Swimming pool cleaning robot, swimming pool cleaning system and filter blockage detection method

Abstract

The swimming pool cleaning robot comprises a main body, a controller, a pressure detection device, a filter and a water pump, the filter and the water pump are arranged in the main body, a water inlet and a water outlet are formed in the main body, a water flow channel communicated with the water inlet and the water outlet is formed in the main body, the filter is arranged in the water flow channel, and at least part of the water pump is arranged in the water flow channel; wherein the controller is in communication connection with a pressure detection device, and the pressure detection device is used for detecting a pressure value which is generated when the water outlet sprays water and acts on at least one position of the main body. Correspondingly, the invention further discloses a swimming pool cleaning system which comprises user side equipment, a cloud server and the swimming pool cleaning robot. In addition, the invention further discloses a filter blockage detection method which is implemented based on the swimming pool cleaning robot, and the filter blockage detection method can collect the pressure value acting on the main body when the water outlet sprays water so as to obtain the blockage information of the filter.

Description

Technical Field

[0001] The present invention relates to the technical field of environmental protection equipment, and in particular to a swimming pool cleaning robot, a swimming pool cleaning system and a filter clogging detection method. Background Art

[0002] As we all know, swimming pools are the main places for people to swim, and some garbage or bacteria will appear in swimming pools during use, so swimming pools need to be cleaned regularly. Among them, currently commonly used swimming pool cleaning robots (including water swimming pool cleaning robots and underwater swimming pool cleaning robots) are used to clean swimming pools. They can move and clean under the control of staff, and can absorb water in the swimming pool, and then discharge the absorbed water from the water outlet after filtering it through a filter.

[0003] However, in the actual application of the pool cleaning robot, the filter screen of the pool cleaning robot after long-term work will absorb a lot of dust. If it is not cleaned for a long time, the filter screen will be blocked, resulting in reduced pumping efficiency, thereby reducing the cleaning ability. In severe cases, it may even cause the posture of the pool cleaning robot to be abnormal.

[0004] Currently, the existing swimming pool cleaning robots cannot effectively detect the degree of filter blockage, and users cannot know the filter contamination of the swimming pool cleaning robot in time. Therefore, it is urgent to design a swimming pool cleaning robot filter blockage detection system and method to facilitate timely detection of the filter blockage degree. Summary of the invention

[0005] The technical problem to be solved by the present invention is to provide a new swimming pool cleaning robot, a swimming pool cleaning system and a filter blockage detection method, which can timely detect the blockage degree of the filter of the swimming pool cleaning robot so as to prompt the user to clean the filter of the swimming pool cleaning robot, thereby ensuring the normal operation of the swimming pool cleaning robot.

[0006] In order to solve the above technical problems, the technical solution of the present invention is: a swimming pool cleaning robot, comprising a main body, a filter and a water pump arranged in the main body, the main body is provided with a water inlet and a water outlet, the main body is provided with a water flow channel connected with the water inlet and the water outlet, the filter is arranged in the water flow channel, the water pump is at least partially arranged in the water flow channel, and it also includes a controller and at least one pressure detection device, the controller is communicatively connected with at least one of the pressure detection devices; wherein the pressure detection device is used to detect the pressure value acting on at least one position of the main body generated when the water outlet sprays water.

[0007] Furthermore, the swimming pool cleaning robot described in the present invention also includes a driving device, which is connected to the main body and in contact with the pool wall of the swimming pool, and the pressure detection device is arranged on the driving device.

[0008] Furthermore, in the swimming pool cleaning robot described in the present invention, the pressure detection device is arranged on the contact surface between the driving device and the pool wall.

[0009] Furthermore, in the swimming pool cleaning robot described in the present invention, the driving device includes a driving wheel, and the pressure detection device is arranged on the axle of the driving wheel.

[0010] Furthermore, the swimming pool cleaning robot described in the present invention also includes an alarm device, which is arranged on the main body and is electrically connected to the controller; wherein the alarm device includes at least one of an indicator light, a buzzer and a vibrator.

[0011] Furthermore, the swimming pool cleaning robot described in the present invention further includes a communication device, which is arranged in the main body and is electrically connected to the controller.

[0012] Correspondingly, another object of the present invention is to provide a swimming pool cleaning system, which specifically includes: a user-end device, a cloud server and the above-mentioned swimming pool cleaning robot of the present invention, the swimming pool cleaning robot is directly or indirectly communicated with the cloud server, and the user-end device is wirelessly connected to the cloud server.

