Rapid drainage method for swimming pool cleaning robot

Abstract

The invention discloses a quick drainage method for a swimming pool cleaning robot, which comprises the following steps: detecting whether the swimming pool cleaning robot is lifted out of the water surface, and when the swimming pool cleaning robot is detected to be lifted out of the water surface, controlling a water pump of the swimming pool cleaning robot to continuously work so as to accelerate drainage of water in the swimming pool cleaning robot from a water outlet; when the water pump continues to work, whether water in the swimming pool cleaning robot is completely drained or not is detected; and when it is detected that water in the swimming pool cleaning robot is completely drained, the water pump is controlled to stop working. According to the designed rapid drainage method, when the swimming pool cleaning robot discharges water, the water pump is used for accurately controlling the swimming pool cleaning robot to accelerate drainage, so that the weight of the swimming pool cleaning robot is reduced, and the use experience of a user is improved.

Description

Technical Field

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

[0002] As we all know, swimming pools are the main places for people to engage in swimming sports, and some garbage or bacteria will appear in the swimming pool during use, so the swimming pool needs to be cleaned regularly. Among them, swimming pool cleaning robots are currently commonly used to clean the swimming pool.

[0003] Currently, the cleaning method adopted by the existing swimming pool cleaning robots on the market is generally: by sucking in water containing garbage, filtering the water containing garbage in a shell, and then discharging the filtered water, so that the garbage is contained in the filter.

[0004] Research has found that when existing pool cleaning robots are lifted out of the water, there is often still a lot of water inside the shell, and the overall weight is large. They can only use their own gravity to drain the water from the drain, which takes a long time and brings a bad user experience.

[0005] Therefore, there is an urgent need for a rapid drainage method for a swimming pool cleaning robot to solve the problems existing in the above-mentioned prior art. Summary of the invention

[0006] The technical problem to be solved by the present invention is to provide a rapid drainage method for a swimming pool cleaning robot, so as to solve the problem that a large amount of water is still present in the shell of the existing swimming pool cleaning robot when the robot is lifted out of the water.

[0007] In order to solve the above technical problems, the technical solution of the present invention is: a rapid drainage method of a swimming pool cleaning robot, which comprises the steps of:

[0008] Detect whether the pool cleaning robot is lifted out of the water;

[0009] When it is detected that the pool cleaning robot is lifted out of the water, the water pump of the pool cleaning robot is controlled to continue to work, so as to accelerate the discharge of water inside the pool cleaning robot from the water outlet;

[0010] When the water pump continues to work, it detects whether the water inside the swimming pool cleaning robot has been drained; when it is detected that the water inside the swimming pool cleaning robot has been drained, the water pump is controlled to stop working.

[0011] Furthermore, in the fast drainage method of the present invention, the detecting whether the swimming pool cleaning robot is lifted out of the water is specifically: detecting whether the swimming pool cleaning robot is lifted out of the water by using an acceleration sensor and / or a gyroscope.

[0012] Furthermore, in the rapid drainage method of the present invention, the acceleration sensor and / or gyroscope is used to detect whether the swimming pool cleaning robot is lifted out of the water, specifically:

[0013] Controlling the acceleration sensor and / or the gyroscope to detect and obtain a first acceleration and / or a first angle of the swimming pool cleaning robot;

[0014] After a preset time, controlling the acceleration sensor and / or the gyroscope to detect and obtain a second acceleration and / or a second angle of the swimming pool cleaning robot;

[0015] obtaining an acceleration difference based on the first acceleration and the second acceleration, and / or obtaining an angle difference based on the first angle and the second angle;

[0016] When the acceleration difference is greater than a preset acceleration threshold and / or the angle difference is greater than a preset angle threshold, it is determined that the swimming pool cleaning robot is lifted out of the water.

[0017] Furthermore, in the rapid drainage method of the present invention, the detecting whether the swimming pool cleaning robot is lifted out of the water is specifically: determining whether the swimming pool cleaning robot is lifted out of the water by triggering a switch and / or a tension sensor.

[0018] Further, in the rapid drainage method of the present invention, determining whether the swimming pool cleaning robot is lifted out of the water by triggering a switch and / or a tension sensor is specifically as follows:

[0019] When the trigger switch is triggered and / or the detected tension detected by the tension sensor is greater than a preset tension threshold, it is determined that the swimming pool cleaning robot is lifted out of the water.

