Swimming pool cleaning robot, control method and computer readable storage medium

Abstract

The invention discloses a swimming pool cleaning robot, a control method and a computer readable storage medium. The swimming pool cleaning robot comprises a machine body, a floating assembly, a driving part and a suspension assembly. A floating bin is arranged in the machine body and used for adjusting the overall weight of the machine body. The floating assembly is connected with the machine body and comprises a connecting line and a floating ball, an air pipe is arranged in the connecting line, an air port is formed in the floating ball, one end of the air pipe is communicated with the air port, and the other end of the air pipe is communicated with the floating bin under the condition that the connecting line is installed on the machine body. The driving part is used for applying air flow to the air pipe and evacuating air in the floating bin to enable the interior of the floating bin to be in a negative pressure state, or the driving part is used for applying air to the floating bin, and the suspension assembly is used for draining water to the lower portion of the machine body to convey upward thrust to the machine body, so that the machine body is suspended in the middle of the water pool. The swimming pool cleaning robot has the function of cleaning the pool surface, the pool bottom and the pool middle, the cleaning efficiency of the swimming pool cleaning robot is improved, and use of a user is facilitated.

Description

Technical Field

[0001] The present invention relates to the field of swimming pool cleaning robots, and in particular to a swimming pool cleaning robot, a control method and a computer-readable storage medium. Background Art

[0002] Since the water storage capacity in the swimming pool is relatively large, it is too costly to replace it frequently, so people often use sedimentation to deal with impurities. This method causes impurities to form sediments and accumulate at the bottom of the swimming pool. Subsequently, the sediments at the bottom of the swimming pool need to be cleaned up manually or by machines. For this reason, swimming pool cleaning robots were created. Traditional swimming pool cleaning robots greatly save labor costs. The debris and sediments where they pass are well cleaned up, and the swimming pool cleaning robots can perform continuous operations in the swimming pool.

[0003] The swimming pool cleaning robot mainly works by pumping water to suck in water from the bottom, while also sucking in debris and sand at the bottom of the pool. A filter is installed inside the machine, and the water is filtered and discharged from the outlet.

[0004] However, the existing swimming pool cleaning robot does not have the ability to clean the water surface, the bottom of the water, and the water at the same time, and only has a single cleaning ability, which greatly affects the cleaning efficiency of the swimming pool cleaning robot and is not conducive to the use of users. Summary of the invention

[0005] Based on this, it is necessary to provide a swimming pool cleaning robot, a control method and a computer-readable storage medium to address the above technical problems, so as to solve the problem that the swimming pool cleaning robots in the prior art have relatively single functions.

[0006] A swimming pool cleaning robot, comprising:

[0007] A machine body, wherein a floating chamber is provided in the machine body, and the floating chamber is used to adjust the overall weight of the machine body to control the machine body to sink to the bottom of the pool or float on the surface of the pool;

[0008] A float assembly, the float assembly is connected to the machine body, the float assembly includes a connecting line and a floating ball, an air pipe is arranged in the connecting line, an air port is arranged on the floating ball, one end of the air pipe is communicated with the air port, and when the connecting line is installed on the machine body, the other end of the air pipe is communicated with the floating chamber;

[0009] A driving member, the driving member is used to apply airflow to the air pipe to evacuate the gas in the floating chamber to make the floating chamber in a negative pressure state, so that external water can automatically flow into the floating chamber, or to apply air to the floating chamber to discharge the water in the floating chamber to the outside of the floating chamber;

[0010] A suspension component is arranged in the machine body, the suspension component is parallel to the height direction of the machine body, and the suspension component is used to drain water to the bottom of the machine body to provide an upward thrust to the machine body, so that the machine body is suspended in the middle of the pool.

[0011] The swimming pool cleaning robot of the present invention is provided with a floating bin, a float assembly and a driving member. The floating member includes an air pipe. The floating bin is connected to the external air through the air pipe and the float ball. Through the operation of the driving member, air can be added to the floating bin through the air pipe or the air in the floating bin can be discharged to the outside of the float ball. When the driving member applies air to the floating bin, water in the floating bin will be discharged to the outside of the floating bin under the pressure of the air to reduce the overall weight of the swimming pool cleaning robot, so that the swimming pool cleaning robot can float on the surface of the swimming pool. When the driving member extracts air from the floating bin, a vacuum state will appear in the floating bin. In this way, the water in the pool will enter the inside of the floating bin to increase the overall weight of the swimming pool cleaning robot, so that the swimming pool cleaning robot can sink to the bottom of the swimming pool. With such an arrangement, the swimming pool cleaning robot can float on the surface of the swimming pool to clean the surface of the swimming pool, and can also sink to the bottom of the swimming pool to clean the bottom of the swimming pool; through the arrangement of the suspension component, in combination with the arrangement of the floating bin, the float component and the driving component, when the machine needs to be suspended in the swimming pool, through the forward and reverse correction of the suspension component and the driving component, the suspension component provides an upward thrust to the swimming pool cleaning robot, and the driving component adjusts the weight of the swimming pool cleaning robot to adjust the buoyancy of the swimming pool cleaning robot, so that the machine remains suspended at a relatively stable water layer height for operation, thereby enabling the swimming pool cleaning robot to have the functions of cleaning the pool surface, the pool bottom and the pool, thereby improving the cleaning efficiency of the swimming pool cleaning robot and facilitating the use of users.

[0012] Furthermore, the suspension assembly comprises:

[0013] Drive motor;

[0014] The paddle blades are fixedly connected to the rotating shaft of the driving motor, and the driving motor is used to drive the rotating shaft to rotate so as to drive the paddle blades to rotate.