[0013] In addition, another object of the present invention is to provide a method for detecting filter blockage of a swimming pool cleaning robot. The method for detecting filter blockage of a swimming pool cleaning robot is implemented based on the swimming pool cleaning robot of the above-mentioned design of the present invention. The method can collect the pressure value acting on the main body when water is sprayed from the water outlet to obtain filter blockage information.

[0014] Therefore, in the swimming pool cleaning robot filter clogging detection method designed by the present invention, which is applied to the above-mentioned swimming pool cleaning robot of the present invention, it includes the steps of:

[0015] Using a pressure detection device to detect a pressure value at at least one position on the main body generated when the water outlet of the pool cleaning robot sprays water;

[0016] The clogging degree of the filter is determined according to the pressure value at the at least one position and the mapping relationship between the pre-calibrated pressure magnitude and the clogging degree of the filter.

[0017] Furthermore, the method for detecting filter blockage of a swimming pool cleaning robot according to the present invention specifically includes the following steps:

[0018] Using a pressure detection device to detect pressure values ​​at at least two positions on the main body generated when the water outlet of the swimming pool cleaning robot sprays water;

[0019] Obtaining a first pressure average value or a first pressure weighted average value according to the pressure values ​​at the at least two positions;

[0020] The clogging degree of the filter is determined according to the mapping relationship between the first pressure average value or the first pressure weighted average value and the pre-calibrated pressure magnitude and the clogging degree of the filter.

[0021] Furthermore, the method for detecting filter blockage of a swimming pool cleaning robot according to the present invention specifically includes the following steps:

[0022] Using a pressure detection device to detect pressure values ​​at at least two different time points at at least one position on the main body generated when the water outlet of the swimming pool cleaning robot sprays water;

[0023] According to the pressure values ​​at at least two different time points at the at least one position, a second pressure average value or a second pressure weighted average value at all single positions is obtained, wherein the second pressure average value or the second pressure weighted average value at the single position is the pressure value at the position;

[0024] The clogging degree of the filter is determined according to the pressure value at at least one position and the mapping relationship between the pre-calibrated pressure magnitude and the clogging degree of the filter.

[0025] The beneficial effects of the present invention are as follows: the inventor optimizes and designs a new swimming pool cleaning robot, swimming pool cleaning system and filter blockage detection method, which can use a pressure detection device to detect the pressure value on the main body of the swimming pool cleaning robot when the water outlet sprays water; when the swimming pool cleaning robot performs cleaning movements underwater, the water will flow out of the water outlet through the water flow channel. At this time, since the water flow has a flow rate and a flow rate, a reaction force will be generated when the water outlet sprays water, which is usually manifested as a downward pressure on the main body of the swimming pool cleaning robot; at this time, the pressure detection device provided on the swimming pool cleaning robot can monitor the flow rate of the water flow by detecting the pressure value acting on the main body of the swimming pool cleaning robot, thereby judging the degree of filter blockage of the swimming pool cleaning robot based on the water flow rate. Therefore, the swimming pool cleaning robot designed by the present invention can use the pressure detection device to simply and effectively judge the degree of filter blockage, and its detection accuracy is high, and it has good promotion prospects and application value. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 This is a schematic structural diagram of a swimming pool cleaning robot according to an embodiment of the present invention;

[0027] Figure 2 The schematic diagram shows the structure of the pressure detection device arranged on the contact surface between the driving device and the swimming pool wall;

[0028] Figure 3 The schematic diagram shows the structure of the pressure detection device arranged on the axle of the driving wheel.

[0029] Figure 4 The figure is a schematic diagram of the data transmission principle of the swimming pool cleaning system according to one embodiment of the present invention.

[0030] Figure 5 The present invention is a flowchart of the steps of the method for detecting filter blockage of a swimming pool cleaning robot in one embodiment.

[0031] Description of labels:

[0032] 1. Main body; 11. Water inlet; 12. Water outlet;

[0033] 2. Pressure detection device;

[0034] 3. Water pump;

[0035] 4. Controller;

[0036] 5. Communication device;

[0037] 6. driving device; 61. driving wheel; 611. axle;

[0038] 7. Sealed cabin;

[0039] 8. Swimming pool; DETAILED DESCRIPTION

[0040] 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.

[0041] Please refer to Figure 1 , Figure 2 and Figure 3As shown, the present invention designs a swimming pool cleaning robot, which includes a main body 1, a filter and a water pump arranged in the main body 1, the main body 1 is provided with a water inlet 11 and a water outlet 12, the main body 1 is provided with a water flow channel connected with the water inlet 11 and the water outlet 12, the filter is arranged in the water flow channel, and the water pump is at least partially arranged in the water flow channel. The swimming pool cleaning robot also includes a controller 4 and at least one pressure detection device 2, and the controller 4 is communicatively connected with at least one of the pressure detection devices 2; wherein the pressure detection device 2 is used to detect the pressure value acting on at least one position of the main body 1 when the water outlet 12 sprays water.