[0020] Furthermore, in the rapid drainage method described in the present invention, when it is detected that the water inside the swimming pool cleaning robot is drained, the water pump is controlled to stop working immediately.

[0021] Furthermore, in the rapid drainage method described in the present invention, when it is detected that the water inside the swimming pool cleaning robot is drained, the water pump is controlled to continue operating for a preset holding time and then stops working.

[0022] Furthermore, in the rapid drainage method of the present invention, the step of detecting whether the water inside the swimming pool cleaning robot has been drained is specifically as follows:

[0023] Collect water pump working status information, and determine whether the water in the swimming pool cleaning robot is completely drained according to the water pump working status information.

[0024] Furthermore, in the rapid drainage method described in the present invention, the water pump operating status information includes: at least one of operating power, blade speed, operating voltage, operating current, water pump load, coil resistance and coil temperature.

[0025] Furthermore, in the fast drainage method described in the present invention, when the water pump working status information satisfies at least one of the following: the working power is less than a preset power threshold, the working current is greater than a preset current threshold, the blade speed is greater than a preset blade speed, the working voltage is less than a preset voltage threshold, the water pump load is less than a preset load threshold, the coil resistance is greater than a preset resistance threshold, and the coil temperature is greater than a preset temperature threshold, it is determined that the water inside the swimming pool cleaning robot is drained.

[0026] The beneficial effects of the present invention are as follows: the inventor has optimized and designed a quick drainage method for a swimming pool cleaning robot, and has further supplemented the control scheme of the swimming pool cleaning robot. The quick drainage method can accurately control the swimming pool cleaning robot to speed up drainage when the swimming pool cleaning robot is discharging water, thereby reducing the weight of the swimming pool cleaning robot and improving the user experience. The invention has good promotion prospects and application value.

[0027] Of course, in some preferred embodiments, in order to ensure that the quick drainage method can better adapt to the actual usage needs of users, after the pool cleaning robot is lifted out of the water, the water pump can be used to accelerate the drainage to detect whether the water inside the pool cleaning robot has been drained. After the detection, the water pump can be controlled to stop working immediately / operate for a preset maintenance time before stopping working, thereby effectively improving the intelligence of the pool cleaning robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 A schematic diagram of the steps of a rapid drainage method of a swimming pool cleaning robot according to the present invention in one embodiment;

[0029] Figure 2 The schematic diagram shows the structure of a swimming pool cleaning robot when applying the rapid drainage method of the present invention;

[0030] Figure 3 Schematically shows Figure 2 The schematic diagram of the structure of the swimming pool cleaning robot walking on the bottom of the swimming pool is shown.

[0031] Figure 4 Schematically shows Figure 2 The schematic diagram of the structure of the swimming pool cleaning robot walking along the wall is shown.

[0032] Figure 5 Schematically shows Figure 2The schematic diagram of the structure of the swimming pool cleaning robot that quickly drains water when it is out of water is shown.

[0033] Description of labels:

[0034] 1. Pool cleaning robot;

[0035] 2. Shell;

[0036] 3. Controller;

[0037] 4. Water pump;

[0038] 5. Handle;

[0039] 6. Water inlet;

[0040] 7. Water outlet;

[0041] 8. Filter;

[0042] 9. Driving wheel;

[0043] 10. Roller brush;

[0044] 11. Swimming pool wall;

[0045] 12. Water surface. DETAILED DESCRIPTION

[0046] In order to explain the technical content, achieved objectives and effects of the present invention in detail, the following is an explanation in conjunction with the implementation modes and the accompanying drawings.

[0047] Research has found that in the current prior art, when the existing swimming pool cleaning robot 1 is lifted out of the water 12 by the user, there is often still a lot of water inside the shell of the swimming pool cleaning robot 1, and its overall weight is large, so it can only use its own gravity to discharge the water from the drain, which brings a bad user experience.

[0048] To do this, please refer to Figure 1-Figure 5 As shown, the present invention designs a rapid drainage method for a swimming pool cleaning robot 1, which includes the following steps:

[0049] Detecting whether the swimming pool cleaning robot 1 is lifted out of the water 12;

[0050] When it is detected that the swimming pool cleaning robot 1 is lifted out of the water surface 12 , the water pump 4 of the swimming pool cleaning robot 1 is controlled to continue to work, so as to accelerate the discharge of water inside the swimming pool cleaning robot 1 from the water outlet 7 .