[0015] Furthermore, a mounting channel is formed in the body, the mounting channel is arranged along the height direction of the body, an opening is arranged at the bottom of the mounting channel, and the mounting channel is connected to the outside through the opening.

[0016] Furthermore, the machine body includes a motor waterproof shell, the motor waterproof shell is arranged in the installation channel, the drive motor is arranged in the motor waterproof shell, the rotating shaft is partially exposed from the motor waterproof shell and connected to the blades, and the part of the rotating shaft in contact with the motor waterproof shell is movably sealed.

[0017] Furthermore, a mounting portion is provided at one end of the connecting line away from the float, a mounting groove is provided on the machine body, and the mounting portion is engaged with the mounting groove so that the connecting line is connected to the machine body.

[0018] Furthermore, an O-ring is provided on the mounting portion, and the float assembly is sealed and connected to the body via the O-ring.

[0019] A control method for a swimming pool cleaning robot, the control method for the swimming pool cleaning robot comprising:

[0020] Determining whether the swimming pool cleaning robot is to clean the middle of the swimming pool;

[0021] If yes, determining whether the swimming pool cleaning robot is located on the swimming pool surface;

[0022] If yes, controlling the peristaltic pump of the swimming pool cleaning robot to work in a forward direction to discharge the air in the floating chamber of the swimming pool cleaning robot;

[0023] Obtaining a liquid level pressure value of the swimming pool cleaning robot;

[0024] Determining whether the liquid level pressure value is equal to a preset liquid level pressure value;

[0025] If so, the suspension component of the swimming pool cleaning robot is controlled to operate so that the swimming pool cleaning robot is suspended in the middle of the pool.

[0026] The control method of the swimming pool cleaning robot of the present invention is provided by arranging a floating chamber, a float assembly and a driving member, wherein the floating member includes an air pipe, and the floating chamber is connected to the external air through the air pipe and the float ball. Through the operation of the driving member, air can be added to the floating chamber through the air pipe or the air in the floating chamber can be discharged to the outside of the float ball. When the driving member applies air to the floating chamber, water in the floating chamber will be discharged to the outside of the floating chamber under the pressure of the air, so as to reduce the overall weight of the swimming pool cleaning robot, thereby allowing the swimming pool cleaning robot to float on the surface of the swimming pool. When the driving member extracts air from the floating chamber, a vacuum state will appear in the floating chamber, so that the water in the pool will enter the inside of the floating chamber, thereby increasing the overall weight of the swimming pool cleaning robot, thereby allowing the swimming pool cleaning robot to sink to the swimming pool surface. The bottom of the pool is configured in this way, the swimming pool cleaning robot can float on the surface of the swimming pool to clean the surface of the swimming pool, and can also sink to the bottom of the swimming pool to clean the bottom of the swimming pool; through the configuration of the suspension component, in combination with the configuration of the floating bin, the float component and the driving component, when the machine needs to be suspended in the swimming pool, through the forward and reverse correction of the suspension component and the driving component, the suspension component provides an upward thrust to the swimming pool cleaning robot, and the driving component adjusts the weight of the swimming pool cleaning robot to adjust the buoyancy of the swimming pool cleaning robot, so that the machine remains suspended at a relatively stable water layer height for operation, thereby enabling the swimming pool cleaning robot to have the functions of cleaning the pool surface, the pool bottom and the pool, thereby improving the cleaning efficiency of the swimming pool cleaning robot and facilitating the use of users.

[0027] Further, the determining whether the swimming pool cleaning robot is located on the swimming pool surface includes:

[0028] If not, determining whether the swimming pool cleaning robot is located at the bottom of the swimming pool;

[0029] If yes, controlling the peristaltic pump of the swimming pool cleaning robot to work in reverse to apply gas to the floating chamber of the swimming pool cleaning robot;

[0030] Obtaining a liquid level pressure value of the swimming pool cleaning robot;

[0031] Determining whether the liquid level pressure value is equal to a preset liquid level pressure value;

[0032] If yes, controlling the peristaltic pump of the swimming pool cleaning robot to work in a forward direction to discharge the air in the floating chamber of the swimming pool cleaning robot;

[0033] The suspension component of the swimming pool cleaning robot is controlled to operate so that the swimming pool cleaning robot is suspended in the middle of the pool.

[0034] Furthermore, after the suspension component of the swimming pool cleaning robot is controlled to operate so that the swimming pool cleaning robot is suspended in the middle of the pool, the method further includes:

[0035] Determining whether the current power of the swimming pool cleaning robot is less than a preset power;

[0036] If yes, controlling the suspension component to stop working;

[0037] The peristaltic pump of the swimming pool cleaning robot is controlled to work in reverse to apply gas to the floating chamber of the swimming pool cleaning robot.

[0038] A computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the control method of the swimming pool cleaning robot is implemented.

