Swimming pool robot

Abstract

The swimming pool robot comprises a shell, a filtering module, a water pump module and a water leaving detection module, and the water leaving detection module comprises a buoyancy unit and a sensing unit; the swimming pool robot is provided with a water drainage module, a first cavity communicated with the water inlet is formed in the shell, the first cavity is located at the front end of the advancing direction of the swimming pool robot, and the first cavity is communicated / closed with the outside through the water drainage module; the swimming pool robot is provided with a control module, a cleaning module and a driving module. The control module is in signal connection with the driving module and the water leaving detection module. The driving module simultaneously controls the swimming pool robot and the cleaning module to move; the water pump module comprises a guide part and a power water pump; the water outlet, the guide part and the power water pump are sequentially connected; a first chamber and a second chamber which are separated from each other are arranged in the shell; the bottom of the shell is provided with a flow channel enabling the resistance to be reduced when the swimming pool robot moves. And the bottom of the shell is also provided with a cavity area which is formed by sinking inwards.

Description

A swimming pool robot Technical Field

[0001] The present invention relates to the technical field of robots, and in particular to a swimming pool robot. Background Art

[0002] Pool robots are designed specifically for pool cleaning. Conventional pool robots cannot accurately determine whether they are above the surface of the pool water when cleaning the waterline. This prevents the controller from controlling the robot to perform the appropriate cleaning operations at the waterline, resulting in poor cleaning results.

[0003] Summary of the Invention

[0004] In order to solve the defect that it is impossible to accurately determine whether the swimming pool robot is exposed to the water surface of the swimming pool, the present invention proposes a swimming pool robot.

[0005] The technical solution adopted by the present invention is a swimming pool robot, comprising a housing, a filter module and a water pump module. The housing has a water inlet and a water outlet. The water inlet, the filter module and the water outlet are connected in sequence. The water pump module and the filter module are connected. The housing also includes a water separation detection module located at one end of the housing.

[0006] The water separation detection module includes a buoyancy unit and a sensing unit. The buoyancy unit can move between a first position and a second position. When the buoyancy unit is located at the first position, the sensing unit sends a first signal; when the buoyancy unit is located at the second position, the sensing unit sends a second signal.

[0007] Compared with the prior art, the present invention has the following beneficial effects:

[0008] This application discloses a pool robot. By positioning a water-disappearance detection module at one end of the housing, the module can detect the robot as soon as it emerges from the pool's waterline, making it more sensitive to determine whether the pool robot has left the water. The water-disappearance detection module includes a buoyancy unit and a sensing unit. Depending on whether the pool robot has emerged from the waterline, the buoyancy unit can be moved between a first position and a second position. The sensing unit then identifies the position of the buoyancy unit and transmits a first signal or a second signal to the pool robot, thereby determining whether the pool robot has emerged from the water. Compared to the prior art, the pool robot disclosed in this application can accurately determine whether the pool robot has emerged from the pool's water surface. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] The present invention is described in detail below with reference to the embodiments and accompanying drawings, in which:

[0010] FIG1 shows a schematic structural diagram of a swimming pool robot provided by an embodiment of the present invention;

[0011] FIG2 shows a schematic structural diagram of a swimming pool robot according to FIG1 from another angle;

[0012] FIG3 shows a schematic structural diagram of a swimming pool robot provided in FIG1 with the upper cover removed;

[0013] FIG4 shows a bottom view of the swimming pool robot according to FIG1 ;

[0014] FIG5 shows a front view of the swimming pool robot provided in FIG1 with the side cover removed;

[0015] FIG6 shows a cross-sectional view of a swimming pool robot according to FIG1 ;

[0016] FIG7 is a schematic structural diagram showing a cut-away portion of a housing structure and a housing of a swimming pool robot according to FIG1 ;

[0017] FIG8 shows an enlarged view of area A of a swimming pool robot according to FIG6 ;

[0018] FIG9 shows an enlarged view of area B of a swimming pool robot according to FIG6 ;

[0019] FIG10 is a schematic diagram of the internal structure of a swimming pool robot according to one embodiment of the present invention;

[0020] FIG11 is a schematic diagram of the internal structure of the swimming pool robot according to another embodiment of the present invention;

[0021] FIG12 is a schematic diagram of the signal transmission principle of the swimming pool cleaning system according to one embodiment of the present invention;

