Pool cleaning equipment

Abstract

The invention discloses cleaning equipment, which comprises a power device for driving the equipment to transversely move along the extension direction of a waterline of a water pool; the cleaning device is used for cleaning dirt near the waterline when the equipment transversely moves; the sensor is located on the cleaning equipment and used for detecting whether the cleaning equipment has an obstacle in the transverse moving direction or not; and the controller is used for controlling the cleaning equipment to execute an obstacle avoidance action based on a detection result of the sensor. By arranging the sensor, the cleaning equipment can recognize moving obstacles on a path in the process of horizontally moving along the waterline, and when the moving obstacles are recognized, the cleaning equipment can be controlled to execute obstacle avoidance action based on the controller and complete waterline cleaning action; compared with the mode of controlling the cleaning equipment to repeatedly go up and down the wall for cleaning in the prior art, the waterline cleaning efficiency of the cleaning equipment is greatly improved.

Description

Technical Field

[0001] The invention relates to the technical field of machine automatic cleaning, in particular to a pool cleaning device. Background Art

[0002] At present, existing cleaning robots usually cannot achieve obstacle avoidance when performing waterline cleaning tasks. Therefore, when performing waterline cleaning tasks, the main cleaning logic is: first climb up the wall from the bottom of the pool, and after detecting the waterline, the machine starts to move horizontally; then the machine starts to descend along the wall to the bottom of the pool and then moves upward. After detecting the waterline again, it moves horizontally again for a preset distance, and in this way, it performs periodic movements to complete the waterline cleaning of the pool. Therefore, the cleaning efficiency is low. Summary of the invention

[0003] The technical problem to be solved by the present invention is to provide a pool cleaning device to improve the efficiency of cleaning water lines.

[0004] In order to solve the above technical problems, the technical solution adopted by the present invention is:

[0005] A pool cleaning device comprising:

[0006] A power device drives the device to move laterally along the extension direction of the waterline of the pool;

[0007] a cleaning device for cleaning dirt near the waterline as the device moves laterally;

[0008] A sensor, located on the cleaning device, for detecting whether the cleaning device has an obstacle in the lateral moving direction;

[0009] The controller controls the cleaning device to perform obstacle avoidance based on the detection result of the sensor. The beneficial effect of the present invention is that by setting the sensor, the cleaning device can identify moving obstacles on the path during the horizontal movement along the waterline, and when the presence of moving obstacles is identified, the cleaning device can be controlled based on the controller to perform obstacle avoidance and complete the waterline cleaning action; compared with the prior art method of controlling the cleaning device to repeatedly go up and down the wall for cleaning, the efficiency of the cleaning device in cleaning the waterline is greatly improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] Figure 1 is a schematic structural diagram of a pool cleaning device in an embodiment of the present invention;

[0011] Figure 2 A schematic diagram of obstacle avoidance in a pool cleaning device according to an embodiment of the present invention;

[0012] Figure 3 is a schematic diagram of acute angle detection in a pool cleaning device in an embodiment of the present invention;

[0013] Figure 4 is another obstacle avoidance schematic diagram of a pool cleaning device in an embodiment of the present invention;

[0014] Figure 5 Schematic diagram of obtuse angle detection in a pool cleaning device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0015] In order to explain the technical content, achieved objectives and effects of the present invention in detail, the following is an explanation in combination with the implementation modes and the accompanying drawings.

[0016] If an existing cleaning robot wants to fully clean the waterline, it needs to periodically repeat the preset actions. For example, the cleaning robot first climbs up the wall from the bottom of the pool. After detecting the waterline, the machine starts to move 50 cm laterally along the waterline, and then the machine starts to descend along the wall to the bottom of the pool and then moves upward. After detecting the waterline again, it moves 50 cm laterally along the waterline again. In this periodic movement, the waterline of the pool is cleaned. This results in low cleaning efficiency. In response to the above technical problems, an embodiment of the present application provides a cleaning device, wherein the cleaning device can be an underwater cleaning robot.