[0039] The computer-readable storage medium of the present invention is provided with a floating chamber, a float assembly and a driving member. The floating member includes an air pipe. The floating chamber is connected to the external air through the air pipe and the float ball. Through the operation of the driving member, air can be applied to the floating chamber through the air pipe or the air in the floating chamber can be discharged to the outside of the float ball. When the driving member applies air to the floating chamber, the water in the floating chamber will be discharged to the outside of the floating chamber under the pressure of the air to reduce the overall weight of the swimming pool cleaning robot, so that the swimming pool cleaning robot can float on the surface of the swimming pool. When the driving member extracts air from the floating chamber, a vacuum state will appear in the floating chamber. In this way, the water in the pool will enter the interior of the floating chamber to increase the overall weight of the swimming pool cleaning robot, so that the swimming pool cleaning robot can sink to the bottom of the swimming pool. With such an arrangement, the swimming pool cleaning robot can float on the surface of the swimming pool to clean the swimming pool surface, and can also sink to the bottom of the swimming pool to clean the swimming pool bottom; through the arrangement of the suspension component, in combination with the arrangement of the floating bin, the float component and the driving component, when the machine needs to be suspended in the swimming pool, through the forward and reverse correction of the suspension component and the driving component, the suspension component provides an upward thrust to the swimming pool cleaning robot, and the driving component adjusts the weight of the swimming pool cleaning robot to adjust the buoyancy of the swimming pool cleaning robot, so that the machine remains suspended at a relatively stable water layer height for operation, thereby enabling the swimming pool cleaning robot to have the functions of cleaning the pool surface, the pool bottom and the pool, thereby improving the cleaning efficiency of the swimming pool cleaning robot and facilitating the use of the user. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the description of the embodiments of the present invention will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0041] Figure 1 is a schematic structural diagram of a swimming pool cleaning robot according to an embodiment of the present invention;

[0042] Figure 2 is another structural schematic diagram of the swimming pool cleaning robot according to an embodiment of the present invention;

[0043] Figure 3 is another structural schematic diagram of the swimming pool cleaning robot according to an embodiment of the present invention;

[0044] Figure 4 is a schematic diagram of the process of the swimming pool cleaning robot in an embodiment of the present invention;

[0045] Figure 5 is another schematic diagram of the process of the swimming pool cleaning robot in an embodiment of the present invention;

[0046] Figure 6 is another schematic diagram of the process of the swimming pool cleaning robot in an embodiment of the present invention;

[0047] Figure 7 is a schematic diagram of the process of the swimming pool cleaning robot in an embodiment of the present invention;

[0048] Figure 8 is another schematic diagram of the process of the swimming pool cleaning robot in an embodiment of the present invention;

[0049] Fig. 9 Schematic diagram of another process of the swimming pool cleaning robot in an embodiment of the present invention.

[0050] Description of main component symbols:

[0051] The swimming pool cleaning robot 100 , the body 10 , the floating chamber 20 , the floating assembly 30 , the floating ball 301 , the connecting line 302 , the mounting portion 303 , the mounting groove 40 , the suspension assembly 50 , the driving motor 501 , the paddles 502 , the mounting channel 60 , the opening 601 , and the motor waterproof housing 70 . DETAILED DESCRIPTION

[0052] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0053] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined.

[0054] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, an electrical connection, or mutual communication; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0055] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0056] The disclosure below provides many different embodiments or examples to realize different structures of the present invention. In order to simplify the disclosure of the present invention, the parts and settings of specific examples are described below. Of course, they are only examples, and the purpose is not to limit the present invention. In addition, the present invention can repeat reference numbers and / or reference letters in different examples, and this repetition is for the purpose of simplicity and clarity, which itself does not indicate the relationship between the various embodiments and / or settings discussed. In addition, the present invention provides various specific examples of processes and materials, but those of ordinary skill in the art can be aware of the application of other processes and / or the use of other materials.

[0057] See also Figures 1 to 3 , a swimming pool cleaning robot 100, the swimming pool cleaning robot 100 comprises:

[0058] The machine body 10 has a floating chamber 20 disposed therein, and the floating chamber 20 is used to adjust the overall weight of the machine body 10 to control the machine body 10 to sink to the bottom of the pool or float on the surface of the pool;

[0059] The float assembly 30 is connected to the body 10. The float assembly 30 includes a connecting line 302 and a floating ball 301. An air pipe is provided in the connecting line 302. An air port is provided on the floating ball 301. One end of the air pipe is connected to the air port. When the connecting line 302 is installed on the body 10, the other end of the air pipe is connected to the floating chamber 20.

[0060] A driving member (not shown), which is used to apply airflow to the air pipe to evacuate the air in the floating chamber 20 to make the floating chamber 20 in a negative pressure state, so that external water can automatically flow into the floating chamber 20, or to apply air to the floating chamber 20 to discharge the water in the floating chamber 20 to the outside of the floating chamber 20;

[0061] The suspension component 50 is disposed in the machine body 10 and is parallel to the height direction of the machine body 10. The suspension component 50 is used to drain water downwardly from the machine body 10 to provide an upward thrust to the machine body 10, thereby making the machine body 10 suspended in the middle of the pool.