[0022] FIG13 is a schematic structural diagram of the swimming pool robot in Example 1;

[0023] FIG14 is a schematic diagram of the structure of the robot when it moves vertically upward and is underwater when cleaning the pool wall in Example 1;

[0024] FIG15 is a schematic diagram of the structure of the robot when cleaning the pool wall in Example 1, moving vertically upward and exceeding the waterline;

[0025] FIG16 is a schematic diagram of the structure of the robot when it moves vertically upward and is underwater when cleaning the pool wall in Example 2;

[0026] FIG17 is a schematic diagram of the structure of the robot moving vertically upward and beyond the waterline when cleaning the pool wall in Example 2;

[0027] FIG18 is a schematic diagram of the structure of the robot in Example 2 when it is in horizontal motion and underwater during cleaning of the pool bottom;

[0028] FIG19 is a schematic diagram of the structure of the robot when it moves horizontally and exceeds the waterline when cleaning the pool bottom in Example 2;

[0029] FIG20 is a simplified schematic diagram of the structure of the charging system according to the first embodiment of the present invention.

[0030] FIG21 is a first cross-sectional view of a swimming pool robot according to an embodiment of the present invention;

[0031] FIG22 is a second cross-sectional view of the swimming pool robot according to an embodiment of the present invention;

[0032] FIG23 is an exploded view of a portion of the structure of a swimming pool robot according to an embodiment of the present invention;

[0033] FIG. 24 is an exploded view of the second filter device and the quick-release bracket of the swimming pool robot according to an embodiment of the present invention. DETAILED DESCRIPTION

[0034] To make the objectives, technical solutions, and advantages of the present invention more apparent, embodiments of the present invention will be described in further detail below with reference to the accompanying drawings. Examples of embodiments are shown in the accompanying drawings, wherein the same reference numerals throughout represent the same or similar components or components having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended only to explain the present invention and are not to be construed as limiting the present invention.

[0035] The present invention discloses a swimming pool robot. Referring to Figures 1 to 6, the robot comprises a housing 10, a filter module 20, and a water pump module 30. The housing 10 has a water inlet 12 and a water outlet 11. The water inlet 12, the filter module 20, and the water outlet 11 are sequentially connected, and the water pump module 30 is connected to the filter module 20. The robot also comprises a drive module 50 for driving the swimming pool robot. A cleaning module 60 is mounted on the housing 10, and the drive module 50 is drivably connected to the cleaning module 60. It should be noted that the drive module 50 can simultaneously drive the swimming pool robot and the cleaning module 60, thereby making the overall structure more compact and smaller, and also helping to reduce costs.

[0036] Specifically, the drive module 50 includes a power motor, a moving component, and a transmission component. The moving component is connected to the housing 10. The power motor drives the moving component to move. The power motor and the transmission component are connected, and the power motor drives the cleaning module 60 to move through the transmission component. The cleaning module 60 can be a cleaning roller brush or a reciprocating brush head or other cleaning structure. In some embodiments, the cleaning module 60 is a cleaning roller brush.

[0037] In some embodiments, referring to Figures 5 and 6 , the pool robot further includes a drain module 70 . The housing 10 includes a first chamber 13 , which is connected to / enclosed by the drain module 70 . It should be noted that when the pool robot is exposed to the water for cleaning operations, a portion of the robot is exposed, which reduces the buoyancy experienced by the robot. While maintaining its weight, this requires greater power to maintain the robot above water. Alternatively, when the user needs to lift the pool robot, accumulated water in the first chamber 13 needs to be quickly drained. Therefore, a first chamber 13 is provided at the front end of the swimming pool robot in the direction of travel. When the swimming pool robot is below the water surface, water enters the first chamber 13. In addition, a water discharge module 70 is provided, and the first chamber 13 is connected / closed with the outside through the water discharge module 70, so that when the swimming pool robot emerges from the water surface, the water discharge module 70 can discharge the accumulated water in the first chamber 13, thereby reducing the overall weight of the swimming pool robot, reducing the power consumption of the swimming pool robot when it emerges from the water surface, achieving the purpose of extending the battery life of the swimming pool robot, and reducing the weight of the robot so that it can be easily lifted.