[0051] From the above description, it can be seen that in the present invention, the inventor has optimized and designed a new fast drainage solution for the swimming pool cleaning robot 1, which determines whether the swimming pool cleaning robot 1 is currently lifted out of the water surface 12 by detecting whether the swimming pool cleaning robot 1 is lifted out of the water surface 12. Once the swimming pool cleaning robot 1 is lifted out of the water surface 12, it can control the water pump 4 of the swimming pool cleaning robot 1 to continue working, so as to utilize the rotation of the blades of the water pump 4 to accelerate the water inside the swimming pool cleaning robot 1 to be discharged from the water outlet 7, thereby quickly draining the water inside the shell 2 of the swimming pool cleaning robot 1, reducing the dead weight of the swimming pool cleaning robot 1, and improving the user experience.

[0052] Furthermore, in the fast drainage method of the present invention, the detecting whether the swimming pool cleaning robot 1 is lifted out of the water surface 12 is specifically: detecting whether the swimming pool cleaning robot 1 is lifted out of the water surface 12 by using an acceleration sensor and / or a gyroscope.

[0053] Furthermore, in the fast drainage method of the present invention, the acceleration sensor and / or gyroscope is used to detect whether the swimming pool cleaning robot 1 is lifted out of the water surface 12, specifically:

[0054] Controlling the acceleration sensor and / or the gyroscope to detect and obtain a first acceleration and / or a first angle of the swimming pool cleaning robot 1;

[0055] After a preset time, controlling the acceleration sensor and / or the gyroscope to detect and obtain a second acceleration and / or a second angle of the pool cleaning robot 1;

[0056] obtaining an acceleration difference based on the first acceleration and the second acceleration, and / or obtaining an angle difference based on the first angle and the second angle;

[0057] When the acceleration difference is greater than a preset acceleration threshold and / or the angle difference is greater than a preset angle threshold, it is determined that the swimming pool cleaning robot 1 is lifted out of the water 12 .

[0058] In the above technical solution of the present invention, the swimming pool cleaning robot 1 can specifically determine whether the swimming pool cleaning robot 1 is currently lifted out of the water 12 by at least one of an acceleration sensor and a gyroscope. The acceleration sensor and the gyroscope can be used to detect the acceleration and angle of the swimming pool cleaning robot 1, respectively. When the swimming pool cleaning robot 1 is removed from the swimming pool by the user, changes in acceleration, angle, etc. will occur.

[0059] It should be pointed out that it is based on this principle that the above-mentioned acceleration sensor / gyroscope can calculate the corresponding acceleration difference / angle difference according to the first acceleration and the second acceleration / first angle and the second angle before and after the preset time, and input the above-mentioned information into the controller 3 of the swimming pool cleaning robot 1. After receiving the above-mentioned acceleration difference and / or angle difference, the controller 3 of the swimming pool cleaning robot 1 will compare it with the preset acceleration threshold and / or the preset angle threshold. When the above-mentioned acceleration difference is greater than the preset acceleration threshold and / or the above-mentioned angle difference is greater than the preset angle threshold, the controller 3 can determine that the swimming pool cleaning robot 1 is lifted out of the water 12.

[0060] Furthermore, in the fast drainage method described in the present invention, the detecting whether the swimming pool cleaning robot 1 is lifted out of the water surface 12 is specifically: determining whether the swimming pool cleaning robot 1 is lifted out of the water surface 12 by triggering a switch and / or a tension sensor.

[0061] Furthermore, in the fast drainage method of the present invention, the trigger switch and / or the tension sensor are used to determine whether the swimming pool cleaning robot 1 is lifted out of the water surface 12, specifically:

[0062] When the trigger switch is triggered and / or the tension detected by the tension sensor is greater than a preset tension threshold, it is determined that the swimming pool cleaning robot 1 is lifted out of the water 12 .

[0063] In the above technical solution, when the quick drainage method designed by the present invention is actually applied, the above swimming pool cleaning robot 1 may also be provided with a handle 5 for the user to lift, and the handle 5 is specifically arranged on a side away from the water inlet 6 of the swimming pool cleaning robot 1, and a trigger switch and / or a tension sensor may also be arranged on the handle 5 to determine whether the swimming pool cleaning robot 1 is lifted out of the water surface 12 by the trigger switch and / or the tension sensor.

[0064] When the user lifts the swimming pool cleaning robot 1 by the handle 5 , the trigger switch on the handle 5 of the swimming pool cleaning robot 1 will be triggered, and the tension sensor can detect the tension applied by the user to the handle 5 .

