Automatic water surface cleaning machine with function of reducing actual yaw angle

Abstract

The invention discloses an automatic water surface cleaning machine with a function of reducing an actual yaw angle, which comprises a water pumping unit positioned on one side of the automatic water surface cleaning machine, the water pumping unit comprises a water pump, the water pump comprises a motor, when the automatic water surface cleaning machine walks in water, the motor provides driving force to drive the automatic water surface cleaning machine to rotate, and a motor driving direction is formed; water is pumped out and sprayed out through driving of the motor, the sprayed water flow generates thrust on the automatic water surface cleaning machine, the thrust is transmitted back to the motor through the water pumping unit to form force opposite to the driving direction of the motor, the reverse force drives the automatic water surface cleaning machine to rotate to form a water flow driving direction, and the water flow driving direction is opposite to the driving direction of the motor. The movement direction of the cleaning machine is adjusted through the reverse force, and therefore the difference value between the actual yaw angle and the ideal yaw angle is reduced. The difference value is reduced, the leaking area of the automatic water surface cleaning machine is reduced, and the cleaning efficiency of the automatic water surface cleaning machine is improved.

Description

Technical Field

[0001] The invention relates to the technical field of water surface cleaning, in particular to an automatic water surface cleaning machine with the function of reducing an actual yaw angle. Background Art

[0002] There are three types of automatic water surface cleaning machines available, all of which have their own defects. The first type only has a pumping device and is not expensive, but it cannot clean while walking. The second type only has a walking power device and is not expensive, but it cannot stay in place to clean. The third type has the defect that it requires two sets of devices, a pumping device and a walking power device, to achieve both staying in place and cleaning while walking, and the cost of the two sets of devices is high.

[0003] In the prior art, there is no automatic water surface cleaning machine that can not only stay in place to clean, but also clean while moving, and solve the problem of high costs of two sets of devices.

[0004] In order to achieve both staying in place and cleaning while walking, and to solve the problem of high cost of two sets of devices, we have recently developed a multifunctional automatic water surface cleaning machine. When using the automatic water surface cleaning machine to collect garbage on the water surface, first put the water surface cleaning machine into the water. Because the floating device can generate buoyancy, the filter net and filter cartridge of the filter device will float on the water. Start the pumping device, and the water will be sucked into the filter net. Then the water will pass through the mesh on the filter net, and then flow out of the filter cartridge from the opening, and finally spray out through the water outlet. The water flow sprayed by the water outlet pushes the automatic water surface cleaning machine forward. When the automatic water surface cleaning machine is blocked and cannot move forward, the water outlet can still spray out the water flow, and the filter device continues to collect garbage. In this way, the pumping device can achieve both staying in place and cleaning while walking, reducing costs.

[0005] The automatic water surface cleaning machine uses the same motor to achieve pumping and filtering. When pumping water, the motor needs to drive a propeller or impeller, which produces a large water resistance. When filtering, the motor needs to drive a filtering device, and the load is relatively small. Changes in the motor load cause an imbalance in the motor output torque, which is transmitted to the motion system of the cleaning machine, causing the cleaning machine to yaw. The switching of the motor between pumping water and filtering causes vibration, which is transmitted to the floating device or motion system of the cleaning machine, causing the posture of the cleaning machine to change, resulting in yaw. The vibration frequency of the motor is close to the natural frequency of the cleaning machine, further resonating and amplifying the yaw effect, making it impossible for it to deflect according to the ideal yaw angle, and the actual yaw angle is greater than the ideal yaw angle, and the difference between the actual yaw angle and the ideal yaw angle is large. The automatic water surface cleaning machine cannot clean according to the predetermined path or direction, which will increase unnecessary moving distance or time, and cause some areas to be uncovered, thereby missing some cleaning areas, and reducing the cleaning efficiency of the automatic water surface cleaning machine. Summary of the invention

[0006] In order to improve the above-mentioned problem that the first model of our latest developed automatic water surface cleaning machine missed some cleaning areas and the cleaning efficiency of the automatic water surface cleaning machine was reduced, the present invention provides an automatic water surface cleaning machine with a function of reducing the actual yaw angle. The automatic water surface cleaning machine with a function of reducing the actual yaw angle has new models one and two.

[0007] The present invention provides an automatic water surface cleaning machine with a function of reducing the actual yaw angle, which adopts the following technical solution:

[0008] An automatic water surface cleaning machine with the function of reducing the actual yaw angle includes a pumping unit located on one side of the automatic water surface cleaning machine, the pumping unit includes a pumping machine, and the pumping machine includes a motor. When the automatic water surface cleaning machine moves in the water, the motor provides a driving force to drive the automatic water surface cleaning machine to rotate, forming a motor driving direction. Water is pumped out and sprayed out by the motor drive, and the sprayed water flow generates thrust for the automatic water surface cleaning machine. A part of the thrust is transmitted back to the motor through the pumping unit, forming a force in the opposite direction to the motor driving direction. The reverse force drives the automatic water surface cleaning machine to rotate, forming a water flow driving direction. The water flow driving direction is opposite to the motor driving direction. The movement direction of the cleaning machine is adjusted by the reverse force, thereby reducing the difference between the actual yaw angle and the ideal yaw angle.