[0038] In some specific embodiments, referring to Figures 5 and 6 , the drain module 70 is a drain port provided on the side wall of the first chamber 13. Specifically, the drain module 70 is a drain port provided on the side wall of the first chamber 13. By limiting the drain port to be located in front of the water inlet 12, accumulated water in the first chamber 13 can be discharged through the drain port when the end of the drain module 70 is exposed to the water surface. This arrangement simplifies the structure of the drain module 70. At the same time, when the pool robot is underwater, the drain port can assist the water inlet 12 in entering, allowing the pool robot to sink quickly. In other embodiments, the drain module 70 can also be electrically controlled to achieve external connection / closure.

[0039] In some specific embodiments, a water separation detection module is located in the first chamber 13. It should be noted that in order to protect the water separation detection module from being easily damaged and not easily disturbed by the splashes in the swimming pool, the water separation detection module is placed in the first chamber 13, thereby extending the service life of the water separation detection module and improving its stability during use.

[0040] In some embodiments, referring to FIG6 , the water inlet 12 , the filter module 20 , and the water outlet 11 are sequentially connected to form a filtration channel. The housing 10 has a first chamber 13 and a second chamber 14 separated therefrom, and the filtration channel is disposed in only one of the first chamber 13 and the second chamber 14 . By providing the first chamber 13 and the second chamber 14 separated therefrom within the housing 10 and connecting the filtration channel to only one of the first chamber 13 and the second chamber 14 , water entering the water inlet 12 passes only through the first chamber 13 or the second chamber 14 . This significantly reduces the space required for the water pump module 30 to perform work, enabling water pumping without requiring high power, reducing the energy consumption of the pool robot and improving its endurance. Specifically, given a constant water pump power, the filtration and cleaning efficiency can be improved. Compared to the prior art, the pool robot disclosed in this application can achieve the goal of reducing energy loss during operation.

[0041] Among them, one of the first chamber 13 and the second chamber 14 is provided with a filter flow channel. It should be noted that the first chamber 13 and the second chamber 14 do not need to be completely sealed. It is only necessary to make most of the water flow through the chamber where the filter flow channel is located to achieve the purpose of reducing energy loss required by this application. It should be noted that during operation, the water pump module 30 needs to work on the water inside the shell 10 and pump it out to the external environment through the water outlet 11. If the cavity inside the shell 10 is too large, the water flow will enter the shell 10 from the bottom. The flow area through which the water passes is large, which is easy to form turbulence, vortexes and other phenomena, causing the water flow to consume a lot of work inside the shell 10, wasting the work of the water pump, causing the energy consumption of the water pump to increase, not only reducing the power of the water pump, but also reducing the endurance performance of the swimming pool robot. However, the present application sets up two chambers spaced apart from each other so that most of the water flows through only one of them, and the power sealing chamber, sensor, etc. are installed in the other chamber, thereby reducing the space through which the water flows, constraining the water flow, reducing the generation of turbulence, vortexes, etc., which is beneficial to the circulation of water flow, improves work efficiency, and also improves the endurance performance of the machine.

[0042] In addition, the specific power of the water pump module 30 can be determined according to the specific volume of the first chamber 13 or the second chamber 14 connected to the filter channel, so that the specific power of the water pump module 30 matches the size of the volume of the cavity, so that the water pump module 30 can operate at appropriate power without causing insufficient suction or wasting excess energy.

[0043] Specifically, if the filtration channel is connected to the first chamber 13 or the second chamber 14, the other chamber can be used to house other components of the pool robot, thereby making the overall structure of the pool robot more compact and reducing the size of the pool robot. There is no restriction on whether the other chamber needs to be connected to the external environment, allowing external water to enter the chamber.

[0044] In some specific embodiments, referring to Figures 5 to 7 , the first chamber 13 and the second chamber 14 are separated by a filter module 20; or the first chamber 13 and the second chamber 14 are separated by a partition plate fixed to the inner wall of the housing 10. It should be noted that in order to further optimize the internal structure of the pool robot, make the arrangement of the modules more compact, and thus reduce the size of the pool robot, the first chamber 13 and the second chamber 14 are separated by the filter module 20, without the need for other structures to separate the first chamber 13 and the second chamber 14.