[0065] In actual application, when there is only a trigger switch on the handle 5 of the above-mentioned swimming pool cleaning robot 1, when the user lifts the swimming pool cleaning robot 1 by the handle 5, the trigger switch on the handle 5 of the swimming pool cleaning robot 1 will be triggered, and the trigger signal will be transmitted to the controller 3, and the controller 3 determines that the swimming pool cleaning robot 1 is lifted out of the water 12.

[0066] When the handle 5 of the above-mentioned swimming pool cleaning robot 1 is provided with only a tension sensor, the tension sensor will transmit the detected tension to the controller 3. When the tension sensor detects that the detected tension applied by the user to the handle 5 is greater than the preset tension threshold, the controller 3 determines that the swimming pool cleaning robot 1 is lifted out of the water 12.

[0067] Accordingly, in some embodiments, when both a trigger switch and a tension sensor are provided, when the trigger switch is triggered, the trigger switch will send a trigger signal to the controller 3 of the pool cleaning robot 1, and the tension sensor will transmit the detected tension detected in real time to the controller 3. After receiving the trigger signal and the detected tension, the controller 3 will determine whether the detected tension is greater than a preset tension threshold; wherein, if the detected tension is greater than the preset tension threshold, it means that the pool cleaning robot 1 is lifted out of the water 12 by the user; and if the detected tension is less than the preset tension threshold, although the user has grasped the handle 5, the pool cleaning robot 1 has not been lifted out of the water 12.

[0068] Furthermore, in the fast drainage method of the present invention, when it is detected that the water inside the swimming pool cleaning robot 1 is drained, the water pump 4 is controlled to stop working immediately.

[0069] Furthermore, in the rapid drainage method described in the present invention, when it is detected that the water inside the swimming pool cleaning robot is drained, the water pump is controlled to continue operating for a preset holding time and then stops working.

[0070] In the above technical solution of the present invention, in order to ensure that the rapid drainage method can better adapt to the actual use needs of users, it is also possible to detect whether the water inside the pool cleaning robot 1 is completely drained when the water pump 4 is used to accelerate the drainage after the pool cleaning robot 1 is lifted out of the water surface 12, and control the water pump 4 to stop working immediately after the detection of complete drainage. Among them, after detecting that the water inside the pool cleaning robot 1 is completely drained, the operation of the water pump 4 is stopped, and the control is more accurate, and the continued operation time of the water pump 4 can be adjusted according to the actual situation to prevent the water pump from working for insufficient time and insufficient drainage, and to avoid the water pump from continuing to work after the water inside the pool is completely drained, thereby wasting electricity.

[0071] Accordingly, in some other embodiments, when it is detected that the water inside the pool cleaning robot 1 is completely drained, the water pump 4 can be controlled to continue to operate for a preset holding time and then stop. This is set because: the judgment result of detecting that the water inside the pool cleaning robot 1 is completely drained may be inaccurate. In order to ensure the effect, the water pump 4 is controlled to continue to operate for a preset holding time, so that air can continue to flow quickly through the inside of the pool cleaning robot 1, thereby accelerating the drying effect.

[0072] Furthermore, in the rapid drainage method of the present invention, the detection of whether the water inside the swimming pool cleaning robot 1 is completely drained is specifically as follows:

[0073] The working status information of the water pump is collected, and it is determined whether the water inside the swimming pool cleaning robot 1 is completely drained according to the working status information of the water pump.

[0074] Furthermore, in the rapid drainage method described in the present invention, the water pump operating status information includes: at least one of operating power, blade speed, operating voltage, operating current, water pump load, coil resistance and coil temperature.

[0075] In the above technical solution of the present invention, the working status information of the water pump disposed in the housing 2 of the swimming pool cleaning robot 1 can be specifically collected to determine the water X (such as Figure 5 The above-mentioned water pump working status information may include: at least one of working power, blade speed, working voltage, working current, water pump load, coil resistance and coil temperature. In practical applications, some motors, such as brushless motors, can conveniently detect some of the above data directly or indirectly; of course, some sensors can also be installed for detection, and the present invention does not make special limitations.

[0076] Furthermore, in the fast drainage method described in the present invention, when the water pump working status information satisfies at least one of the following conditions: the working power is less than a preset power threshold, the working current is greater than a preset current threshold, the blade speed is greater than a preset blade speed, the working voltage is less than a preset voltage threshold, the water pump load is less than a preset load threshold, the coil resistance is greater than a preset resistance threshold, and the coil temperature is greater than a preset temperature threshold, it is determined that the water X inside the swimming pool cleaning robot 1 is drained.