[0017] The present invention provides a pool cleaning device, comprising: a body, on which is provided:

[0018] A driving wheel, located at the bottom of the device and connected to the body, is used to drive the device to move at least on the surface to be cleaned during operation;

[0019] A filter mechanism is provided inside the machine body and is used to filter the guided fluid and separate the dirt into a dust box inside the filter mechanism;

[0020] The water spray mechanism is arranged on the machine body and is used to discharge the filtered fluid from the machine body and form thrust through the movement of the fluid;

[0021] A cleaning device, arranged on the machine body, for cleaning dirt on the walking path of the device;

[0022] Through the above structure, the pool cleaning device can clean the planned path.

[0023] For details, please refer to Figure 1, a pool cleaning device, comprising: a power device, driving the device to move laterally along the extension direction of the waterline of the pool; for example, in an optional embodiment, the power device includes a water spray mechanism and / or a driving wheel, and horizontal movement, steering, vertical movement and other movements are achieved by controlling the water spray mechanism and / or the driving wheel differential. A cleaning device, cleaning dirt near the waterline when the device moves laterally. A sensor, located on the cleaning device, is used to detect whether the cleaning device has an obstacle in the lateral moving direction; in an optional embodiment, the sensor includes an ultrasonic sensor, an infrared sensor, a radar, a TOF sensor or an image sensor; for example, a ranging sensor can be an ultrasonic, infrared distance detection device or other sensor with a ranging function, which determines the distance between the moving obstacle and the cleaning device by emitting a signal and receiving a reflected signal. At the same time, the setting position and number of the ranging sensor can be set according to the actual detection needs and detection methods, for example, a corresponding number of ranging sensors are set in the bottom, front end, side and other directions of the cleaning device, respectively, to detect the distance between the moving obstacles in the corresponding direction of the cleaning device. A controller, based on the moving obstacle, controls the cleaning device to perform an obstacle avoidance action. By setting up a ranging sensor, the cleaning equipment can identify moving obstacles on the path during its horizontal movement along the waterline, and when a moving obstacle is identified, the cleaning equipment can be controlled based on the controller to perform obstacle avoidance actions and complete the waterline cleaning action. Compared with the prior art method of controlling the cleaning equipment to repeatedly go up and down the wall for cleaning, the efficiency of the cleaning equipment in cleaning the waterline is greatly improved.

[0024] In some embodiments, the moving obstacle includes one of the following situations: an obstacle located on a wall, or a corner formed by two walls, wherein the corner includes an obtuse angle, an acute angle, or a right angle. Figure 5 As shown, an obtuse angle represents an exterior angle between two walls; Figure 3 As shown, an acute angle or a right angle represents an inner angle between two walls. By further classifying the moving obstacles into obstacles on the wall, an obtuse angle formed by two walls, and an acute angle or a right angle formed by two walls, the cleaning device can be controlled to perform different obstacle avoidance actions based on the different types of moving obstacles identified.

[0025] In some embodiments, the sensor is located on one side of the cleaning device and can be used to detect obstacles on the wall or the corner formed by two walls. That is, the sensor can simultaneously detect obstacles on the wall and the right angle or acute angle formed by two walls. For example, in an optional embodiment, the sensor obtains the distance to the obstacle or wall; when the distance is less than a first preset value, the cleaning device is controlled to perform an obstacle avoidance action, so that the cleaning device can avoid the obstacle or wall in time; preferably, the first preset value is in the range of 15-60cm.

[0026] For example, in another optional embodiment, the sensor is located at the bottom of the cleaning device and can be used to detect the obtuse angle formed by two walls. The sensor detects the obtuse angle formed by the two walls to detect the obtuse angle during movement. For example, in an optional embodiment, the sensor obtains the distance from the wall; when the distance is greater than a second preset value, the cleaning device is controlled to perform an obstacle avoidance action, so that the cleaning device can avoid the obtuse angle of the wall in time; preferably, the second preset value is in the range of 3-10cm. In a further embodiment, the obstacle avoidance action includes descending to the bottom surface of the pool, and then turning along the obtuse angle to the waterline position on the other wall for cleaning. Control of the cleaning device after encountering an obtuse angle is achieved, thereby improving the cleaning efficiency of the waterline.

