pool cleaning device relative to the vertical direction. For example, the preset angle range is 5 to 30 degrees upward and downward. The swimming pool cleaning device detected by the gyroscope is 31 degrees upward and downward, which means that the tilt angle of the swimming pool cleaning device is too large, triggering angle adjustment. By controlling the left and right drive wheels so that the left and right drive wheels adjust their respective rotation speeds, angle adjustment can be achieved, thereby controlling the swimming pool cleaning device to maintain a specific tilt angle. The gyroscope allows the swimming pool cleaning device to adjust its position angle in real time to meet work requirements.

[0046] In one possible implementation, during the lateral movement, when the swimming pool cleaning device detects an abnormal posture, the swimming pool cleaning device can perform corresponding actions to correct the posture or stop the lateral movement. The abnormal posture of the swimming pool cleaning device can be obtained through detection data such as an accelerometer, an IMU, or a position sensor. For example, when the value detected in the Y-axis direction of the accelerometer of the swimming pool cleaning device in the state of climbing the wall becomes larger, it means that the swimming pool cleaning device has an abnormal posture and is away from the wall. At this time, the swimming pool cleaning device shuts down the drainage pump and sinks. After the swimming pool cleaning device lands, it randomly climbs the wall to continue cleaning the waterline or side wall.

[0047] The lateral movement method of the swimming pool cleaning device also includes the step of: after the lateral movement of the swimming pool cleaning device meets a preset condition, controlling the swimming pool cleaning device to move backward. The preset condition is a predetermined movement time or a predetermined distance, or the swimming pool cleaning device senses that the lateral movement has reached a destination. The lateral movement method is used to clean the waterline of a swimming pool, and the destination is the end of the waterline of the side wall of the swimming pool.

[0048] The fixed time for the lateral movement of the swimming pool cleaning device includes: obtaining the time information of the swimming pool cleaning device at the waterline, and judging whether the time of the swimming pool cleaning device at the waterline reaches a preset time. Specifically, a timing module is provided inside the swimming pool cleaning device, and when the timing module reaches the preset time, a down-wall signal is sent to the control system, so that the control system controls the swimming pool cleaning device to end the waterline cleaning process.

[0049] In summary, the lateral movement method of the swimming pool cleaning equipment provided by the present invention includes: when the swimming pool cleaning equipment meets the lateral movement conditions, changing the working mode of the drainage pump of the swimming pool cleaning equipment, so that the swimming pool cleaning equipment moves toward one side, wherein the drainage pump can at least provide water flow driving force toward the opposite side of the one side; controlling the swimming pool cleaning equipment to drive the driving wheels on both sides at a target speed difference, so that the swimming pool cleaning equipment tilts toward one side. The lateral movement method of the swimming pool cleaning equipment solves the problem of the movement trajectory of the swimming pool cleaning equipment at the waterline, so that the swimming pool cleaning equipment can move horizontally along the waterline of the swimming pool, thereby leaving no dead angle on the waterline of the swimming pool and fully covering it for cleaning. The movement of the swimming pool cleaning equipment along the waterline in an inclined posture can increase the coverage area of ​​the cleaning roller brush on the area near the waterline, which is beneficial to improving the cleaning effect.

[0050] The inventive concept is not limited to achieving lateral movement along a waterline to clean the waterline. Likewise, lateral movement may be advantageous when the pool cleaning device is in contact with a generally horizontal surface (e.g., the bottom of a pool) or some other angled surface or a wall or step. Indeed, such lateral movement may also help the pool cleaning device avoid obstacles that protrude from the surface on which it is traveling, or facilitate, for example, spot cleaning of debris found near the nominal forward or rearward travel path of the pool cleaning device. Periodic or occasional lateral movement of the cleaner may also untangle the pool cleaning device to reduce the likelihood of the cleaner becoming stuck in a corner of the pool.