[0077] In the above technical solution of the present invention, the specifically collected working power, blade speed, working voltage, working current, water pump load, coil resistance and coil temperature information can be input into the controller 3 of the swimming pool cleaning robot 1, and the measured water pump working state information can be compared with the relevant preset threshold information to determine whether the water X inside the swimming pool cleaning robot 1 has been drained.

[0078] Of course, in the specific application process, the water pump 4 can also be controlled to output a fixed working power, and according to the blade speed or voltage change of the water pump 4, it is determined whether the water X inside the swimming pool cleaning robot 1 is emptied. Figure 5After the water pump is emptied, the water pump load will decrease, which will cause the working current of the water pump motor to increase, the working voltage to decrease, the blade speed to increase, and the coil temperature to increase. When the coil temperature increases, the coil resistance will also increase.

[0079] Embodiment 1:

[0080] Please refer to Figure 2 , Figure 3 , Figure 4 and Figure 5 As shown, the first embodiment of the present invention is: a swimming pool cleaning robot 1, which includes a shell 2 and a controller 3, a water pump 4, an acceleration sensor and a gyroscope arranged in the shell 2, and the acceleration sensor and the gyroscope are connected to the controller 3; at the same time, the swimming pool cleaning robot 1 is also provided with a driving wheel 9 for walking, and the driving wheel 9 is arranged at the bottom of the shell 2 of the swimming pool cleaning robot 1, and a roller brush 10 is also provided on the bottom of the shell 2.

[0081] Correspondingly, in one embodiment of the present invention, a water inlet 6, a water outlet 7 and a handle 5 are further provided on the shell 2 of the swimming pool cleaning robot 1. The water inlet 6 is provided at the bottom of the shell 2, the water outlet 7 is provided at the side of the shell 2, the handle 5 is provided at the top of the shell 2, and a water pump 4 is further provided near the water outlet 7. A filter 8 is provided at the end of the water inlet 6, and the filter 8 is used to filter out dirt that is sucked into the shell 2 by the swimming pool cleaning robot 1 from the pool water.

[0082] When the swimming pool cleaning robot 1 is actually used to clean the swimming pool, the controller 3 of the swimming pool cleaning robot 1 can control its driving wheel 9 to walk on the swimming pool wall 11 (the swimming pool wall 11 includes the swimming pool bottom wall and the swimming pool side wall), and the controller 3 of the swimming pool cleaning robot 1 can control the water pump 4 to work, so as to suck the sewage of the swimming pool from the water inlet 6 into the shell 2. The sewage sucked into the shell 2 can be processed by the filter 8 to leave the dirt in the shell 2, and the filtered swimming pool water can be discharged into the swimming pool from the water outlet 7. At the same time, the roller brush 10 of the swimming pool cleaning robot 1 can clean the swimming pool wall 11 under the action of the controller 3.

[0083] Accordingly, in the present invention, the acceleration sensor and the gyroscope can continuously detect the acceleration and angle of the pool cleaning robot 1 itself at a certain preset time. That is, the acceleration sensor and the gyroscope can detect and obtain the first acceleration and the first angle of the pool cleaning robot 1; and after the preset time, the acceleration sensor and the gyroscope can detect and obtain the second acceleration and the second angle of the pool cleaning robot 1. The data obtained by the relevant detection will be transmitted to the controller 3 accordingly, so that the controller 3 can obtain the acceleration difference based on the first acceleration and the second acceleration, and can obtain the angle difference based on the first angle and the second angle.

[0084] When the controller 3 obtains the acceleration difference and the angle difference, if and only if the acceleration difference is greater than a preset acceleration threshold and the angle difference is greater than a preset angle threshold, the controller 3 determines that the swimming pool cleaning robot 1 is lifted out of the water 12 .

[0085] At this time, the controller 3 controls the water pump 4 to continue working, and uses the water pump 4 to accelerate the discharge of water X inside the swimming pool cleaning robot 1 from the water outlet 7. At the same time, the sensor collects water pump working status information, such as working power. When the working power of the water pump 4 is less than the preset power threshold, it is determined that the water X inside the swimming pool cleaning robot 1 has been drained. At this time, the controller 3 controls the water pump 4 to stop working immediately.