[0027] In some embodiments, the obstacle avoidance action includes descending to the bottom of a wall or a pool and moving underwater at the bottom of the wall or the pool until the conditions for leaving the obstacle are met, and then climbing up the wall to the waterline for cleaning. This allows the cleaning equipment to effectively avoid obstacles, and after avoiding obstacles, it moves toward the waterline again and restarts horizontal movement after reaching the waterline, so that the waterline can be cleaned efficiently. For example, descending to the bottom of the wall reduces the movement of going up and down the wall, which can improve the cleaning efficiency. Descending to the bottom of the pool can improve the cleaning efficiency of the waterline when facing a scene where you need to go up and down the wall again.

[0028] The condition for escaping from the obstacle includes that the sensor in front, on the side or at the bottom of the cleaning device cannot sense the obstacle or moves a predetermined distance underwater. For example, the detected first distance value exceeds the first preset value by 15-60 cm, and the second distance value exceeds the second preset value by 3-10 cm.

[0029] In some embodiments, the underwater movement includes lateral movement, forward movement after turning, or diagonal movement after turning. Obstacle avoidance can be achieved in different movement modes by performing lateral movement, forward movement after turning, or diagonal movement after turning.

[0030] In a further embodiment, the moving the predetermined distance underwater includes trying to see if it can crawl to the waterline after moving the predetermined distance. For example, the machine moves 50 centimeters horizontally on the bottom of the pool to detect whether it can crawl to the waterline at this time. If there is no obstacle, it crawls to the waterline to continue cleaning. If there is an obstacle, it continues to move the predetermined distance and then tries to see if it can crawl to the waterline, and so on, until the obstacle is avoided and the machine crawls to the waterline to complete the waterline cleaning.

[0031] In some embodiments, a water outlet detection sensor is further included to detect whether at least a portion of the device is located above the waterline. By providing a water detection sensor, it is possible to determine whether the cleaning device has reached the waterline. At the same time, when the cleaning device moves horizontally along the waterline, the distance difference between the cleaning device and the waterline can be adjusted in real time to control the cleaning device to move in a straight line along the waterline.

[0032] A cleaning device provided by the present invention is applied to water line cleaning scenarios such as swimming pools and reservoirs, and is described below through specific implementation methods:

[0033] Embodiment 1

[0034] Please refer to Figure 1 , a cleaning device comprising:

[0035] A power device drives the device to move laterally along the extension direction of the waterline of the pool;

[0036] a cleaning device for cleaning dirt near the waterline as the device moves laterally;

[0037] The sensor is located on the cleaning device and is used to detect whether the cleaning device has obstacles in the lateral moving direction; specifically, for example, a group of sensors is set on one side of the cleaning device, which can be used to detect obstacles on the wall or the acute angle or right angle formed by two walls; and another group of sensors is set at the bottom of the cleaning device, which can be used to detect the obtuse angle formed by two walls; at the same time, a sensor is also set in front of the cleaning device, which can be used to detect the waterline position or obstacles above. That is, it includes a first sensor for identifying obstacles in the direction of the waterline or the acute angle or right angle between the walls; a second sensor for identifying the signal generated by the waterline or the obstacle in the vertical direction of the waterline; a third sensor for identifying the wall at the bottom of the cleaning device, that is, identifying the obtuse angle between the walls; wherein the first sensor, the second sensor and the third sensor include an acoustic sensor, an infrared sensor, a radar, a TOF sensor or an image sensor.