[0062] The swimming pool cleaning robot 100 of the present invention is provided with a floating chamber 20, a floating assembly 30 and a driving member. The floating member includes an air pipe. The floating chamber 20 is connected to the external air through the air pipe and the floating ball 301. Through the operation of the driving member, air can be applied to the floating chamber 20 through the air pipe or the air in the floating chamber 20 can be discharged to the outside of the floating ball 301. When the driving member applies air to the floating chamber 20, the water in the floating chamber 20 will be discharged to the outside of the floating chamber 20 under the pressure of the air, so as to reduce the overall weight of the swimming pool cleaning robot 100, so that the swimming pool cleaning robot 100 can float on the surface of the swimming pool. When the driving member extracts air from the floating chamber 20, a vacuum state will appear in the floating chamber 20. In this way, the water in the pool will enter the floating chamber 20 to increase the overall weight of the swimming pool cleaning robot 100, so that the swimming pool cleaning robot 100 can sink to the bottom of the swimming pool. With this arrangement, the swimming pool cleaning robot 100 can both float on the swimming pool and the surface of the swimming pool. The pool cleaning robot 100 can clean the surface of the swimming pool and can also sink to the bottom of the swimming pool to clean the bottom of the swimming pool, thereby enabling the swimming pool cleaning robot 100 to have the functions of cleaning the pool surface and the bottom of the pool, thereby improving the cleaning efficiency of the swimming pool cleaning robot 100 and facilitating the use of the user; through the setting of the suspension component 50, the floating bin 20, the floating component 30 and the driving component, when the machine needs to be suspended in the swimming pool, through the forward and reverse correction of the suspension component 50 and the driving component, the suspension component 50 provides an upward thrust to the swimming pool cleaning robot 100, and the driving component adjusts the weight of the swimming pool cleaning robot 100 to adjust the buoyancy of the swimming pool cleaning robot 100, so that the machine remains suspended at a relatively stable water layer height for operation, thereby enabling the swimming pool cleaning robot 100 to have the functions of cleaning the pool surface, the pool bottom and the pool, thereby improving the cleaning efficiency of the swimming pool cleaning robot 100 and facilitating the use of the user.

[0063] When the swimming pool cleaning robot 100 needs to be suspended for operation, if the swimming pool cleaning robot 100 is located on the water surface, the driving part starts to work in the forward direction and exhausts the floating chamber 20 through the air pipe. At this time, the floating chamber 20 is in a negative pressure state, and the water in the pool will automatically enter the floating chamber 20. By setting the number of exhaust gases, the swimming pool cleaning robot 100 will gradually sink and be in a semi-suspended state. At this time, the suspension component 50 starts to work. Combined with the liquid level pressure value currently detected by the swimming pool cleaning robot 100, the suspension component 50 and the driving part are continuously corrected in the forward and reverse directions, so that the swimming pool cleaning robot 100 can remain suspended at a relatively stable water layer height for operation; of course, if the swimming pool cleaning robot 100 is initially located at the bottom of the water, the driving part will work in the reverse direction to inflate the floating chamber 20, thereby achieving the suspension of the swimming pool cleaning robot 100.

[0064] Furthermore, the body 10 is made of plastic, which has the advantage of strong plasticity, which is beneficial to the design of the body 10. Of course, in other embodiments, the body 10 can also be made of other materials, which can be designed according to actual conditions and is not limited here.

[0065] In the embodiment of the present invention, the floating chamber 20 is located in the body 10 and is integrated with the body 10. Therefore, the weight of the floating chamber 20 directly affects the weight of the entire swimming pool cleaning robot 100. The water in the floating chamber 20 is discharged to reduce the weight of the entire swimming pool cleaning robot 100 so that the swimming pool cleaning robot 100 floats on the surface of the swimming pool, thereby enabling the swimming pool cleaning robot 100 to clean the surface of the swimming pool. Alternatively, water is added to the floating chamber 20 to increase the weight of the entire swimming pool cleaning robot 100 so that the swimming pool cleaning robot 100 sinks to the bottom of the swimming pool, thereby enabling the swimming pool cleaning robot 100 to clean the bottom of the swimming pool. The operation is relatively simple and easy to implement.

[0066] It should be noted that, in the embodiment of the present invention, the floating chamber 20 is connected to the external air through the connecting line 302 of the float assembly 30, and then the air is supplied to the floating chamber 20 or the floating chamber 20 is vacuumed through the driving member. This arrangement is used to control the outflow or inflow of water in the floating chamber 20. The structure is simple and easy to implement.

[0067] It should be noted that when the floating bin 20 is full of water, the floating bin 20 acts as a counterweight, thereby enabling the swimming pool cleaning robot 100 to sink and reach the bottom of the swimming pool. When there is no water in the floating bin 20, it can drive the swimming pool cleaning robot 100 to float to the surface of the swimming pool.

[0068] Specifically, the floating warehouse 20 is made of plastic. As can be seen from the above, plastic has strong plasticity and is light in weight, which is beneficial to the modeling design of the floating warehouse 20. It can be understood that in other embodiments, the floating warehouse 20 can also be made of other materials, which can be considered according to actual conditions and is not limited here.

[0069] See also Figure 3 , further, the suspension assembly 50 comprises:

[0070] Driving motor 501;

[0071] The paddle 502 is fixedly connected to the rotating shaft of the driving motor 501 , and the driving motor 501 is used to drive the rotating shaft to rotate so as to drive the paddle 502 to rotate.

[0072] The driving motor 501 can drive the blades 502 to rotate, so that the driving motor 501 and the blades 502 are superimposed to form a propeller. The propeller converts mechanical energy into thrust. In the embodiment of the present invention, the driving motor 501 drives the blades 502 to rotate. The rotation of the blades 502 causes the water to spiral. The reaction force generated by the spiral gives the swimming pool cleaning robot 100 an upward thrust to offset the gravity of the swimming pool cleaning robot 100, so that the swimming pool cleaning robot 100 can be suspended in the water to clean the garbage in the water. The structure is simple and easy to implement.

[0073] See also Figure 3 Furthermore, a mounting channel 60 is formed in the body 10 , and the mounting channel 60 is arranged along the height direction of the body 10 . An opening 601 is arranged at the bottom of the mounting channel 60 , and the mounting channel 60 is connected to the outside through the opening 601 .