[0086] Embodiment 2:

[0087] In the second embodiment, the structure of the swimming pool cleaning robot 1 designed in the second embodiment does not include a gyroscope, and the rest of the structure is exactly the same as that of the swimming pool cleaning robot 1 in the first embodiment. It should be noted that the swimming pool cleaning robot 1 in the second embodiment only detects whether the swimming pool cleaning robot 1 is lifted out of the water 12 by using an acceleration sensor.

[0088] The difference between the second embodiment and the first embodiment is:

[0089] In the second embodiment, the acceleration sensor can continuously detect the acceleration of the pool cleaning robot 1 at a preset time. That is, the acceleration sensor can detect and obtain the first acceleration of the pool cleaning robot 1; and after the preset time, the acceleration sensor can detect and obtain the second acceleration of the pool cleaning robot 1. The data obtained by the relevant detection will be transmitted to the controller 3 accordingly, so that the controller 3 can obtain the acceleration difference based on the first acceleration and the second acceleration, and when the acceleration difference is greater than the preset acceleration threshold, the controller 3 determines that the pool cleaning robot 1 is lifted out of the water 12.

[0090] At this time, the controller 3 controls the water pump 4 to continue working, and uses the water pump 4 to accelerate the water X inside the swimming pool cleaning robot 1 to be discharged from the water outlet 7. At the same time, the sensor collects the working status information of the water pump, such as the blade speed and the working current. When any one of the conditions that the working current is greater than the preset current threshold or the blade speed is greater than the preset blade speed is met, it is determined that the water X inside the swimming pool cleaning robot 1 is completely drained. At this time, the controller 3 controls the water pump 4 to continue operating for a preset holding time and then stops working.

[0091] The swimming pool cleaning robot 11 designed in the second embodiment can also realize the rapid drainage function of the swimming pool cleaning robot 11 in the first embodiment, and also has the above advantages and beneficial effects.

[0092] Embodiment three:

[0093] In the third embodiment, the structure of the swimming pool cleaning robot 11 designed in the third embodiment does not include an acceleration sensor, and the rest of the structure is exactly the same as that of the swimming pool cleaning robot 1 in the first embodiment. It should be noted that the swimming pool cleaning robot 1 in the third embodiment only uses a gyroscope to detect whether the swimming pool cleaning robot 1 is lifted out of the water 12.

[0094] The differences between the third embodiment and the first embodiment are:

[0095] In the third embodiment, the gyroscope can continuously detect the angle of the pool cleaning robot 1 at a preset time. That is, the gyroscope can detect and obtain the first angle of the pool cleaning robot 1; and after the preset time, the gyroscope can detect and obtain the second angle of the pool cleaning robot 1. The data obtained by the relevant detection will be transmitted to the controller 3 accordingly, so that the controller 3 can obtain the angle difference based on the first angle and the second angle, and when the angle difference is greater than the preset angle threshold, the controller 3 determines that the pool cleaning robot 1 is lifted out of the water 12.

[0096] At this time, the controller 3 controls the water pump 4 to continue working, and uses the water pump 4 to accelerate the discharge of water X inside the swimming pool cleaning robot 1 from the water outlet 7. At the same time, the water pump working status information, such as the working voltage, is collected through the sensor. When the working voltage is less than the preset voltage threshold, it is determined that the water X inside the swimming pool cleaning robot 1 is completely drained. At this time, the controller 3 controls the water pump 4 to continue operating for a preset holding time and then stops working.

[0097] The swimming pool cleaning robot 1 designed in the third embodiment can also realize the rapid drainage function of the swimming pool cleaning robot 1 in the first embodiment, and also has the above advantages and beneficial effects.

[0098] Embodiment 4:

[0099] In the fourth embodiment, the structure of the swimming pool cleaning robot 11 designed in the fourth embodiment does not contain an acceleration sensor or a gyroscope, and only a trigger switch and a tension sensor are set on the handle 5 of the housing 2. The rest of the structure is exactly the same as that of the swimming pool cleaning robot 1 in the first embodiment. It should be pointed out that the swimming pool cleaning robot 1 in the fourth embodiment detects whether the swimming pool cleaning robot 1 is lifted out of the water 12 by the trigger switch and the tension sensor.

[0100] The differences between the fourth embodiment and the first embodiment are as follows:

[0101] In the fourth embodiment, the trigger switch and the tension sensor are both arranged on the handle 5. In actual application, when the user lifts the swimming pool cleaning robot 1 by the handle 5, the trigger switch on the handle 5 of the swimming pool cleaning robot 1 will be triggered, and the tension sensor can detect the tension applied by the user to the handle 5.