[0009] While adopting the above technical solutions, the present invention may also adopt or combine the following technical solutions:

[0010] As a preferred technical solution of the present invention: an automatic water surface cleaning machine with a function of reducing the actual yaw angle is controlled to turn right according to the ideal yaw angle. When the motor is driven in a clockwise direction,

[0011] The direction of the outlet water flow is parallel to the axis and the outlet water flow is located on the right side of the positive direction of the axis, and the outlet water flow sprays water directly behind the right side;

[0012] As a preferred technical solution of the present invention: the angle between the direction of the outflowing water flow and the axis is not zero, and the outflowing water flow sprays water obliquely to the left rear.

[0013] The automatic water surface cleaning machine has the function of reducing the actual yaw angle. The pumping unit located on one side of the automatic water surface cleaning machine includes a water outlet cylinder, the water outlet cylinder is close to the pumping machine, and the outlet water flow is sprayed out from behind the water outlet cylinder.

[0014] The axis of the water outlet cylinder is parallel to the shaft, and the axis is located on the right side of the positive direction of the shaft;

[0015] As a preferred technical solution of the present invention: the angle between the axis of the water outlet cylinder and the shaft is not zero, and the axis is inclined to the left rear.

[0016] The automatic water surface cleaning machine with the function of reducing the actual yaw angle controls the automatic water surface cleaning machine to turn left according to the ideal yaw angle. When the motor is driven in the counterclockwise direction,

[0017] The direction of the outlet water flow is parallel to the axis and the outlet water flow is located on the left side of the positive direction of the axis, and the outlet water flow sprays water directly behind the left side;

[0018] As a preferred technical solution of the present invention: the angle between the direction of the outflowing water flow and the axis is not zero, and the outflowing water flow sprays water obliquely to the right rear.

[0019] The automatic water surface cleaning machine has the function of reducing the actual yaw angle. The pumping unit located on one side of the automatic water surface cleaning machine includes a water outlet cylinder, the water outlet cylinder is close to the pumping machine, and the outlet water flow is sprayed out from behind the water outlet cylinder.

[0020] The axis of the water outlet cylinder is parallel to the shaft, and the axis is located on the left side of the positive direction of the shaft;

[0021] As a preferred technical solution of the present invention: the angle between the axis of the water outlet cylinder and the shaft is not zero, and the axis is inclined to the right rear.

[0022] The automatic water surface cleaning machine with the function of reducing the actual yaw angle comprises a water pumping shell, a water pumping cavity is formed inside the water pumping shell, and a water outlet cylinder is communicated with the water pumping cavity.

[0023] The automatic water surface cleaning machine with the function of reducing the actual yaw angle comprises a sealed cabin, a motor body is located inside the sealed cabin, a rotating shaft of the motor passes through the sealed cabin, and a water pump comprises an impeller, and the impeller is installed on one side of the rotating shaft located in the water pumping chamber.

[0024] The automatic water surface cleaning machine with the function of reducing the actual yaw angle comprises a filtering device, wherein the filtering device comprises a filtering cartridge installed on the top of a water pumping shell, a filtering net is installed inside the filtering cartridge, an opening is provided at the bottom of the filtering cartridge, and the opening is communicated with a water pumping chamber.

[0025] The automatic water surface cleaning machine has the function of reducing the actual yaw angle. The number of floating devices is three. The floating devices are installed on the periphery of the filtering device, two of which are symmetrically installed on both sides of the shaft, and one floating device is located on the shaft.

[0026] Compared with the prior art, the automatic water surface cleaning machine with the function of reducing the actual yaw angle of the present invention has the following beneficial effects: the present invention uses the same motor to realize water pumping and filtering, simplifies the structural design, reduces the complexity of the equipment, optimizes the motor load distribution, reduces energy loss, and at the same time, utilizes the water flow driving direction opposite to the motor driving direction to dynamically adjust the movement direction of the cleaning machine and reduce the yaw angle difference. At the same time, the thrust of the water flow on the automatic water surface cleaning machine is combined to convert the originally wasted energy into the power to adjust the movement direction of the cleaning machine, improve the energy utilization efficiency, and simultaneously solve the problem of excessive deviation between the actual yaw angle and the ideal yaw angle, which significantly improves the cleaning efficiency and control accuracy. In the present invention, pumping and filtering are achieved by the same motor, which improves the integration and operation efficiency of the equipment and realizes the integration of efficient pumping and filtration; the reaction force of the water flow is used to dynamically adjust the movement direction of the cleaning machine, which significantly reduces the difference between the actual yaw angle and the ideal yaw angle, reduces the omission of the cleaning area, and improves the movement stability and cleaning efficiency of the cleaning machine. By dynamically adjusting the movement direction of the cleaning machine, it can better adapt to the complex water environment and increase the working range and applicability of the cleaning machine; the reaction force of the water flow is converted into the power for adjusting the movement direction of the cleaning machine, which realizes the efficient use of energy, reduces the dependence on external energy, and improves the adaptability of the equipment, which has great application prospects in the field of cleaning technology. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the technical solutions in the embodiments or the first paragraphs of the present invention, the drawings required for use in the embodiments or the first paragraphs are 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 creative work.