[0074] By setting the installation channel 60 and the opening 601, the water flow can be gathered in the installation channel 60, so that the rotation of the blade 502 can drive the water in the installation channel 60 to spiral, thereby generating a reverse force, and the pool cleaning robot 100 is given an upward thrust through this directional force.

[0075] The opening 601 is circular.

[0076] See also Figure 3 Furthermore, the body 10 includes a motor waterproof shell 70, the motor waterproof shell 70 is arranged in the installation channel 60, the driving motor 501 is arranged in the motor waterproof shell 70, the rotating shaft is partially exposed from the motor waterproof shell 70 and connected to the paddle 502, and the part where the rotating shaft contacts the motor waterproof shell 70 is movable and sealed.

[0077] By providing the motor waterproof housing 70 , the driving motor 501 can be protected to prevent the driving motor 501 from being damaged by water in the swimming pool, thereby extending the life of the swimming pool cleaning robot 100 .

[0078] The movable seal may be an oil seal. Of course, in other implementations, other sealing methods may also be used. The specific design may be based on actual conditions and is not limited here.

[0079] Furthermore, the float assembly 30 is detachably connected to the body 10 .

[0080] As can be seen from the above, the swimming pool cleaning robot 100 according to the embodiment of the present invention is equipped with a float assembly 30, and the float assembly 30 includes a float ball 301 and a connecting line 302. When the swimming pool cleaning robot 100 is working, the float ball 301 floats on the water surface, and the swimming pool cleaning robot 100 performs cleaning underwater. When the swimming pool cleaning robot 100 cleans the water surface, the connecting line 302 easily floats on the water surface. In this case, it is easy to affect the cleaning of the swimming pool surface by the swimming pool cleaning robot 100. For example, the connecting line 302 is drawn into the interior of the swimming pool cleaning robot 100, and the float assembly 30 is detachably connected to the body 10. With this arrangement, when the swimming pool cleaning robot 100 cleans the water surface, the float assembly 30 can be removed from the swimming pool cleaning robot 100 to avoid the above situation.

[0081] The specific detachable connection may be a snap connection.

[0082] See also Figures 1 to 3 Furthermore, a mounting portion 303 is provided at one end of the connecting line 302 away from the float 301 , and a mounting groove 40 is provided on the body 10 , and the mounting portion 303 is engaged with the mounting groove 40 to connect the connecting line 302 to the body 10 .

[0083] The installation portion 303 and the installation groove 40 are arranged to facilitate the connection between the float assembly 30 and the body 10 , and the structure is simple and easy to implement.

[0084] Furthermore, an O-ring is provided on the mounting portion 303 , and the float assembly 30 is sealedly connected to the body 10 via the O-ring.

[0085] By providing the O-ring, when the float assembly 30 is installed on the body 10 , the connection line 302 and the body 10 can be waterproofed, thereby improving the waterproof performance of the swimming pool cleaning robot 100 .

[0086] Among them, the number of O-rings is two.

[0087] Of course, in other implementations, the number of O-rings may be other numbers, which can be specifically designed according to actual conditions and is not limited here.

[0088] Furthermore, the driving member is a peristaltic pump.

[0089] Specifically, the advantages of peristaltic pumps include no pollution, high precision, low shear force, good sealing, simple maintenance, bidirectional delivery, adaptability to idling and dry operation, self-priming ability, corrosion resistance and a wide range of applications.

[0090] No pollution: The fluid only contacts the pump tube and does not contact other parts inside the pump body. It is suitable for handling media that are easily contaminated, such as liquid transportation in the food and pharmaceutical industries.

[0091] High precision: high repeatability and stability, suitable for applications requiring precise metering. Accurate metering and control can be achieved by adjusting the speed and frequency of the pump.

[0092] Low shear force: suitable for conveying shear-sensitive and highly corrosive fluids without damaging the solid matter in the fluid.

[0093] Good sealing: It has good self-priming ability and anti-backflow function, without valves and other seals, reducing leakage and maintenance problems.

[0094] Simple maintenance: Except the pump tube, there are no other parts that require special maintenance, and the replacement of the pump tube is simple.

[0095] Bidirectional conveying: forward and reverse flow can be achieved to meet the needs of specific process.

[0096] Adapt to idling and dry operation: it can operate without liquid, and can also transport air or gas-liquid-solid three-phase mixture.

[0097] Self-priming capability: No need to fill and drain the pump, it can self-prime and transfer liquid.

[0098] Corrosion resistance: Pump tubes made of corrosion-resistant materials can be selected, which are suitable for conveying corrosive liquids.

[0099] Wide range of applications: pump tubes made of different materials can be replaced, suitable for a variety of industries and media.

[0100] Therefore, it is a better choice to use a peristaltic pump as the driving member. Of course, in other embodiments, other driving devices can also be used. The specific design can be based on actual conditions and is not limited here.

[0101] Furthermore, the number of the peristaltic pumps is two.

[0102] The provision of two peristaltic pumps can improve the efficiency of gas delivery, which is beneficial for achieving rapid water inflow or water discharge of the floating chamber 20 .

[0103] In other implementations, the number of peristaltic pumps may be other numbers, which may be considered based on actual conditions and is not limited here.