[0102] When the trigger switch is triggered, the trigger switch will send a trigger signal to the controller 3 of the pool cleaning robot 1, and the tension sensor will transmit the detected tension in real time to the controller 3. After receiving the trigger signal and the detected tension, the controller 3 will determine whether the detected tension is greater than a preset tension threshold; if the detected tension is greater than the preset tension threshold, it means that the pool cleaning robot 1 is lifted out of the water 12 by the user; and if the detected tension is less than the preset tension threshold, although the user has grasped the handle 5, the pool cleaning robot 1 has not been lifted out of the water 12.

[0103] When the controller 3 determines that the swimming pool cleaning robot 1 is lifted out of the water 12, the controller 3 controls the water pump 4 to continue working, and uses the water pump 4 to accelerate the water X inside the swimming pool cleaning robot 1 (such as Figure 5 At the same time, the sensor collects the working status information of the water pump, such as the water pump load. When the water pump load is less than the preset load threshold, it is determined that the water X inside the swimming pool cleaning robot 1 is completely drained, and at this time, the controller 3 controls the water pump 4 to stop working immediately.

[0104] The swimming pool cleaning robot 1 designed in the fourth embodiment can also realize the rapid drainage function of the swimming pool cleaning robot 1 in the first embodiment, and also has the above advantages and beneficial effects.

[0105] Embodiment five:

[0106] In the fifth embodiment, the structure of the swimming pool cleaning robot 1 designed in the fifth embodiment does not contain an acceleration sensor or a gyroscope, and only a trigger switch is provided on the handle 5 of the housing 2, and the rest of the structure is exactly the same as that of the swimming pool cleaning robot 1 in the first embodiment. It should be pointed out that the swimming pool cleaning robot 1 in the fifth embodiment only detects whether the swimming pool cleaning robot 1 is lifted out of the water 12 by means of a trigger switch.

[0107] The differences between the fifth embodiment and the first embodiment are as follows:

[0108] In the fifth embodiment, the trigger switch and the tension sensor are both arranged on the handle 5. In actual application, when the user lifts the swimming pool cleaning robot 1 by the handle 5, the trigger switch on the handle 5 of the swimming pool cleaning robot 1 will be triggered. When the trigger switch is triggered, the trigger switch will send a trigger signal to the controller 3 of the swimming pool cleaning robot 1. The controller 3 receives the trigger signal and determines that the swimming pool cleaning robot 1 is lifted out of the water 12.

[0109] At this time, the controller 3 controls the water pump 4 to continue working, and uses the water pump 4 to accelerate the water X (such as Figure 5 At the same time, the sensor collects the working status information of the water pump, such as the coil resistance of the water pump 4. When the coil resistance is greater than the preset resistance threshold, it is determined that the water X inside the swimming pool cleaning robot 1 is completely drained. At this time, the controller 3 controls the water pump 4 to continue operating for a preset holding time and then stops working.

[0110] The swimming pool cleaning robot 1 designed in the fifth embodiment can also realize the rapid drainage function of the swimming pool cleaning robot 1 in the first embodiment, and also has the above advantages and beneficial effects.

[0111] Embodiment six:

[0112] In the sixth embodiment, the structure of the swimming pool cleaning robot 1 designed in the sixth embodiment does not contain an acceleration sensor or a gyroscope, and only a tension sensor is provided on the handle 5 of the housing 2, and the rest of the structure is exactly the same as that of the swimming pool cleaning robot 1 in the first embodiment. It should be pointed out that the swimming pool cleaning robot 1 in the sixth embodiment only detects whether the swimming pool cleaning robot 1 is lifted out of the water 12 by the tension sensor.

[0113] The differences between the sixth embodiment and the first embodiment are as follows:

[0114] In the sixth embodiment, when the handle 5 of the swimming pool cleaning robot 1 is provided with only a tension sensor, the tension sensor transmits the detected tension to the controller 3. When the tension sensor detects that the detected tension applied by the user on the handle 5 is greater than the preset tension threshold, the controller 3 determines that the swimming pool cleaning robot 1 is lifted out of the water 12. At this time, the controller 3 controls the water pump 4 to continue working, and uses the water pump 4 to accelerate the water X (such as Figure 5 At the same time, the sensor collects the working status information of the water pump, such as the coil temperature of the water pump 4. When the coil temperature is greater than the preset temperature threshold, it is determined that the water X inside the swimming pool cleaning robot 1 is completely drained, and at this time, the controller 3 controls the water pump 4 to stop working immediately.