[0028] Figure 1 This is the front view of the first version of the automatic water surface cleaning machine;

[0029] Figure 2 For automatic water surface cleaning machine Figure 1 AA section view Figure 1 ;

[0030] Figure 3 A bird's-eye view of the first model of the automatic water surface cleaning machine Figure 1 ;

[0031] Figure 4 For automatic water surface cleaning machine Figure 1 AA section view Figure 2 ;

[0032] Figure 5 A bird's-eye view of the first model of the automatic water surface cleaning machine Figure 2 ;

[0033] Figure 6 It is a front view of a new model of the automatic water surface cleaning machine with a function of reducing the actual yaw angle of the present invention;

[0034] Figure 7 The automatic water surface cleaning machine with the function of reducing the actual yaw angle of the present invention Figure 6 BB cross-section Figure 1 ;

[0035] Figure 8 It is a front view of a new model II of the automatic water surface cleaning machine with a function of reducing the actual yaw angle of the present invention;

[0036] Fig. 9 The automatic water surface cleaning machine with the function of reducing the actual yaw angle of the present invention Figure 8 CC cross-section Figure 1 ;

[0037] Fig.10 The top view of the new model 1 and the new model 2 of the automatic water surface cleaning machine with the function of reducing the actual yaw angle of the present invention Figure 1 ;

[0038] Fig.11 The automatic water surface cleaning machine with the function of reducing the actual yaw angle of the present invention Figure 6 BB cross-section Figure 2 ;

[0039] Fig.12 The automatic water surface cleaning machine with the function of reducing the actual yaw angle of the present invention Figure 8 CC cross-section Figure 2 ;

[0040] Fig.13 The top view of the new model 1 and the new model 2 of the automatic water surface cleaning machine with the function of reducing the actual yaw angle of the present invention Figure 2 ;

[0041] Fig.14 The cross-sectional three-dimensional structure diagram of a new model of the automatic water surface cleaning machine with the function of reducing the actual yaw angle of the present invention Figure 1 ;

[0042] Fig.15 For the present invention Fig.12 The enlarged structural diagram at A in the middle;

[0043] Fig.16 The cross-sectional three-dimensional structure diagram of a new model of the automatic water surface cleaning machine with the function of reducing the actual yaw angle of the present invention Figure 2 ;

[0044] Fig.17 The schematic diagram of the partial three-dimensional structure of the new automatic water surface cleaning machine with the function of reducing the actual yaw angle of the present invention is shown in FIG. Figure 1 ;

[0045] Fig.18 The schematic diagram of the partial three-dimensional structure of the new automatic water surface cleaning machine with the function of reducing the actual yaw angle of the present invention is shown in FIG. Figure 2 ;

[0046] Fig.19 It is a three-dimensional structural diagram of a combination of a water pumping shell and a water outlet cylinder of a new model of the automatic water surface cleaning machine with a function of reducing the actual yaw angle of the present invention;

[0047] Fig. 20 It is an overall three-dimensional structural diagram of a new model of the automatic water surface cleaning machine with the function of reducing the actual yaw angle of the present invention.

[0048] In the figure: 1. motor; 2. water outlet cylinder; 3. rotating shaft; 4. pumping shell; 5. pumping chamber; 6. sealing cabin; 7. impeller; 8. opening; 9. floating device; 10. filter cylinder; 11. filter net.

[0049] A1, ideal yaw angle; A2, actual yaw angle; A3, difference; D1, motor driving direction; D2, water flow driving direction; D3, outlet water flow direction; F1, one side of the automatic water surface cleaning machine; E2, the other side of the automatic water surface cleaning machine. DETAILED DESCRIPTION

[0050] The following is combined with Figure 1-20 The present invention is described in further detail.

[0051] An orthogonal rectangular coordinate system OXYZ of the automatic water surface cleaning machine in this application is established. Point 0 of the coordinate system is the center of the automatic water surface cleaning machine, any two axes of the three axes X-axis, Y-axis and Z-axis are perpendicular to each other, the X-axis is perpendicular to the YZ plane, the Y-axis is perpendicular to the XZ plane, and the Z-axis is perpendicular to the XY plane.

[0052] The X-axis of the coordinate system is the front and rear axis of the automatic water surface cleaning machine, and the X-axis is located in the walking direction of the automatic water surface cleaning machine. When the automatic water surface cleaning machine walks on the surface of the swimming pool, the X-axis is parallel to the surface of the swimming pool.

[0053] The Y-axis of the coordinate system is the transverse axis of the automatic water surface cleaning machine, and the Y-axis is perpendicular to the moving direction of the automatic water surface cleaning machine. When the automatic water surface cleaning machine moves on the surface of the swimming pool, the Y-axis is parallel to the surface of the swimming pool.

[0054] The Z axis of the coordinate system is the vertical axis of the automatic water surface cleaning machine. When the automatic water surface cleaning machine moves on the surface of the swimming pool, the Z axis is perpendicular to the surface of the swimming pool.

[0055] like Figure 1-20 The automatic water surface cleaning machine in the present application is not limited to the following: Figure 1-20 The automatic water surface cleaning machine in the present application may have one pumping unit, or may have two, three, four, etc.