[0104] See also Figure 4 , a control method for a swimming pool cleaning robot, the control method for the swimming pool cleaning robot comprising:

[0105] Step S10: Determine whether the swimming pool cleaning robot needs to clean the middle of the swimming pool;

[0106] If yes, step S20: determining whether the swimming pool cleaning robot is located on the swimming pool surface;

[0107] If yes, step S30: controlling the peristaltic pump of the swimming pool cleaning robot to work in a forward direction to discharge the air in the floating chamber of the swimming pool cleaning robot;

[0108] Step S40: obtaining the liquid level pressure value of the swimming pool cleaning robot;

[0109] Step S50: determining whether the liquid level pressure value is equal to a preset liquid level pressure value;

[0110] If yes, step S60: controlling the suspension component of the swimming pool cleaning robot to operate so that the swimming pool cleaning robot is suspended in the middle of the pool.

[0111] The control method of the swimming pool cleaning robot of the present invention is provided through the arrangement of a floating chamber, a float assembly and a driving member, the floating member includes an air pipe, the floating chamber is connected to the external air through the air pipe and the float ball, and through the operation of the driving member, air can be added to the floating chamber through the air pipe or the air in the floating chamber can be discharged to the outside of the float ball. In the case where the driving member applies air to the floating chamber, water in the floating chamber will be discharged to the outside of the floating chamber under the pressure of the air to reduce the overall weight of the swimming pool cleaning robot, so that the swimming pool cleaning robot can float on the surface of the swimming pool. In the case where the driving member extracts air from the floating chamber, a vacuum state will appear in the floating chamber, so that the water in the pool will enter the inside of the floating chamber to increase the overall weight of the swimming pool cleaning robot, so that the swimming pool cleaning robot can sink to the bottom of the swimming pool. With this arrangement, the swimming pool cleaning robot can both float on the surface of the swimming pool and swim. The swimming pool cleaning robot can not only clean the surface of the swimming pool, but also sink to the bottom of the swimming pool to clean the bottom of the swimming pool, thereby enabling the swimming pool cleaning robot to have the functions of cleaning both the pool surface and the bottom of the pool, thereby improving the cleaning efficiency of the swimming pool cleaning robot and facilitating the use of users; through the setting of the suspension component, in combination with the setting of the floating bin, the float component and the driving component, when the machine needs to be suspended in the swimming pool, through the forward and reverse correction of the suspension component and the driving component, the suspension component provides an upward thrust to the swimming pool cleaning robot, and the driving component adjusts the weight of the swimming pool cleaning robot to adjust the buoyancy of the swimming pool cleaning robot, so that the machine remains suspended at a relatively stable water layer height for operation, thereby enabling the swimming pool cleaning robot to have the functions of cleaning the pool surface, the pool bottom and the pool, thereby improving the cleaning efficiency of the swimming pool cleaning robot and facilitating the use of users.

[0112] In the embodiment of the present invention, the liquid level pressure value refers to a method of inferring the liquid level height by measuring the pressure generated by the liquid at the bottom of the container. This method is based on the principle of static pressure, that is, the pressure generated at the bottom of the vertical fluid column due to gravity is proportional to the height of the fluid. The higher the liquid level, the greater the pressure generated at the bottom. The liquid level pressure value can accurately know the height of the swimming pool cleaning robot in the water, which is conducive to the precise control of the swimming pool cleaning robot.

[0113] Among them, the liquid level pressure value can be obtained by a liquid level pressure sensor.

[0114] See also Figure 5 , further, determining whether the swimming pool cleaning robot is located on the swimming pool surface includes:

[0115] If not, step S201: determining whether the swimming pool cleaning robot is located at the bottom of the swimming pool;

[0116] If yes, step S202: controlling the peristaltic pump of the swimming pool cleaning robot to work in reverse to apply gas to the floating chamber of the swimming pool cleaning robot;

[0117] Step S203: obtaining the liquid level pressure value of the swimming pool cleaning robot;

[0118] Step S204: determining whether the liquid level pressure value is equal to a preset liquid level pressure value;

[0119] If yes, step S205: controlling the peristaltic pump of the pool cleaning robot to work in a forward direction to discharge the air in the floating chamber of the pool cleaning robot;

[0120] Step S206: Control the suspension component of the swimming pool cleaning robot to operate so that the swimming pool cleaning robot is suspended in the middle of the pool.

[0121] From the above, it can be seen that the swimming pool cleaning robot according to the embodiment of the present invention can be suspended in the pool on the pool surface or the pool bottom, so that the swimming pool cleaning robot has three cleaning functions: pool surface cleaning, pool inside cleaning, and pool bottom cleaning, which improves the intelligence of the swimming pool cleaning robot and improves the user experience.

[0122] See also Figure 6 Further, after controlling the suspension component of the swimming pool cleaning robot to operate so that the swimming pool cleaning robot is suspended in the middle of the pool, the method further includes:

[0123] Step S70: determining whether the current power of the swimming pool cleaning robot is less than a preset power;

[0124] If yes, step S80: controlling the suspension assembly to stop working;

[0125] Step S90: controlling the peristaltic pump of the swimming pool cleaning robot to work in reverse to apply gas to the floating chamber of the swimming pool cleaning robot.

[0126] When the current power of the pool cleaning robot is less than the preset power, the peristaltic pump is controlled to work in reverse to supply air to the floating chamber of the pool cleaning robot, and the suspension component is controlled to stop working. As air is continuously filled into the floating chamber, the water in the floating chamber will be discharged under the continuous squeezing of the air pressure. In this way, the weight of the entire pool cleaning robot is reduced, and the pool cleaning robot can automatically float to the surface of the swimming pool.

[0127] Such a setting can avoid the situation where the pool cleaning robot sinks to the bottom of the pool due to insufficient power, which is beneficial to user use.

[0128] It can also save more time, which is beneficial to the floating work of the swimming pool cleaning robot and avoids the situation of insufficient power due to the activation of the suspension component.