[0045] In some specific embodiments, referring to Figures 5 to 7 , the partition on the inner wall of the housing 10 is a wall of an existing module of the pool robot. Furthermore, the first chamber 13 and the second chamber 14 can also be separated by a partition fixed to the inner wall of the housing 10. Because the filter module 20 frequently needs to be removed for trash removal, the other components of the pool robot are placed in a separate chamber to enhance the visual appearance of the pool robot. In other embodiments, the first chamber 13 and the second chamber 14 can also be separated by existing modules such as the drive module 50 and the control module 80.

[0046] In some more specific embodiments, referring to Figures 5 to 7 , the filter module 20 includes a garbage filter box 22 and a housing structure 21 for accommodating the garbage filter box 22. The first chamber 13 and the second chamber 14 are separated by the housing structure 21. Specifically, the filter module 20 includes the housing structure 21 and the garbage filter box 22. The filter module 20 is used to separate the first chamber 13 and the second chamber 14, and to accommodate the garbage filter box 22, further making the structure more compact.

[0047] In some more specific embodiments, referring to Figures 6 and 7 , a first partition 212 is provided on one side of the housing structure 21 , separating the first chamber 13 from the second chamber 14 . Specifically, the first partition 212 is provided on one side of the housing structure 21 , separating the first chamber 13 from the second chamber 14 , thereby simplifying the structure of the swimming pool robot and reducing its weight.

[0048] In some more specific embodiments, referring to FIG7 , a first partition plate 212 is provided on one side of the housing structure 21, and a second partition plate 17 is provided on the inner wall of the housing 10. The first partition plate 212 and the second partition plate 17 are assembled and affixed to each other, and the first partition plate 212 and the second partition plate 17 together separate the first chamber 13 from the second chamber 14. It should be noted that in order to ensure a tight fit between the housing structure 21 and the interior of the housing 10, the second partition plate 17 is provided on the inner wall of the housing 10, and the first partition plate 212 and the second partition plate 17 can be directly assembled with each other.

[0049] In some more specific embodiments, referring to FIG7 , the second partition 17 abuts and fits against the side panels of the accommodating structure 21, which are located on different sides from the first partition 212. Specifically, when the accommodating structure 21 is placed in the housing 10, the second partition 17 abuts and fits against the side panels of the accommodating structure 21, thereby simplifying the structure, facilitating disassembly, and achieving a better separation effect. In some embodiments, two second partitions 17 are provided, one abutting and fitting against each of the two side panels adjacent to and opposite the first partition 212.

[0050] In some more specific embodiments, please refer to Figures 2, 5, and 6. The container structure 21 is box-shaped, with a first partition 212 provided on one side of the container structure 21, and water trough openings 211 provided on the remaining sides. Specifically, the container structure 21 is box-shaped, with a first partition 212 provided on one side, and water trough openings 211 provided on the remaining sides. By providing water trough openings 211 on different sides, the water filtered by the garbage filter box 22 can flow quickly into the water pump module 30, which is more conducive to the discharge of the water body, thereby increasing the filtration speed. In some embodiments, please refer to Figures 6 and 9. The water pump module 30 includes a guide component 31 and a power water pump 32. The water outlet 11, the guide component 31, and the power water pump 32 are connected in sequence.

[0051] It should be noted that the power water pump 32 is used to provide power to drain accumulated water from the housing 10 through the water outlet 11, and the guide component 31 is used to change the direction of the water pump module 30 spraying water out of the water outlet 11, thereby achieving the purpose of controlling the swimming pool robot's posture. In some specific embodiments, please refer to Figures 6 and 9. The guide component 31 includes a guide chamber 311 and a guide vane 312 disposed in the guide chamber 311. One end of the guide chamber 311 is connected to the water outlet 11, and the other end is connected to the power water pump 32.

[0052] Specifically, the guide blade 312 is disposed in the guide chamber 311 and is used together with the guide chamber 311 to change the spray direction of water spraying out of the water outlet 11. The guide blade 312 has a simple structure and is easy to assemble without adding too much weight.

[0053] In some embodiments, please refer to Figures 6 and 9, the angle of inclination of the water outlet direction of the water outlet 11 relative to the first plane is in the range of ° to 50°. It should be noted that by adjusting the angle of inclination of the water outlet direction of the water outlet 11 relative to the first plane to be in the range of ° to 50°, the swimming pool robot has a vertical downward component of force and a horizontal forward component of force. This allows the swimming pool robot to fit the bottom plane of the water, and at the same time can help the swimming pool robot move forward in the horizontal direction, which is beneficial to energy saving. In some embodiments, the angle of inclination of the water outlet direction of the water outlet 11 relative to the first plane is 135°. This makes the upward component of force and the downward component of force more balanced.