[0042] From the above description, it can be seen that in the present invention, the inventor has optimized and designed a new swimming pool cleaning robot, which can use the pressure detection device 2 to detect the pressure value acting on the main body 1 of the swimming pool cleaning robot when the water outlet 12 sprays water, thereby simply and effectively obtaining the current blockage degree of the filter.

[0043] When the swimming pool cleaning robot is actually used, the swimming pool cleaning robot can use a water pump to pump sewage from the water inlet 11 into the main body 1, so that the sewage flows in the water flow channel, so that the sewage entering the water flow channel can be discharged from the water outlet 12 after being filtered by the filter.

[0044] It should be pointed out that, in the current swimming pool cleaning robot, the water outlet 12 is often arranged at the top of the swimming pool cleaning robot. The water outlet 12 will generate a reaction force when draining water, which is generally manifested as a downward pressure on the swimming pool cleaning robot. That is to say, when the swimming pool cleaning robot performs cleaning movements underwater, water will flow out from the water outlet 12 through the water flow channel. At this time, since the water flow has a flow rate and a flow velocity, a reaction force will be generated when the water outlet 12 sprays water. At this time, at least one pressure detection device 2 provided on the swimming pool cleaning robot can detect the above reaction force or the component of the above reaction force to obtain the pressure value acting on the main body 1 of the swimming pool cleaning robot when the water outlet 12 sprays water. The above pressure detection device can transmit the detected pressure value data to the controller 4 to determine the blockage degree of the filter through the controller 4: the smaller the pressure value acting on the main body 1 detected by the pressure detection device 2, the slower the flow velocity of the water sprayed from the water outlet 12, and the more serious the blockage degree of the filter at this time; the larger the pressure value acting on the main body 1 detected by the pressure detection device 2, the faster the flow velocity of the water sprayed from the water outlet 12, and the lighter the blockage degree of the filter at this time.

[0045] When actually designing such a swimming pool cleaning robot, the operator can also pre-set a preset threshold value. When the pressure value acting on the swimming pool cleaning robot body 1 detected by the pressure detection device 2 is greater than the above preset threshold value, it can be judged that the current flow rate of the swimming pool cleaning robot is normal and it can maintain normal cleaning of the swimming pool 8; conversely, if the pressure value acting on the swimming pool cleaning robot body 1 detected by the pressure detection device 2 is less than the preset threshold value, it can be judged that the current water flow rate is not good and the filter of the swimming pool cleaning robot is clogged, and an alarm is promptly given to the user to prompt the user to clean the filter.

[0046] It can be seen that the swimming pool cleaning robot designed by the present invention can use the pressure detection device 2 to timely detect the degree of filter blockage, so as to promptly warn the user when the filter is blocked. It has high detection accuracy and does not require the installation of a water pressure measuring device. It is easy to seal and has good promotion prospects and application value.

[0047] It should be noted that, in practical applications, the pressure detection device 2 of the present invention may include but is not limited to at least one of a strain gauge pressure sensor, a piezoresistive pressure sensor, a capacitive pressure sensor and a piezoelectric pressure sensor.

[0048] Take the strain gauge pressure sensor as an example: when pressure acts directly on the surface of the measuring diaphragm of the strain gauge pressure sensor, causing the measuring diaphragm to produce a slight deformation, the high-precision circuit on the measuring diaphragm transforms this slight deformation into a highly linear voltage signal that is proportional to the pressure and proportional to the excitation voltage, and then uses a chip to convert this voltage signal into an industrial standard 4-20mA current signal or 1-5V voltage signal. Among them, in the above-mentioned strain gauge pressure sensor, since the measuring diaphragm adopts a standardized integrated circuit and contains linear and temperature compensation circuits, it can achieve high precision and high stability, and the two-wire chip used in the transmission circuit can ensure the output of a two-wire 4-20mA current signal.

[0049] Moreover, in specific applications, the strain type pressure sensor has certain anti-corrosion capabilities and excellent waterproof performance. It is small in size, light in weight, easy to install and debug, and has high accuracy and stability. It can directly sense pressure without being affected by external environmental media.

[0050] Furthermore, the swimming pool cleaning robot described in the present invention also includes a driving device 6, which is connected to the main body 1 and contacts the pool wall of the swimming pool 8, and the pressure detection device 2 is arranged on the driving device 6.