[0056] When different pumping units are working, the position of the orthogonal rectangular coordinate system OXYZ of the automatic water surface cleaning machine is different, because the orthogonal rectangular coordinate system OXYZ is established on the working pumping unit. Figure 1-20 The automatic water surface cleaning machine in the embodiment has two pumping units. When the pumping unit F1 on one side of the automatic water surface cleaning machine is working, the position of the orthogonal rectangular coordinate system OXYZ corresponding to the automatic water surface cleaning machine is on the pumping unit F1 on one side of the automatic water surface cleaning machine, such as Figure 1-20 , 0 is the center around which the automatic water surface cleaning machine rotates when it moves, 0 is on the shaft 3 of the motor 1, the X-axis is the front and rear axis of the automatic water surface cleaning machine, the Y-axis is the horizontal axis of the automatic water surface cleaning machine, and the Z-axis is the vertical axis of the automatic water surface cleaning machine. The shaft 3 of the motor 1 of the water pump is located on the Z-axis, and the shaft end of the shaft 3 is located in the positive direction of the Z-axis. The outgoing water flow pushes the automatic water surface cleaning machine forward.

[0057] Similarly, when the pumping unit on the other side E2 of the automatic water surface cleaning machine is working, the position of the orthogonal rectangular coordinate system OXYZ corresponding to the automatic water surface cleaning machine is on the pumping unit on the other side E2 of the automatic water surface cleaning machine. In the following text, this application only analyzes the pumping unit on one side F1 of the automatic water surface cleaning machine, and no specific analysis is made for the pumping unit on the other side E2 of the automatic water surface cleaning machine and the pumping units at other positions of the automatic water surface cleaning machine.

[0058] An automatic water surface cleaning machine with a function of reducing an actual yaw angle comprises a pumping unit located at one side F1 of the automatic water surface cleaning machine,

[0059] The pumping unit located at one side F1 of the automatic water surface cleaning machine includes a pumping machine, and the pumping machine includes a motor 1. When the automatic water surface cleaning machine moves on the water surface, the water flow driving direction D2 is opposite to the motor driving direction D1, and the difference A3 between the actual yaw angle A2 and the ideal yaw angle A1 is reduced.

[0060] The water flow driving direction D2 refers to the direction in which the thrust of the water flow drives the automatic water surface cleaning machine to rotate. The water flow refers to the water flow sprayed from the pumping unit.

[0061] The motor driving direction D1 refers to the direction in which the driving force of the motor 1 drives the automatic water surface cleaning machine to rotate.

[0062] When the automatic water surface cleaning machine moves in the water, the motor 1 provides a driving force to drive the automatic water surface cleaning machine to rotate, forming a motor driving direction D1. The motor 1 drives the water to be pumped out and sprayed out. The sprayed water flow generates thrust on the automatic water surface cleaning machine. A part of the thrust is transmitted back to the motor 1 through the pumping unit, forming a reverse force to the motor driving direction D1. The reverse force drives the automatic water surface cleaning machine to rotate, forming a water flow driving direction D2. The water flow driving direction D2 is opposite to the motor driving direction D1. The movement direction of the cleaning machine is adjusted by the reverse force, thereby reducing the difference A3 between the actual yaw angle A2 and the ideal yaw angle A1.

[0063] The water flow driving direction D2 is opposite to the motor driving direction D1. There are two situations. The first one is: Figure 7-9 , the motor driving direction D1 is clockwise, and the water flow driving direction D2 is counterclockwise; the second type: Figure 11-13 , the motor driving direction D1 is counterclockwise; the water flow driving direction D2 is clockwise.

[0064] The ideal yaw angle A1 is the ideal yaw angle that needs to be achieved when controlling the automatic swimming pool cleaning machine.

[0065] The ideal yaw angle A1 may be initially stored in the software program of the automatic water surface cleaning machine, or may be calculated in real time by the automatic water surface cleaning machine during driving.

[0066] like Figure 1-5 In the first version, the ideal yaw angle A1 can also be obtained through the mechanical structure of the automatic water surface cleaning machine instead of the software program. The mechanical structure here refers to the mass distribution of the automatic water surface cleaning machine itself in various places. When the automatic water surface cleaning machine walks on the water surface, the thrust of the outflowing water flow pushes the automatic water surface cleaning machine forward. The mass distribution of the automatic water surface cleaning machine affects the size of the ideal yaw angle A1, and the automatic water surface cleaning machine moves according to the ideal yaw angle A1.

[0067] The ideal working state of the automatic water surface cleaning machine is that the automatic water surface cleaning machine deflects according to the ideal yaw angle A1, so that the automatic water surface cleaning machine can work according to the expected working state, and the automatic water surface cleaning machine can most efficiently and fully clean the water surface. However, in practice, the actual yaw angle A2 is often not equal to the ideal yaw angle A1, and there is a difference A3.

[0068] The actual yaw angle A2 is the actual yaw angle of the automatic pool cleaning machine.

[0069] It should be noted that the ideal yaw angle A1, the actual yaw angle A2 and the difference A3 in the present application do not have directions, but are absolute values, and are values ​​greater than or equal to zero.

[0070] In the first paragraph, Figure 1-5 , the actual yaw angle A2 is larger than the ideal yaw angle A1, which will cause the automatic water surface cleaning machine to miss some areas to clean, reducing the missed cleaning areas. The larger the difference A3 is, the larger the area missed by the automatic water surface cleaning machine is, and the lower the cleaning efficiency of the automatic water surface cleaning machine is.