[0051] The above descriptions are merely embodiments of the present invention and are not intended to limit the patent scope of the present invention. Any equivalent transformations made using the contents of the present invention's specification and drawings, or directly or indirectly applied in related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A method for lateral movement of a swimming pool cleaning device, characterized in that: The steps include: When the swimming pool cleaning device meets the lateral movement condition, the drainage pump of the swimming pool cleaning device is controlled to enter the lateral movement working mode, so that the swimming pool cleaning device moves toward one side, wherein after the drainage pump enters the lateral movement working mode, a water flow driving force is provided toward the opposite side of the one side; In the lateral movement working mode, the swimming pool cleaning device is controlled to drive the driving wheels on both sides at a target rotation speed difference, so that the swimming pool cleaning device is tilted toward the one side.

2. The lateral movement method according to claim 1, characterized in that: The lateral movement condition includes at least one of: the swimming pool cleaning device is within a preset range of the waterline, the swimming pool cleaning device reaches a predetermined location, the swimming pool cleaning device senses an obstacle, or the swimming pool cleaning device receives a preset operation task.

3. The lateral movement method according to claim 2, characterized in that: The swimming pool cleaning device being within the preset range of the waterline includes: the water outflow detection device detecting that the swimming pool cleaning device is out of water, or detecting that the motor power of the drainage pump of the swimming pool cleaning device is within a preset range.

4. The lateral movement method according to claim 2, characterized in that: The swimming pool cleaning device arriving at the predetermined location includes: the swimming pool cleaning device is at a step, or at the junction of a pool wall and a pool bottom.

5. The lateral movement method according to claim 2, characterized in that: The swimming pool cleaning device sensing an obstacle comprises: after the swimming pool cleaning device detects the obstacle, the swimming pool cleaning device moves sideways to bypass the obstacle.

6. The lateral movement method according to claim 2, characterized in that: The swimming pool cleaning device receives a preset operation task including a lateral movement instruction from a user.

7. The lateral movement method according to claim 1, characterized in that: The target rotation speed difference balances the forces on the swimming pool cleaning device body so that the swimming pool cleaning device body can be tilted and stay at the waterline.

8. The lateral shifting method according to claim 1, characterized in that: The swimming pool cleaning device is tilted toward the one side at an inclination angle, and the setting conditions of the inclination angle include at least one of the shape and weight of the swimming pool cleaning device, the wall condition of the swimming pool, the driving power of the driving wheel, or a preset cleaning efficiency.

9. The method for lateral movement according to claim 1, characterized in that: The inclination angle of the swimming pool cleaning device is within a predetermined range.

10. The lateral movement method according to claim 1, characterized in that: Controlling the drainage pump to enter the lateral movement working mode includes at least any one of the following control methods: a) increasing the power of the first drainage pump, b) reducing the power of the second drainage pump, c) shutting down the second drainage pump.

11. The lateral movement method according to claim 1, characterized in that: The method further comprises the step of controlling the swimming pool cleaning device to move backward after the lateral movement of the swimming pool cleaning device meets a preset condition.

12. The lateral movement method according to claim 11, characterized in that: The preset condition is that the device moves for a predetermined time or a predetermined distance, or that the swimming pool cleaning device senses that the device has moved sideways and reached a destination.

13. The lateral movement method according to claim 12, characterized in that: The lateral movement method is used to clean the waterline of a swimming pool, and the destination is the end of the waterline of the side wall of the swimming pool.

14. The lateral movement method according to claim 1, characterized in that: The method further comprises the following steps: during the lateral movement, when an abnormal posture of the swimming pool cleaning device is detected, the drainage pump of the swimming pool cleaning device is shut down.

15. The lateral movement method according to claim 14, characterized in that: The abnormal posture of the swimming pool cleaning device is obtained through detection data of at least one of an accelerometer, an IMU or a position sensor.

16. A swimming pool cleaning device, comprising a detection device for detecting whether the swimming pool cleaning device meets the lateral movement condition, a drainage pump capable of lateral drainage, driving wheels on both sides and a control system, characterized in that: The control system can control the drainage pump to enter a lateral movement working mode based on the output result of the detection device, thereby causing the swimming pool cleaning device to move toward one side; wherein, in the lateral movement working mode, the control system controls the speed difference of the driving wheels on both sides of the swimming pool cleaning device to cause the swimming pool cleaning device to tilt toward the one side.

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