[0115] The swimming pool cleaning robot 1 designed in the sixth embodiment can also realize the rapid drainage function of the swimming pool cleaning robot 1 in the first embodiment, and also has the above advantages and beneficial effects.

[0116] From the above, it can be seen that in the present invention, the inventor has optimized and designed a fast drainage method for the swimming pool cleaning robot 1, and further supplemented the control scheme of the swimming pool cleaning robot 1. The fast drainage method can accurately control the swimming pool cleaning robot 1 to speed up drainage when the swimming pool cleaning robot 1 is out of water, thereby reducing the weight of the swimming pool cleaning robot 1 and improving the user experience. It has good promotion prospects and application value.

[0117] 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 rapid drainage method for a swimming pool cleaning robot, characterized in that: Includes steps: Detect whether the pool cleaning robot is lifted out of the water; When it is detected that the pool cleaning robot is lifted out of the water, the water pump of the pool cleaning robot is controlled to continue to work, so as to accelerate the discharge of water inside the pool cleaning robot from the water outlet; When the water pump continues to work, it detects whether the water inside the swimming pool cleaning robot has been drained; when it is detected that the water inside the swimming pool cleaning robot has been drained, the water pump is controlled to stop working.

2. The rapid drainage method according to claim 1, characterized in that: The detecting whether the swimming pool cleaning robot is lifted out of the water specifically comprises: detecting whether the swimming pool cleaning robot is lifted out of the water by using an acceleration sensor and / or a gyroscope.

3. The rapid drainage method according to claim 2, characterized in that: The detecting whether the swimming pool cleaning robot is lifted out of the water by using an acceleration sensor and / or a gyroscope is specifically as follows: Controlling the acceleration sensor and / or the gyroscope to detect and obtain a first acceleration and / or a first angle of the swimming pool cleaning robot; After a preset time, controlling the acceleration sensor and / or the gyroscope to detect and obtain a second acceleration and / or a second angle of the swimming pool cleaning robot; obtaining an acceleration difference based on the first acceleration and the second acceleration, and / or obtaining an angle difference based on the first angle and the second angle; When the acceleration difference is greater than a preset acceleration threshold and / or the angle difference is greater than a preset angle threshold, it is determined that the swimming pool cleaning robot is lifted out of the water.

4. The rapid drainage method according to claim 1, characterized in that: The detecting whether the swimming pool cleaning robot is lifted out of the water specifically includes: determining whether the swimming pool cleaning robot is lifted out of the water by triggering a switch and / or a tension sensor.

5. The rapid drainage method according to claim 4, characterized in that: The method of determining whether the swimming pool cleaning robot is lifted out of the water by triggering a switch and / or a tension sensor is specifically as follows: When the trigger switch is triggered and / or the detected tension detected by the tension sensor is greater than a preset tension threshold, it is determined that the swimming pool cleaning robot is lifted out of the water.

6. The rapid drainage method according to claim 1, characterized in that: When it is detected that the water inside the swimming pool cleaning robot has been drained, the water pump is controlled to stop working immediately.

7. The rapid drainage method according to claim 1, characterized in that: When it is detected that the water inside the swimming pool cleaning robot has been drained, the water pump is controlled to continue to operate for a preset holding time and then stop working.

8. The rapid drainage method according to claim 1, characterized in that: The method of detecting whether the water inside the swimming pool cleaning robot is completely drained is specifically as follows: Collect water pump working status information, and determine whether the water in the swimming pool cleaning robot is completely drained according to the water pump working status information.

9. The rapid drainage method according to claim 8, characterized in that: The water pump working state information includes: at least one of working power, blade speed, working voltage, working current, water pump load, coil resistance and coil temperature.

10. The rapid drainage method according to claim 9, characterized in that: When the water pump working status information satisfies at least one of the following: the working power is less than a preset power threshold, the working current is greater than a preset current threshold, the blade speed is greater than a preset blade speed, the working voltage is less than a preset voltage threshold, the water pump load is less than a preset load threshold, the coil resistance is greater than a preset resistance threshold, and the coil temperature is greater than a preset temperature threshold, it is determined that the water inside the swimming pool cleaning robot is drained.

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