[0071] In order to reduce the difference A3 and improve the ability of the automatic water surface cleaning machine to clean the water surface efficiently and fully, our R&D personnel conducted many tests and attempts on the mass distribution of the automatic water surface cleaning machine, such as changing the front and rear or left and right counterweights of the automatic water surface cleaning machine, and ensuring the symmetry of the structure and mass on both sides of the automatic water surface cleaning machine. However, these methods failed to reduce the difference A3.

[0072] After many elimination processes to find the reason why the actual yaw angle A2 is often larger or smaller than the ideal yaw angle A1, that is, to find the reason why the difference A3 is greater than zero, our R&D personnel found that the reason why the difference A3 is greater than zero is related to the motor of the pumping unit. When the motor rotates, it will drive the automatic water surface cleaning machine to rotate slightly. This slight rotation is so small that the R&D personnel in this field did not find the problem that the actual yaw angle A2 is often larger than the ideal yaw angle A1, and no one thought about solving this problem. However, it is this slight rotation that causes the difference A3 of the automatic water surface cleaning machine to be greater than zero, and the difference A3 is so large that it affects the cleaning efficiency.

[0073] That is to say, the ideal yaw angle A1 exists without considering the influence of the driving force of the motor 1. With the influence of the driving force of the motor 1, the automatic water surface cleaning machine will deflect according to the actual yaw angle A2. The actual yaw angle A2 is larger than the ideal yaw angle A1. Figure 1-5 The driving force of the motor provides power for the automatic water surface cleaning machine to absorb water, but also has the side effect of causing the actual yaw angle A2 to be larger than the ideal yaw angle A1.

[0074] like Figure 2, looking down at the automatic water surface cleaning machine from above, the outflow direction D3 and the forward direction of the automatic water surface cleaning machine are both on the X-axis and opposite, and the outflow pushes the automatic water surface cleaning machine forward. If the motor driving direction D1 is clockwise, that is, the driving force of motor 1 drives the automatic water surface cleaning machine to rotate clockwise, when the automatic water surface cleaning machine is controlled to turn right according to the ideal yaw angle A1, the driving force of motor 1 will drive the automatic water surface cleaning machine to rotate to the right by a larger angle, that is, if Figure 3 , the actual yaw angle A2 of the automatic water surface cleaning machine is larger than the ideal yaw angle A1, and the difference A3 is large, A3 = A2-A1.

[0075] like Figure 4 , looking down at the automatic water surface cleaning machine from above, the outflow direction D3 and the forward direction of the automatic water surface cleaning machine are both on the X-axis and opposite, and the outflow pushes the automatic water surface cleaning machine forward. If the motor driving direction D1 is counterclockwise, that is, the driving force of motor 1 drives the automatic water surface cleaning machine to rotate counterclockwise, when the automatic water surface cleaning machine is controlled to turn left according to the ideal yaw angle A1, the driving force of motor 1 will drive the automatic water surface cleaning machine to rotate to the left at a greater angle, that is, if Figure 5 , the actual yaw angle A2 of the automatic water surface cleaning machine is larger than the ideal yaw angle A1, and the difference A3 is large, A3 = A2-A1.

[0076] As mentioned earlier, our R&D personnel have found the reason why the actual yaw angle A2 is larger than the ideal yaw angle A1. The reason is that the driving force of the motor drives the automatic water surface cleaning machine to rotate clockwise or counterclockwise. If we want to reduce the difference A3, we need to start by counteracting the side effects brought by the driving force of the motor.

[0077] In order to reduce the difference A3, the R&D personnel modified the structure of the automatic water surface cleaning machine. After the modification, the new model of the automatic water surface cleaning machine is obtained. Figure 7 , Figure 8 , Fig.11 and Fig.12 , the shaft 3 of the motor 1 is still located on the Z axis, and the shaft end of the shaft 3 is still located in the positive direction of the Z axis, while the water flow direction D3 of the automatic water surface cleaning machine is not on the X axis. The thrust of the water flow not only pushes the automatic water surface cleaning machine forward, but also drives the automatic water surface cleaning machine to rotate, that is, drives the water surface cleaning machine to rotate clockwise or counterclockwise. The direction in which the thrust of the water flow of the pumping unit drives the automatic water surface cleaning machine to rotate is the water flow driving direction D2. The water flow driving direction D2 is opposite to the motor driving direction D1.

[0078] That is to say, if you want to reduce the actual yaw angle A2 and reduce the difference A3, you need the thrust of the water flow to counteract the side effects of the motor 1, that is, the water flow driving direction D2 needs to be opposite to the motor driving direction D1. Only when the actual yaw angle A2 is reduced can the difference A3 be reduced.

[0079] The water flow driving direction D2 is opposite to the motor driving direction D1, and the difference A3 between the actual yaw angle A2 and the ideal yaw angle A1 decreases. The smaller the difference A3 is, the smaller the area missed by the automatic water surface cleaning machine is, and the higher the cleaning efficiency of the automatic water surface cleaning machine is. When the difference A3 is equal to zero, the actual yaw angle A2 is equal to the ideal yaw angle Al, and the automatic water surface cleaning machine can most efficiently and fully clean the water surface.

[0080] The automatic water surface cleaning machine with the function of reducing the actual yaw angle is controlled to turn right according to the ideal yaw angle Al. When the motor driving direction D1 is clockwise,

[0081] The outlet water flow direction D3 is parallel to the X-axis and the outlet water flow is located on the right side of the positive direction of the X-axis, and the outlet water flow sprays water directly behind the right side;

[0082] or,

[0083] The angle between the outlet water flow direction D3 and the X-axis is not zero, and the outlet water flow sprays obliquely to the left rear.