[0038] The controller controls the cleaning device to perform an obstacle avoidance action based on the detection result of the sensor. The moving obstacle includes one of the following situations: an obstacle located on a wall, or a corner formed by two walls, wherein the corner includes an obtuse angle, an acute angle, or a right angle.

[0039] The specific cleaning method of the cleaning equipment is as follows:

[0040] Control the cleaning equipment to climb from the pool bottom to the pool wall, and detect the waterline position through the water outlet detection sensor in front of it. When the waterline is detected, the machine stops climbing and starts to move horizontally along the waterline. The specific control method is as follows:

[0041] When the cleaning device moves vertically toward the waterline, the water outlet detection sensor is controlled to obtain the distance between the cleaning device and the waterline; when the distance value reaches the preset distance threshold, it is determined that the cleaning device has reached the waterline. That is, the distance between the cleaning device and the waterline is obtained in real time through the water outlet detection sensor, which is used to determine the position where the cleaning device has reached the waterline. At the same time, when the cleaning device moves horizontally along the waterline, the distance difference between the cleaning device and the waterline is adjusted in real time to control the cleaning device to move in a straight line along the waterline.

[0042] When the cleaning device continues to move horizontally along the waterline, the first sensor installed on the left side of the cleaning device detects obstacles or walls. When an obstacle or a wall is detected, the scene of this horizontal movement needs to be ended, and then the machine starts to move down along the wall from the waterline position. The specific control method is as follows:

[0043] The sensor acquires the distance to the obstacle or wall; when the distance is less than a first preset value, the cleaning device is controlled to perform an obstacle avoidance action; preferably, the first preset value is within the range of 15-60 cm.

[0044] Perform obstacle avoidance maneuvers.

[0045] In an optional embodiment, controlling the cleaning device to perform an obstacle avoidance action includes:

[0046] Descend to the bottom of the pool and move underwater at the bottom of the pool until the conditions for leaving the obstacles are met, then climb up to the waterline position for cleaning.

[0047] Please refer to Figure 2 That is, after the first sensor on the left detects the obstacle to the specified distance, it retreats to the bottom of the pool, then turns left and moves forward a preset distance, for example, the machine moves 50 cm horizontally on the bottom of the pool to avoid the obstacle; then turns right to the wall, and detects whether there is an obstacle above based on the second sensor. If not, it goes up the wall to the waterline to continue cleaning; if there is an obstacle, it continues to retreat to the bottom of the pool, moves forward a preset distance, turns right to detect whether there is an obstacle above, and so on, until the waterline cleaning is completed after avoiding the obstacle.

[0048] Please refer to Figure 3 , wherein, when the corresponding distance value received does not change, it is determined that the obstacle is a wall, that is, the cleaning device encounters a right angle or acute angle between the walls at this time, and the cleaning device is controlled to perform obstacle avoidance action: descend to the surface of the pool bottom and turn along a right angle or acute angle to go to the waterline position on the other wall for cleaning; that is, the cleaning device is controlled to turn along the edge and then go up to the other wall, move toward the waterline direction, and restart lateral movement after reaching the waterline position to achieve cleaning of the waterline of the other wall.

[0049] In another optional embodiment, controlling the cleaning device to perform an obstacle avoidance action includes:

[0050] Descend to the bottom of the wall or move underwater at the bottom of the wall until the condition of leaving the obstacle is met, then climb up the wall to the waterline position for cleaning. When the cleaning device moves along the waterline cleaning direction at the bottom of the wall, the second sensor continuously detects whether there is an obstacle above; when no obstacle is detected, it stops moving and then moves up to the waterline position for cleaning.

[0051] At the same time, when the cleaning device moves to the edge of the pool wall, it is determined whether the received distance value changes. If it does not change, it is determined to be a wall; the cleaning device is controlled to perform the above wall changing action.