[0051] In the present invention, the pool cleaning robot may further include a driving device 6, which can be connected to the main body 1 and is used to drive the pool cleaning robot to move in the pool 8. In practical applications, the driving device 6 may be a driving wheel 61 and / or a crawler.

[0052] Furthermore, in the swimming pool cleaning robot described in the present invention, the pressure detection device 2 is arranged on the contact surface between the driving device 6 and the pool wall.

[0053] Furthermore, in the swimming pool cleaning robot described in the present invention, the driving device 6 includes a driving wheel 61 , and the pressure detection device 2 is disposed on the wheel axle 611 of the driving wheel 61 .

[0054] In the above technical solution of the present invention, in order to facilitate the detection of the pressure value acting on the swimming pool cleaning robot body 1 when the water outlet 12 sprays water, the user can specifically set a pressure detection device 2 on the driving device 6 to obtain a more accurate detection result.

[0055] It should be pointed out that if Figure 2 As shown, in certain embodiments, when the driving device 6 specifically includes a track, the pressure detecting device 2 can be specifically arranged on the contact surface between the track and the wall of the swimming pool 8, so that the pressure detecting device 2 can directly contact the wall of the swimming pool 8, thereby more easily collecting the pressure value acting on the swimming pool cleaning robot body 1 when the water outlet 12 sprays water.

[0056] Of course, if Figure 3 As shown, in other embodiments, when the above-mentioned driving device 6 specifically includes a driving wheel 61, the operator can specifically set the pressure detection device 2 on the axle 611 of the driving wheel 61, so that the pressure detection device 2 set on the axle 611 can continuously collect the pressure value acting on the swimming pool cleaning robot body 1 when the water outlet 12 sprays water.

[0057] Furthermore, the swimming pool cleaning robot described in the present invention also includes an alarm device, which is arranged on the main body 1 and is electrically connected to the controller 4; wherein the alarm device includes at least one of an indicator light, a buzzer and a vibrator.

[0058] Currently, when the pool cleaning robot is cleaning for a period of time, the filter will be clogged due to the accumulation of dust, causing the water intake to slowly decrease and the drainage to decrease, thereby causing the cleaning ability of the pool cleaning robot to continue to decline. If the pool 8 is particularly dirty, the filter of the pool cleaning robot will be clogged quickly, and subsequent cleaning will be ineffective, which is likely to cause user complaints.

[0059] Therefore, when the swimming pool cleaning robot is actually applied, an alarm device can also be set on the swimming pool cleaning robot. The alarm device can include at least one of an indicator light, a buzzer and a vibrator. Once the pressure detection device 2 detects that the pressure value acting on the swimming pool cleaning robot body 1 when the water outlet 12 sprays water is lower than a preset threshold, it is determined that the current filter is blocked; at this time, the pressure detection device 2 can send a blockage signal to the controller 4, and the controller 4 can send an alarm signal to the alarm device after receiving the blockage signal. At this time, the indicator light of the alarm device can light up, the buzzer can sound an alarm, and the vibrator can start to vibrate, so as to prompt the user to clean the filter of the swimming pool cleaning robot in time.

[0060] Furthermore, the swimming pool cleaning robot described in the present invention further includes a communication device 5 , which is disposed in the main body 1 and is electrically connected to the controller 4 .

[0061] In the present invention, in order to facilitate the swimming pool cleaning robot to transmit its own information about filter blockage to an external device, in certain preferred embodiments, a communication device 5 may also be provided in the swimming pool cleaning robot. The communication device 5 is electrically connected to the controller 4 and can be wirelessly connected to the external device.

[0062] In addition, the present invention also discloses a swimming pool cleaning system, which specifically includes: a user-end device, a cloud server and the above-mentioned swimming pool cleaning robot of the present invention, the swimming pool cleaning robot is directly or indirectly communicated with the cloud server, and the user-end device is wirelessly connected with the cloud server.

[0063] See also Figure 4 It can be seen that in actual application, the user can control the above-mentioned pool cleaning robot to connect directly or indirectly to the cloud server, thereby sending the blockage status of the pool cleaning robot filter to the cloud server. At this time, the user uses the user-end device (mobile phone or tablet computer) carried with him to obtain the information of the cloud server, and he can know that the filter of the pool cleaning robot is blocked.

[0064] It should be noted that, in some cases, the above-mentioned swimming pool cleaning robot can directly communicate with the cloud server wirelessly, and in some preferred embodiments, the above-mentioned swimming pool cleaning robot can also achieve an indirect communication connection with the cloud server through a gateway on the shore.