[0129] See also Figure 7 Furthermore, the control method of the swimming pool cleaning robot also includes:

[0130] Step S100: determining whether the swimming pool cleaning robot needs to clean the bottom of the swimming pool;

[0131] If yes, step S110: determining whether the swimming pool cleaning robot is located at the bottom of the swimming pool;

[0132] If not, step S120: controlling the peristaltic pump of the swimming pool cleaning robot to work in a forward direction to discharge the air in the floating chamber of the swimming pool cleaning robot;

[0133] Step S130: determining whether the swimming pool cleaning robot is located at the bottom of the swimming pool;

[0134] If yes, step S140: controlling the swimming pool cleaning robot to perform cleaning work.

[0135] In an embodiment of the present invention, it is first determined whether the swimming pool cleaning robot needs to clean the bottom of the swimming pool. When it is determined that the swimming pool cleaning robot needs to clean the bottom of the swimming pool, it is determined whether the swimming pool cleaning robot is located at the bottom of the swimming pool. When it is determined that the swimming pool cleaning robot is not located at the bottom of the swimming pool, it means that the swimming pool cleaning robot has not sunk to the bottom of the swimming pool. In this case, the peristaltic pump of the swimming pool cleaning robot is controlled to work forward to discharge the air in the floating bin of the swimming pool cleaning robot. After the air in the floating bin is discharged, the floating bin is in a negative pressure state. In this way, the water in the swimming pool will be passively sucked into the floating bin to increase the weight of the swimming pool cleaning robot, thereby realizing the sinking of the swimming pool cleaning robot. Then, it is determined whether the swimming pool cleaning robot is located at the bottom of the swimming pool. When it is determined that the swimming pool cleaning robot is located at the bottom of the swimming pool, the swimming pool cleaning robot is controlled to perform cleaning work.

[0136] In other words, the swimming pool cleaning robot can adjust the work of the peristaltic pump according to its own situation to automatically realize the sinking work, making the operation more intelligent and improving the user experience.

[0137] See also Figure 8 , further, if, after controlling the swimming pool cleaning robot to perform cleaning work, including:

[0138] Step S150: determining whether the swimming pool cleaning robot has completed cleaning;

[0139] If yes, step S160: controlling the peristaltic pump of the swimming pool cleaning robot to work in reverse to apply gas to the floating chamber of the swimming pool cleaning robot.

[0140] After the pool cleaning robot finishes cleaning, the peristaltic pump is controlled to work in reverse to add air to the floating chamber of the pool cleaning robot. As air is continuously filled into the floating chamber, the water in the floating chamber will be discharged under the continuous compression of the air pressure. In this way, the weight of the entire pool cleaning robot is reduced, and the pool cleaning robot can automatically float to the surface of the swimming pool.

[0141] See also Fig. 9 , further, if, after controlling the swimming pool cleaning robot to perform cleaning work, it also includes:

[0142] Step S170: determining whether the current power of the swimming pool cleaning robot is less than a preset power;

[0143] If yes, step S180: controlling the peristaltic pump of the swimming pool cleaning robot to work in reverse to apply gas to the floating chamber of the swimming pool cleaning robot.

[0144] When the current power of the pool cleaning robot is less than the preset power, the peristaltic pump is controlled to work in reverse to add air to the floating chamber of the pool cleaning robot. As air is continuously filled into the floating chamber, the water in the floating chamber will be discharged under the continuous squeezing of the air pressure. In this way, the weight of the entire pool cleaning robot is reduced, and the pool cleaning robot can automatically float to the surface of the swimming pool.

[0145] Such a setting can avoid the situation where the pool cleaning robot sinks to the bottom of the pool due to insufficient power, which is beneficial to user use.

[0146] A computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the control method of the swimming pool cleaning robot is implemented.

[0147] The computer-readable storage medium of the present invention is provided with a floating chamber, a buoy assembly and a driving member. The floating member includes an air pipe. The floating chamber is connected to the external air through the air pipe and the float. Through the operation of the driving member, air can be applied to the floating chamber through the air pipe or the air in the floating chamber can be discharged to the outside of the float. When the driving member applies air to the floating chamber, the water in the floating chamber will be discharged to the outside of the floating chamber under the pressure of the air to reduce the overall weight of the swimming pool cleaning robot, so that the swimming pool cleaning robot can float on the surface of the swimming pool. When the driving member extracts air from the floating chamber, a vacuum state will appear in the floating chamber. In this way, the water in the pool will enter the inside of the floating chamber to increase the overall weight of the swimming pool cleaning robot, so that the swimming pool cleaning robot can sink to the bottom of the swimming pool. With this arrangement, the swimming pool cleaning robot can float on the swimming pool and face the swimming pool. The swimming pool cleaning robot can clean the pool surface and also sink to the bottom of the swimming pool to clean the bottom of the swimming pool, thereby enabling the swimming pool cleaning robot to have the functions of cleaning both the pool surface and the bottom of the pool, thereby improving the cleaning efficiency of the swimming pool cleaning robot and facilitating the use of users; through the setting of the suspension component, in combination with the setting of the floating bin, the float component and the driving component, when the machine needs to be suspended in the swimming pool, through the forward and reverse correction of the suspension component and the driving component, the suspension component provides an upward thrust to the swimming pool cleaning robot, and the driving component adjusts the weight of the swimming pool cleaning robot to adjust the buoyancy of the swimming pool cleaning robot, thereby allowing the machine to remain suspended at a relatively stable water layer height for operation, thereby enabling the swimming pool cleaning robot to have the functions of cleaning the pool surface, the pool bottom and the pool, thereby improving the cleaning efficiency of the swimming pool cleaning robot and facilitating the use of users.