[0052] Please refer to Figure 4 That is, after the first sensor on the left detects the obstacle at a specified distance, it retreats to the bottom of the current pool wall and does not go down to the bottom of the pool; it moves to the left by controlling the water spray mechanism and / or the drive wheel differential, and uses the upper sensor (second sensor) to detect whether there are obstacles above. If not, it goes up the wall to the water line to continue cleaning; if there is an obstacle, it continues to move forward until there is no obstacle above, then it goes up the wall to the water line to continue cleaning, and so on, until the water line is cleaned.

[0053] Please refer to Figure 5 When the cleaning device encounters an obtuse angle, the sensor under the cleaning device can detect the change in distance and identify the obtuse angle; specifically, the distance to the wall is obtained through the sensor; when the distance is greater than a second preset value, the cleaning device is controlled to perform an obstacle avoidance action: descend to the surface of the pool bottom, and then turn along the obtuse angle to go to the waterline position on the other wall for cleaning; preferably, the second preset value is within the range of 3-10 cm, that is, when the cleaning device moves horizontally along the waterline, the distance between the cleaning device and the wall is obtained; when the distance value is greater than the second preset distance threshold or has no value (that is, exceeds the acceptable distance), it indicates that the bottom of the cleaning machine is empty, and it is judged that the current movement is to the obtuse angle of the wall, and the cleaning device is controlled to dive to the bottom of the pool and turn, then go back to the wall and move toward the waterline, and restart horizontal movement after reaching the waterline position.

[0054] To sum up, the pool cleaning device provided by the present invention can enable the cleaning device to maintain horizontal movement along the waterline until it encounters an obstacle or an acute angle or an obtuse angle and needs to change its movement mode. Then it stops lateral movement and executes obstacle avoidance logic to move a distance from the bottom of the pool or the edge of the wall, climbs up the pool wall again to the vicinity of the waterline, and restarts lateral movement until a loop is detected, ending the waterline cleaning action, thereby improving the waterline cleaning efficiency.

[0055] 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 pool cleaning device, characterized in that: include: A power device drives the device to move laterally along the extension direction of the waterline of the pool; a cleaning device for cleaning dirt near the waterline as the device moves laterally; A sensor, located on the cleaning device, for detecting whether the cleaning device has an obstacle in the lateral moving direction; The controller controls the cleaning device to perform obstacle avoidance based on the detection result of the sensor.

2. The device according to claim 1, characterized in that The sensor includes an ultrasonic sensor, an infrared sensor, a radar, a TOF sensor or an image sensor.

3. The device according to claim 1, characterized in that The obstacles include one of the following: An obstacle located on a wall, or a corner formed by two walls, wherein the corner may be an obtuse angle, an acute angle, or a right angle.

4. The device according to claim 2, characterized in that The sensor is located at one side of the cleaning device and can be used to detect obstacles on the wall or a corner formed by two walls.

5. The device according to claim 3, characterized in that The sensor acquires the distance to the obstacle or wall; when the distance is less than a first preset value, the cleaning device is controlled to perform an obstacle avoidance action; preferably, the first preset value is within the range of 15-60 cm.

6. The device according to any one of claims 1 to 5, characterized in that The obstacle avoidance action includes descending to the bottom of a wall or a pool and moving underwater at the bottom of the wall or the pool until the conditions for leaving the obstacle are met, and then climbing the wall to the waterline position for cleaning.

7. The device according to claim 6, characterized in that The condition for escaping from the obstacle includes that the sensor at the front, side or bottom of the cleaning device cannot sense the obstacle or moves a predetermined distance underwater.

8. The device according to claim 6, characterized in that, The underwater movement includes lateral movement, forward movement after turning, or oblique movement after turning.

9. The device according to claim 7 or 8, characterized in that The moving a predetermined distance underwater includes attempting to see if the user can crawl to the waterline after moving the predetermined distance.

10. The device according to claims 1-5, characterized in that The power device includes a water spray mechanism and / or a driving wheel.

11. The device according to claims 1-5, characterized in that A water outlet detection sensor is also included for detecting whether at least a portion of the device is located above the waterline.

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