[0084] Figure 2 and Figure 3 In the example, the motor driving direction D1 is clockwise, and the water flow direction D3 is on the X-axis. Figure 2 and Figure 3 Improvements have been made, the new model is the same Figure 6 , Figure 7 and Fig.10 , new model Figure 8 , Fig. 9 and Fig.10 , the water flow direction D3 is not on the X-axis, the water flow driving direction D2 is counterclockwise, and the water flow driving direction D2 is opposite to the motor driving direction D1, such as Fig.10 , Fig.10 and Figure 3 In comparison, the actual yaw angle A2 decreases and the difference A3 decreases.

[0085] New style Figure 6 and Figure 7 In the figure, the direction of the water flow D3 is parallel to the X-axis, the water flow is located on the right side of the positive direction of the X-axis, and the water flow sprays water to the right rear. The thrust of the water flow drives the automatic water surface cleaning machine to rotate in the counterclockwise direction, that is, the water flow driving direction D2 is counterclockwise, and the water flow driving direction D2 is opposite to the motor driving direction D1. Fig.10 , Fig.10 and Figure 3 In comparison, the actual yaw angle A2 decreases and the difference A3 decreases.

[0086] New model Figure 8 and Fig. 9 In the figure, the angle between the outlet water flow direction D3 and the X-axis is not zero, and the outlet water flow sprays water obliquely to the left rear. The thrust of the outlet water flow drives the automatic water surface cleaning machine to rotate in the counterclockwise direction, that is, the water flow driving direction D2 is counterclockwise, and the water flow driving direction D2 is opposite to the motor driving direction D1. Fig.10 , Fig.10 and Figure 3 In comparison, the actual yaw angle A2 decreases and the difference A3 decreases.

[0087] The automatic water surface cleaning machine has the function of reducing the actual yaw angle. The pumping unit located at one side F1 of the automatic water surface cleaning machine includes a water outlet cylinder 2. The water outlet cylinder 2 is close to the pumping machine. The water outlet flow is sprayed out from behind the water outlet cylinder 2.

[0088] The axis of the water outlet cylinder 2 is parallel to the X-axis, and the axis is located on the right side of the positive direction of the X-axis;

[0089] or,

[0090] The angle between the axis of the water outlet tube 2 and the X-axis is not zero, and the axis is inclined to the left rear.

[0091] like Figure 7 The axis of the water outlet tube 2 is parallel to the X-axis and is located on the right side of the positive direction of the X-axis. In this way, the water outlet flow direction D3 is parallel to the X-axis and the water outlet flow is located on the right side of the positive direction of the X-axis, and the water outlet flow sprays water to the right side directly behind.

[0092] like Fig. 9 The angle between the axis of the water outlet tube 2 and the X-axis is not zero, and the axis is inclined to the left rear. In this way, the angle between the outlet water flow direction D3 and the X-axis is not zero, and the outlet water flow sprays water obliquely to the left rear.

[0093] The automatic water surface cleaning machine with the function of reducing the actual yaw angle controls the automatic water surface cleaning machine to turn left according to the ideal yaw angle A1. When the motor driving direction D1 is counterclockwise,

[0094] The outlet water flow direction D3 is parallel to the X-axis and the outlet water flow is located on the left side of the positive direction of the X-axis, and the outlet water flow sprays water directly behind the left side;

[0095] or,

[0096] The angle between the outlet water flow direction D3 and the X-axis is not zero, and the outlet water flow sprays obliquely to the right rear.

[0097] Figure 4 and Figure 5In the example, the motor driving direction D1 is counterclockwise, and the water flow direction D3 is on the X-axis. Figure 4 and Figure 5 Improvements have been made, the new model is the same Figure 6 , Fig.11 and Fig.13 , new model Figure 8 , Fig.12 and Fig.13 , the water flow direction D3 is not on the X-axis, the water flow driving direction D2 is clockwise, and the water flow driving direction D2 is opposite to the motor driving direction D1, such as Fig.13 , Fig.13 and Figure 5 In comparison, the actual yaw angle A2 decreases and the difference A3 decreases.

[0098] Fig.11 In the embodiment, the direction of the water flow D3 is parallel to the X-axis, the water flow is located on the left side of the positive direction of the X-axis, and the water flow sprays water to the left side and directly behind. The thrust of the water flow drives the automatic water surface cleaning machine to rotate in a clockwise direction, that is, the water flow driving direction D2 is clockwise, and the water flow driving direction D2 is opposite to the motor driving direction D1. Fig.13 , Fig.13 and Figure 5 In comparison, the actual yaw angle A2 decreases and the difference A3 decreases.

[0099] Fig.12 In the figure, the angle between the outlet water flow direction D3 and the X-axis is not zero, and the outlet water flow sprays water obliquely to the right rear. The thrust of the outlet water flow drives the automatic water surface cleaning machine to rotate in a clockwise direction, that is, the water flow driving direction D2 is clockwise, and the water flow driving direction D2 is opposite to the motor driving direction D1. Fig.13 , Fig.13 and Figure 5 In comparison, the actual yaw angle A2 decreases and the difference A3 decreases.