[0148] Those of ordinary skill in the art can understand that all or part of the processes in the above-mentioned implementation methods can be completed by instructing related hardware through computer-readable instructions, and the computer-readable instructions can be stored in a non-volatile readable storage medium or a volatile readable storage medium. When the computer-readable instructions are executed, they may include the processes of the implementation methods of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the various implementation methods provided in this application may include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

[0149] Those skilled in the art will clearly understand that for the sake of convenience and brevity of description, only the division of the above-mentioned functional units and modules is used as an example. In actual applications, the above-mentioned functions can be distributed and completed by different functional units and modules as needed, that is, the internal structure of the system can be divided into different functional units or modules to complete all or part of the functions described above.

[0150] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention, and should all be included in the protection scope of the present invention.

Claims

1. A swimming pool cleaning robot, characterized in that: The swimming pool cleaning robot comprises: A machine body, wherein a floating chamber is provided in the machine body, and the floating chamber is used to adjust the overall weight of the machine body to control the machine body to sink to the bottom of the pool or float on the surface of the pool; A float assembly, the float assembly is connected to the machine body, the float assembly includes a connecting line and a floating ball, an air pipe is arranged in the connecting line, an air port is arranged on the floating ball, one end of the air pipe is communicated with the air port, and when the connecting line is installed on the machine body, the other end of the air pipe is communicated with the floating chamber; A driving member, the driving member is used to apply airflow to the air pipe to evacuate the gas in the floating chamber to make the floating chamber in a negative pressure state, so that external water can automatically flow into the floating chamber, or to apply air to the floating chamber to discharge the water in the floating chamber to the outside of the floating chamber; A suspension component is arranged in the machine body, the suspension component is parallel to the height direction of the machine body, and the suspension component is used to drain water to the bottom of the machine body to provide an upward thrust to the machine body, so that the machine body is suspended in the middle of the pool.

2. The swimming pool cleaning robot according to claim 1, characterized in that: The suspension assembly comprises: Drive motor; The paddle blades are fixedly connected to the rotating shaft of the driving motor, and the driving motor is used to drive the rotating shaft to rotate so as to drive the paddle blades to rotate.

3. The swimming pool cleaning robot according to claim 2, characterized in that: An installation channel is formed in the body, and the installation channel is arranged along the height direction of the body. An opening is arranged at the bottom of the installation channel, and the installation channel is communicated with the outside through the opening.

4. The swimming pool cleaning robot according to claim 2, characterized in that: The machine body includes a motor waterproof shell, the motor waterproof shell is arranged in the installation channel, the driving motor is arranged in the motor waterproof shell, the rotating shaft is partially exposed from the motor waterproof shell and connected to the blade, and the part of the rotating shaft that contacts the motor waterproof shell is movable and sealed.

5. The swimming pool cleaning robot according to claim 1, characterized in that: An installation portion is provided at one end of the connecting line away from the float, and a mounting groove is provided on the machine body. The mounting portion is engaged with the mounting groove to connect the connecting line to the machine body.

6. The swimming pool cleaning robot according to claim 5, characterized in that: The mounting portion is provided with an O-ring, and the float assembly is sealed and connected to the body via the O-ring.

7. A control method for a swimming pool cleaning robot, characterized in that: The control method of the swimming pool cleaning robot includes: Determining whether the swimming pool cleaning robot is to clean the middle of the swimming pool; If yes, determining whether the swimming pool cleaning robot is located on the swimming pool surface; If yes, controlling the peristaltic pump of the swimming pool cleaning robot to work in a forward direction to discharge the air in the floating chamber of the swimming pool cleaning robot; Obtaining a liquid level pressure value of the swimming pool cleaning robot; Determining whether the liquid level pressure value is equal to a preset liquid level pressure value; If so, the suspension component of the swimming pool cleaning robot is controlled to operate so that the swimming pool cleaning robot is suspended in the middle of the pool.

8. The control method of the swimming pool cleaning robot according to claim 7, characterized in that: The determining whether the swimming pool cleaning robot is located on the swimming pool surface includes: If not, determining whether the swimming pool cleaning robot is located at the bottom of the swimming pool; If so, controlling the peristaltic pump of the swimming pool cleaning robot to work in reverse to apply gas to the floating chamber of the swimming pool cleaning robot; Obtaining a liquid level pressure value of the swimming pool cleaning robot; Determining whether the liquid level pressure value is equal to a preset liquid level pressure value; If yes, controlling the peristaltic pump of the swimming pool cleaning robot to work in a forward direction to discharge the air in the floating chamber of the swimming pool cleaning robot; The suspension component of the swimming pool cleaning robot is controlled to operate so that the swimming pool cleaning robot is suspended in the middle of the pool.

9. The control method of the swimming pool cleaning robot according to claim 8, characterized in that: After the suspension component of the swimming pool cleaning robot is controlled to operate so that the swimming pool cleaning robot is suspended in the middle of the pool, the method further includes: Determining whether the current power of the swimming pool cleaning robot is less than a preset power; If yes, controlling the suspension component to stop working; The peristaltic pump of the swimming pool cleaning robot is controlled to work in reverse to apply gas to the floating chamber of the swimming pool cleaning robot.

10. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the steps of the swimming pool cleaning robot according to any one of claims 7 to 9 are implemented.

Images