[0065] In addition, the present invention also provides a method for detecting filter blockage of a swimming pool cleaning robot. The method for detecting filter blockage of a swimming pool cleaning robot is implemented based on the swimming pool cleaning robot designed as above, and comprises the following steps:

[0066] The pressure detection device 2 is used to detect the pressure value at at least one position on the main body 1 generated when the water outlet 12 of the swimming pool cleaning robot sprays water;

[0067] The clogging degree of the filter is determined according to the pressure value at the at least one position and the mapping relationship between the pre-calibrated pressure magnitude and the clogging degree of the filter.

[0068] Combined with reference Figure 5 As shown, in the above technical solution of the present invention, the pressure detection device 2 arranged on the swimming pool cleaning robot may include at least one pressure sensor (including a strain gauge pressure sensor, a piezoresistive pressure sensor, a capacitive pressure sensor and a piezoelectric pressure sensor), and these pressure sensors may be arranged at different positions of the swimming pool cleaning robot respectively. The pressure detection device 2 may use these pressure sensors to collect the pressure value at at least one position on the main body 1 generated when the water outlet 12 of the swimming pool cleaning robot sprays water.

[0069] For example, in some embodiments, the pressure detection device 2 may include four pressure sensors, which may be disposed on the axles 611 of the four driving wheels 61 of the pool cleaning robot. The four pressure sensors may be used to detect the pressure values ​​at four different positions on the main body 1 generated when the water outlet 12 sprays water.

[0070] Furthermore, the method for detecting filter blockage of a swimming pool cleaning robot according to the present invention specifically includes the following steps:

[0071] The pressure detection device 2 is used to detect the pressure values ​​at at least two positions on the main body 1 generated when the water outlet 12 of the swimming pool cleaning robot sprays water;

[0072] Obtaining a first pressure average value or a first pressure weighted average value according to the pressure values ​​at the at least two positions;

[0073] The clogging degree of the filter is determined according to the mapping relationship between the first pressure average value or the first pressure weighted average value and the pre-calibrated pressure magnitude and the clogging degree of the filter.

[0074] In the above technical solution of the present invention, in order to ensure the detection accuracy of the pressure detection device 2 and thus reduce misjudgment, in certain specific implementations, when it is necessary to detect the pressures at multiple positions on the swimming pool cleaning robot, the pressure detection device 2 can be used to detect the pressure values ​​at multiple positions on the main body 1 generated when the water outlet 12 of the swimming pool cleaning robot sprays water, and a first pressure average value or a first pressure weighted average value is obtained based on the pressure values ​​at these positions, so that the first pressure average value or the first pressure weighted average value obtained from the pressure values ​​detected at multiple positions is regarded as the pressure value that the water outlet 12 sprays water and finally acts on the main body 1, thereby confirming the degree of blockage of the filter.

[0075] Furthermore, the method for detecting filter blockage of a swimming pool cleaning robot according to the present invention specifically includes the following steps:

[0076] The pressure detection device 2 is used to detect the pressure values ​​at at least two different time points at at least one position on the main body 1 generated when the water outlet 12 of the swimming pool cleaning robot sprays water;

[0077] According to the pressure values ​​at at least two different time points at the at least one position, a second pressure average value or a second pressure weighted average value at all single positions is obtained, wherein the second pressure average value or the second pressure weighted average value at the single position is the pressure value at the position;

[0078] The clogging degree of the filter is determined according to the pressure value at at least one position and the mapping relationship between the pre-calibrated pressure magnitude and the clogging degree of the filter.

[0079] In the above technical solution of the present invention, in some other preferred embodiments, in order to ensure the detection accuracy of the pressure detection device 2 and thus reduce misjudgment, the degree of filter blockage can also be determined by combining the pressure values ​​at different times.

[0080] Embodiment 1:

[0081] Please refer to Figure 1 As shown, the first embodiment of the present invention is: a swimming pool cleaning system, which includes a cloud server, a swimming pool cleaning robot, a user-end device and a gateway on the shore. The swimming pool cleaning robot can achieve indirect communication connection with the cloud server through the gateway on the shore, and the user-end device can also establish a wireless communication connection with the cloud server, and the user-end device can specifically include a mobile phone and a tablet computer. In this embodiment, the swimming pool cleaning robot specifically includes: a main body 1 and a filter, a water pump 3, a controller 4 and a communication device 5 arranged in the main body 1, and the main body 1 is provided with a water inlet 11 and a water outlet 12, and the main body 1 is provided with a water flow channel connected to the water inlet 11 and the water outlet 12 respectively.