[0100] The automatic water surface cleaning machine has the function of reducing the actual yaw angle. The pumping unit located at one side F1 of the automatic water surface cleaning machine includes a water outlet cylinder 2. The water outlet cylinder 2 is close to the pumping machine. The water outlet flow is sprayed out from behind the water outlet cylinder 2.

[0101] The axis of the water outlet cylinder 2 is parallel to the X-axis, and the axis is located on the left side of the positive direction of the X-axis;

[0102] or,

[0103] The angle between the axis of the water outlet tube 2 and the X-axis is not zero, and the axis is inclined to the right rear.

[0104] like Fig.11, the axis of the water outlet tube 2 is parallel to the X-axis and is located on the left side of the positive direction of the X-axis, so that the water outlet flow direction D3 is parallel to the X-axis and the water outlet flow is located on the left side of the positive direction of the X-axis, and the water outlet flow sprays water to the left side directly behind;

[0105] like Fig.12 The angle between the axis of the water outlet tube 2 and the X-axis is not zero, and the axis is inclined to the right rear. In this way, the angle between the outlet water flow direction D3 and the X-axis is not zero, and the outlet water flow sprays water obliquely to the right rear.

[0106] The automatic water surface cleaning machine with the function of reducing the actual yaw angle comprises a water pumping shell 4 , a water pumping chamber 5 is formed inside the water pumping shell 4 , and a water outlet cylinder 2 is connected to the water pumping chamber 5 .

[0107] like Figure 14-20 Under the action of the water pump, water flows from the water pumping chamber 5 to the water outlet cylinder 2, and then the water outlet cylinder 2 sprays out the water flow.

[0108] An automatic water surface cleaning machine with the function of reducing the actual yaw angle includes a sealed cabin 6, a body of a motor 1 is located inside the sealed cabin 6, a rotating shaft 3 of the motor 1 passes through the sealed cabin 6, and a water pump includes an impeller 7, and an impeller 7 is installed on one side of the rotating shaft 3 located in the water pumping chamber 5.

[0109] The automatic water surface cleaning machine with the function of reducing the actual yaw angle includes a filtering device, which includes a filter cartridge 10. The filter cartridge 10 is installed on the top of the water pumping shell 4. A filter net 11 is installed inside the filter cartridge 10. An opening 8 is opened at the bottom of the filter cartridge 10, and the opening 8 is connected to the water pumping chamber 5.

[0110] like Figure 14-20 Under the action of the water pump, water flows from the filter device through the opening 8 to the water pumping chamber 5, then flows from the water pumping chamber 5 to the water outlet cylinder 2, and finally sprays out the water outlet flow from the water outlet cylinder 2.

[0111] The automatic water surface cleaning machine with the function of reducing the actual yaw angle has three floating devices 9, which are installed on the periphery of the filtering device, two of which are symmetrically installed on both sides of the X-axis, and one floating device 9 is located on the X-axis.

[0112] This helps to evenly distribute the mass of the automatic water surface cleaning machine relative to both sides of the X-axis, thereby improving the stability of the automatic water surface cleaning machine during its movement.

[0113] As mentioned above, when the pumping unit on the other side E2 of the automatic water surface cleaning machine is working, the position of the orthogonal rectangular coordinate system OXYZ of the automatic water surface cleaning machine is on the pumping unit on the other side E2 of the automatic water surface cleaning machine. In the above application, only the pumping unit on one side F1 of the automatic water surface cleaning machine is analyzed. Figure 1-20The orthogonal rectangular coordinate system OXYZ is established on the pumping unit F1 on one side of the automatic water surface cleaning machine. No specific analysis is made for the pumping unit E2 on the other side of the automatic water surface cleaning machine and its corresponding coordinate system. No specific analysis is made for the pumping units at other positions of the automatic water surface cleaning machine and their corresponding coordinate systems.

[0114] The structure of the pumping unit on the other side E2 of the automatic water surface cleaning machine or the pumping unit at other positions may be the same as or different from the structure of the pumping unit on the one side F1 of the automatic water surface cleaning machine.

[0115] When the pumping unit on the other side E2 of the automatic water surface cleaning machine or the pumping unit at other positions has the same structure as the pumping unit on one side F1 of the automatic water surface cleaning machine, no matter which pumping unit of the automatic water surface cleaning machine is working, it can play the role of reducing the actual yaw angle.

[0116] When the pumping unit on the other side E2 of the automatic water surface cleaning machine or the pumping unit at other positions has a different structure from the pumping unit on one side F1 of the automatic water surface cleaning machine, such as Figure 6-20 The direction of the water outlet cylinder of the pumping unit E2 on the other side of the automatic water surface cleaning machine is inconsistent with the direction of the water outlet cylinder of the pumping unit F1 on one side of the automatic water surface cleaning machine. The direction of the water outlet cylinder of the pumping unit E2 on the other side of the automatic water surface cleaning machine is on the same line as the front and rear axes of the automatic water surface cleaning machine, and the water flow sprayed from the water outlet cylinder is also on the same line as the front and rear axes of the automatic water surface cleaning machine. In this way, when the pumping unit E2 on the other side of the automatic water surface cleaning machine is working, it cannot play the role of reducing the actual yaw angle. In this way, the automatic water surface cleaning machine can select different pumping units to work according to different requirements for cleaning efficiency, thereby improving the wide applicability of the automatic water surface cleaning machine.