[0082] In the first embodiment of the present invention, the water pump 3 is at least partially disposed in the water flow channel, the filter is disposed in the water flow channel, and the controller 4 is respectively connected to the water pump 3 and the communication device 5; at the same time, an alarm device is also provided on the main body 1, which includes an indicator light, a vibrator and a buzzer, and the alarm device can also be electrically connected to the controller 4.

[0083] It should be emphasized that in the present embodiment 1, the swimming pool cleaning robot also includes: a driving device 6 and a pressure detection device 2, wherein the driving device 6 is connected to the main body 1, and the driving device 6 can contact the pool wall of the swimming pool 8, and the pressure detection device 2 is correspondingly arranged on the above-mentioned driving device 6, and the pressure detection device 2 can communicate with the controller 4 in the main body 1.

[0084] Accordingly, in the swimming pool cleaning robot designed in the first embodiment, the pressure detection device 2 has and only includes one strain gauge pressure sensor, and the driving device 6 specifically includes four driving wheels 61. During installation, the strain gauge pressure sensor can be specifically arranged on the contact surface between one of the driving wheels 61 and the wall of the swimming pool 8.

[0085] Before the actual application of the swimming pool cleaning robot of the first embodiment, a preset threshold value needs to be set in advance. When the pressure value acting on the swimming pool cleaning robot body 1 detected by the pressure detection device 2 is greater than the above-mentioned preset threshold value, it can be judged that the current water flow rate is normal and the swimming pool cleaning robot can maintain normal cleaning of the swimming pool 8; conversely, if the pressure value detected by the pressure detection device 2 is less than the preset threshold value, it can be judged that the current water flow rate is not good and the filter of the swimming pool cleaning robot is blocked.

[0086] When the pool cleaning robot is turned on, the water pump 3 can pump water into the main body 1 from the water inlet 11. After the water enters the main body 1, it flows along the water channel and is filtered by the filter before being discharged from the water outlet 12. Since the water has a flow rate and a flow velocity, a reaction force is generated when the water outlet 12 sprays water, which is specifically manifested as a downward force on the main body 1 of the pool cleaning robot.

[0087] Therefore, the single strain gauge pressure sensor arranged on the driving wheel 61 can effectively detect the pressure value acting on a position on the main body 1 (the setting position of the strain gauge pressure sensor) generated when the water outlet 12 of the swimming pool cleaning robot sprays water; then, the clogging degree of the filter is determined based on the mapping relationship between the pressure value and the pre-calibrated pressure size and the clogging degree of the filter.

[0088] Once the pressure value detected by the strain type pressure sensor is less than a preset threshold value, it is determined that the filter is severely clogged; at this time, the strain type pressure sensor can send a blockage signal to the controller 4, and the controller 4 can send an alarm signal to the alarm device after receiving the blockage signal. At this time, the indicator light of the alarm device can light up, the buzzer can sound an alarm, and the vibrator starts to vibrate, so as to remind the user to clean the filter of the swimming pool cleaning robot in time.

[0089] In actual application, when the strain type pressure sensor sends a blockage signal to the controller 4, after the controller 4 receives the blockage signal, the controller 4 can also send a blockage signal to the cloud server through the communication device 5. The user can achieve wireless communication connection with the cloud server through the user terminal device, and receive the blockage information of the filter of the current swimming pool cleaning robot from the user terminal device. For example: when the filter is blocked, after the strain type pressure sensor sends a blockage signal to the controller 4, the controller 4 can send a signal to the gateway on the shore through the communication module, and then send the blockage signal of the filter of the swimming pool cleaning robot to the cloud server through the gateway connected to the cloud server. The cloud server stores it and finally sends it to the APP of the user terminal device to warn the user that the filter of the swimming pool cleaning robot needs to be cleaned.

[0090] Embodiment 2:

[0091] In the second embodiment, the structure of the swimming pool cleaning robot designed in the second embodiment is completely the same as that of the swimming pool cleaning robot in the first embodiment except for the pressure detection device 2. However, it should be pointed out that the difference between the second embodiment and the first embodiment is that the pressure detection device 2 on the swimming pool cleaning robot in the second embodiment includes four strain gauge pressure sensors. When installed, the four strain gauge pressure sensors can be respectively arranged on the four driving wheels 61 of the driving device 6 of the swimming pool cleaning robot, and specifically arranged on the axle 611 of the driving wheel 61, so as to continuously collect the pressure value acting on the swimming pool cleaning robot body 1 when the water outlet 12 sprays water.

[0092] When the pool cleaning robot is actually turned on, the water pump 3 can draw water from the water inlet 11 into the main body 1. After the water enters the main body 1, it will flow along the water channel and be discharged from the water outlet 12 after being filtered by the filter. At this time, the four strain gauge pressure sensors arranged on the four driving wheels 61 can effectively detect the pressure values ​​at four positions on the main body 1 (the positions where the four strain gauge pressure sensors are respectively arranged) generated when the water outlet 12 of the pool cleaning robot sprays water; then, the first pressure average value or the first pressure weighted average value thereof is obtained according to the pressure values ​​at the four positions; the clogging degree of the filter is determined according to the mapping relationship between the above-mentioned first pressure average value or the first pressure weighted average value and the pre-calibrated pressure magnitude and the clogging degree of the filter.

[0093] Embodiment three:

[0094] In the third embodiment, the structure of the swimming pool cleaning robot designed in the third embodiment is completely the same as that of the swimming pool cleaning robot in the first embodiment except for the pressure detection device 2. However, it should be pointed out that the difference between the third embodiment and the first embodiment is that in the third embodiment, the pressure detection device 2 provided on the driving device 6 of the swimming pool cleaning robot includes four strain gauge pressure sensors. When installed, the four strain gauge pressure sensors can be respectively provided on the above four driving wheels 61, and specifically provided on the contact surface between the driving wheels 61 and the wall of the swimming pool 8, so as to more easily collect the pressure value acting on the swimming pool cleaning robot body 1 when the water outlet 12 sprays water.

[0095] It should be noted that when the swimming pool cleaning robot is actually turned on, the water pump 3 can pump water into the main body 1 from the water inlet 11. After the water enters the main body 1, it will flow along the water channel and be discharged from the water outlet 12 after being filtered by the filter. At this time, the four strain gauge pressure sensors arranged on the four driving wheels 61 can effectively detect the pressure values ​​at two different time points at four positions on the main body 1 (the positions where the four strain gauge pressure sensors are respectively arranged) generated when the water outlet 12 of the swimming pool cleaning robot sprays water.

[0096] It can be seen that at each position, the four strain-type pressure sensors collect pressure values ​​at two different time points; for the pressure values ​​at two different time points at four positions on the main body 1 collected by the four strain-type pressure sensors respectively, a second pressure average value or a second pressure weighted average value of the pressure values ​​measured at these four positions can be obtained accordingly.

[0097] Accordingly, in this embodiment, the second pressure average values ​​or second pressure weighted average values ​​corresponding to the four positions can be regarded as the pressure values ​​detected at the corresponding positions. Then, the first pressure average value or first pressure weighted average value of the four positions is obtained according to the second pressure average value or second pressure weighted average value; the filter blockage degree is determined according to the mapping relationship between the first pressure average value or first pressure weighted average value and the pre-calibrated pressure magnitude and the filter blockage degree.

[0098] Embodiment 4:

[0099] In the fourth embodiment, except for the arrangement of the pressure detection device 2, the rest of the structure of the swimming pool cleaning robot designed in the fourth embodiment can refer to the swimming pool cleaning robot in the first embodiment.

[0100] It should be pointed out that the difference between the fourth embodiment and the first embodiment is that in the fourth embodiment, the pressure detection device 2 includes only one strain gauge pressure sensor disposed at Figure 1 The bottom of the sealed cabin 7 is shown.

[0101] When the pool cleaning robot is actually turned on, the water pump 3 can pump water into the main body 1 from the water inlet 11. After the water enters the main body 1, it flows along the water channel and is filtered by the filter before being discharged from the water outlet 12. At this time, the reaction force generated by the water outlet 12 when spraying water will be reflected at the bottom of the sealed cabin 7.

[0102] When the swimming pool cleaning robot of the fourth embodiment is actually used, the single strain gauge pressure sensor provided on the bottom of the sealed cabin 7 can effectively detect the pressure values ​​acting on the bottom of the sealed cabin 7 at two different time points when the water outlet 12 of the swimming pool cleaning robot sprays water.

[0103] For the pressure values ​​at two different time points at the bottom of the sealed cabin 7, the second pressure average value or the second pressure weighted average value at the bottom of the sealed cabin 7 is obtained, and the filter blockage degree is determined according to the mapping relationship between the second pressure average value or the second pressure weighted average value and the pre-calibrated pressure magnitude and the filter blockage degree. Once the second pressure average value or the second pressure weighted average value is less than the preset threshold value, it is determined that the filter is seriously blocked; at this time, the pressure detection device 2 can send a blockage signal to the controller 4, and the controller 4 can send an alarm signal to the alarm device after receiving the blockage signal. At this time, the indicator light of the alarm device can light up, the buzzer can sound an alarm, and the vibrator starts to vibrate to prompt the user to clean the filter of the pool cleaning robot in time.