[0117] The above are all preferred embodiments of the present invention, and the protection scope of the present invention is not limited thereto. Therefore, any equivalent changes made according to the structure and shape of the present invention should be included in the protection scope of the present invention.

Claims

1. An automatic water surface cleaning machine with a function of reducing the actual yaw angle, characterized in that: The invention comprises a pumping unit located on one side (F1) of an automatic water surface cleaning machine, the pumping unit comprising a pumping machine, the pumping machine comprising a motor (1), when the automatic water surface cleaning machine moves in water, the motor (1) provides a driving force to drive the automatic water surface cleaning machine to rotate, forming a motor driving direction (D1), driven by the motor (1), water is pumped out and sprayed out, the sprayed water flow generates thrust on the automatic water surface cleaning machine, a part of the thrust is transmitted back to the motor (1) through the pumping unit, forming a reverse force to the motor driving direction (D1), the reverse force drives the automatic water surface cleaning machine to rotate, forming a water flow driving direction (D2), the water flow driving direction (D2) is opposite to the motor driving direction (D1), the moving direction of the cleaning machine is adjusted by the reverse force, thereby reducing the difference (A3) between the actual yaw angle (A2) and the ideal yaw angle (A1).

2. The automatic water surface cleaning machine with the function of reducing the actual yaw angle according to claim 1, characterized in that: Control the automatic water surface cleaning machine to turn right according to the ideal yaw angle (A1). When the motor driving direction (D1) is clockwise, The water flow sprayed by the pumping unit is the outlet water flow, the outlet water flow direction (D3) is parallel to the X-axis and the outlet water flow is located on the right side of the positive direction of the X-axis, and the outlet water flow sprays water directly behind the right side; or, The angle between the outlet water flow direction (D3) and the X-axis is not zero, and the outlet water flow sprays obliquely to the left rear.

3. The automatic water surface cleaning machine with the function of reducing the actual yaw angle according to claim 2, characterized in that: The pumping unit located at one side (F1) of the automatic water surface cleaning machine includes a water outlet cylinder (2). The water outlet cylinder (2) is close to the pumping machine, and the water flow is sprayed out from the back of the water outlet cylinder (2). The axis of the water outlet cylinder (2) is parallel to the X-axis, and the axis is located on the right side of the positive direction of the X-axis; or, The angle between the axis of the water outlet tube (2) and the X-axis is not zero, and the axis is inclined to the left rear.

4. The automatic water surface cleaning machine with the function of reducing the actual yaw angle according to claim 1, characterized in that: Control the automatic water surface cleaning machine to turn left according to the ideal yaw angle A1. When the motor driving direction (D1) is counterclockwise, The outlet water flow direction (D3) is parallel to the X-axis and the outlet water flow is located on the left side of the positive direction of the X-axis, and the outlet water flow sprays water directly behind the left side; or, The angle between the outlet water flow direction D3 and the X-axis is not zero, and the outlet water flow sprays obliquely to the right rear.

5. The automatic water surface cleaning machine with the function of reducing the actual yaw angle according to claim 4, characterized in that: The pumping unit located at one side (F1) of the automatic water surface cleaning machine includes a water outlet cylinder (2). The water outlet cylinder (2) is close to the pumping machine, and the water flow is sprayed out from the back of the water outlet cylinder (2). The axis of the water outlet cylinder (2) is parallel to the X-axis, and the axis is located on the left side of the positive direction of the X-axis; or, The angle between the axis of the water outlet tube (2) and the X-axis is not zero, and the axis is inclined to the right rear.

6. The automatic water surface cleaning machine with the function of reducing the actual yaw angle according to claim 3 or 5, characterized in that: The automatic water surface cleaning machine comprises a sealed cabin and a pumping unit. A filtering device is arranged on the top of the pumping unit. The pumping unit comprises a pumping shell (4) and a pump. The pumping shell (4) is installed at the bottom of the filtering device. A pumping cavity (5) is formed between the pumping shell and the filtering device. A water outlet cylinder (2) is connected to the pumping cavity (5).

7. The automatic water surface cleaning machine with the function of reducing the actual yaw angle according to claim 6, characterized in that: The water pump comprises a sealed cabin (6), the body of the motor (1) is located inside the sealed cabin (6), the rotating shaft (3) of the motor (1) passes through the sealed cabin (6), and the water pump comprises an impeller (7), and the impeller (7) is installed on one side of the rotating shaft (3) located inside the water pumping chamber (5).

8. The automatic water surface cleaning machine with the function of reducing the actual yaw angle according to claim 7, characterized in that: The invention comprises a filtering device, wherein the filtering device comprises a filtering cartridge (10), the filtering cartridge (10) being mounted on the top of a water pumping shell (4), a filtering net (11) being mounted inside the filtering cartridge (10), an opening (8) being provided at the bottom of the filtering cartridge (10), and the opening (8) being communicated with a water pumping chamber (5).

9. The automatic water surface cleaning machine with the function of reducing the actual yaw angle according to claim 8, characterized in that: The number of the floating devices (9) is three. The floating devices (9) are installed on the periphery of the filtering device, wherein two floating devices (9) are symmetrically installed on both sides of the X-axis, and one floating device (9) is located on the X-axis.

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