[0104] From the above, it can be seen that in the present invention, the inventor has optimized and designed a new swimming pool cleaning robot, a swimming pool cleaning system and a filter blockage detection method, which can use the pressure detection device 2 to detect the pressure value acting on the main body 1 of the swimming pool cleaning robot when the water outlet 12 sprays water; when the swimming pool cleaning robot performs cleaning movements underwater, water will be sprayed out from the water outlet 12 through the water flow channel. At this time, since the water flow has a flow rate and a flow rate, a reaction force will be generated when the water outlet 12 sprays water, which is usually manifested as a downward pressure on the main body 1 of the swimming pool cleaning robot; at this time, the pressure detection device 2 provided on the swimming pool cleaning robot can monitor the flow rate of the water flow by detecting the pressure value acting on the main body 1 of the swimming pool cleaning robot, thereby judging the degree of filter blockage of the swimming pool cleaning robot based on the water flow rate.

[0105] 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 swimming pool cleaning robot, comprising a main body, a filter and a water pump arranged in the main body, the main body is provided with a water inlet and a water outlet, the main body is provided with a water flow channel connected with the water inlet and the water outlet, the filter is arranged in the water flow channel, and the water pump is at least partially arranged in the water flow channel, characterized in that: It also includes a controller and at least one pressure detection device, wherein the controller is in communication connection with at least one of the pressure detection devices; wherein the pressure detection device is used to detect the pressure value acting on at least one position of the main body when the water outlet sprays water.

2. The swimming pool cleaning robot according to claim 1, characterized in that: It also includes a driving device, which is connected to the main body and contacts the wall of the swimming pool, and the pressure detection device is arranged on the driving device.

3. The swimming pool cleaning robot according to claim 2, characterized in that: The pressure detection device is arranged on the contact surface between the driving device and the pool wall.

4. The swimming pool cleaning robot according to claim 2, characterized in that: The driving device comprises a driving wheel, and the pressure detection device is arranged on the axle of the driving wheel.

5. The swimming pool cleaning robot according to claim 1, characterized in that: It also includes an alarm device, which is arranged on the main body and is electrically connected to the controller; wherein the alarm device includes at least one of an indicator light, a buzzer and a vibrator.

6. The swimming pool cleaning robot according to claim 1, characterized in that: It also includes a communication device, which is arranged in the main body and is electrically connected to the controller.

7. A swimming pool cleaning system, characterized in that: include: A user-end device, a cloud server, and a swimming pool cleaning robot as described in any one of claims 1 to 6, wherein the swimming pool cleaning robot is directly or indirectly connected to the cloud server for communication, and the user-end device is wirelessly connected to the cloud server for communication.

8. A method for detecting filter blockage of a swimming pool cleaning robot, applied to the swimming pool cleaning robot according to any one of claims 1 to 6, characterized in that: Includes steps: Using a pressure detection device to detect a pressure value at at least one position on the main body generated when the water outlet of the pool cleaning robot sprays water; The clogging degree of the filter is determined according to the pressure value at the at least one position and the mapping relationship between the pre-calibrated pressure magnitude and the clogging degree of the filter.

9. The method for detecting filter blockage of a swimming pool cleaning robot according to claim 8, characterized in that: The specific steps include: Using a pressure detection device to detect pressure values ​​at at least two positions on the main body generated when the water outlet of the swimming pool cleaning robot sprays water; Obtaining a first pressure average value or a first pressure weighted average value according to the pressure values ​​at the at least two positions; The clogging degree of the filter is determined according to the mapping relationship between the first pressure average value or the first pressure weighted average value and the pre-calibrated pressure magnitude and the clogging degree of the filter.

10. The method for detecting filter blockage of a swimming pool cleaning robot according to claim 8, characterized in that: The specific steps include: Using a pressure detection device to detect pressure values ​​at at least two different time points at at least one position on the main body generated when the water outlet of the swimming pool cleaning robot sprays water; According to the pressure values ​​at at least two different time points at the at least one position, a second pressure average value or a second pressure weighted average value at all single positions is obtained, wherein the second pressure average value or the second pressure weighted average value at the single position is the pressure value at the position; The clogging degree of the filter is determined according to the pressure value at at least one position and the mapping relationship between the pre-calibrated pressure magnitude and the clogging degree of the filter.

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