[0054] In some embodiments, please refer to Figures 4 to 6, the swimming pool robot also includes at least two wheels (drive modules 50), the wheels (drive modules 50) define a plane, which is a first plane; a flow channel 15 is formed at the bottom of the shell 10 from the water inlet 12 to the end of the first plane, and the flow channel 15 has an arc-shaped drainage surface 151.

[0055] By providing a curved flow channel 15 on the bottom surface, water flows backward along the flow channel 15 during the movement of the pool robot. This allows the majority of the water flow in the direction of travel to flow backward in a streamlined manner along the flow channel 15, thus avoiding excessive resistance at the front end of the first plane and thus reducing energy consumption. Compared with the existing technology, the pool robot disclosed in this application can achieve the goal of reducing water flow resistance during the movement of the pool robot.

[0056] The wheels (drive modules 50) in the plane defined by the wheels (drive modules 50) refer to the components that drive the pool robot to move, such as tracks, rollers, or universal wheels. Furthermore, it should be noted that when multiple wheels (drive modules 50) are in a straight line (i.e., when a plane cannot be defined by the multiple wheels (drive modules 50)), the plane defined by the wheels (drive modules 50) refers to the plane formed by the multiple wheels (drive modules 50) in a straight line and the lowest point of the bottom of the housing 10 (i.e., the point where the bottom of the housing 10 contacts the surface of the pool when the pool robot is in operation).

[0057] It should be noted that during the movement of the swimming pool robot, the front end of the swimming pool robot in the direction of movement will collide with the water flow, thereby causing the water flow to form a resistance opposite to the direction of movement. The flow channel 15 can, on the one hand, reduce the contact area between the front end of the shell 10 in the direction of movement and the water flow. On the other hand, since the flow channel 15 is a curved surface structure, when the water flow acts on the front end of the shell 10, its water flow resistance has a component of force perpendicular to the first plane in addition to the component of force parallel to the first plane, thereby achieving the effect of reducing resistance.

[0058] In some specific embodiments, referring to Figure 6 , the drainage surface 151 extends forward along the direction of travel of the pool robot to form a water-incoming end 153. The drainage surface 151 extends rearward along the direction of travel of the pool robot to form a water-collecting end 154. The ends of the drainage surface 151 are connected to the water-incoming end 153 and the water-collecting end 154 in an arc-shaped transition. Specifically, the provision of the water-incoming end 153 and the water-collecting end 154 allows for more effective integration with other structures on the pool robot, providing protection and drainage, while also enhancing the pool robot's aesthetic appearance. In some specific embodiments, referring to Figures 2 and 6 , the water-incoming end 153 is a curved surface structure that is recessed inwardly from the housing 10, and the wheels are located at the water-incoming end 153.

[0059] In some embodiments, the pool robot also includes a cleaning module 60. The water-facing end 153 is a curved structure that is recessed toward the interior of the housing 10, and the cleaning module 60 is located below the water-facing end 153. This arrangement allows the water-facing end 153 to adapt to the shape of the cleaning module 60 when placed. It also allows waste cleaned by the cleaning module 60 to pass backward through the flow channel 15 from the water-facing end 153, preventing waste from accumulating outside the cleaning module 60. Furthermore, a rear water inlet 12 improves the pool robot's filtration performance.

[0060] In some more specific embodiments, referring to Figures 2 and 6 , no tangent line on the curved surface from the drainage surface 151 to the water collection end 154 is parallel to the first plane. By ensuring that no tangent line on the curved surface from the drainage surface 151 to the water collection end 154 is parallel to the first plane, water can flow more smoothly through the flow channel 15 and can conform to the bottom surface of the housing 10 where the flow channel 15 is located, achieving a more uniform stress state when flowing through the flow channel 15.

[0061] In some specific embodiments, referring to Figures 2 and 6 , the water collection end 154 is a curved structure protruding away from the housing 10. It should be noted that in order for the water flow to automatically converge at the water inlet 12, thereby achieving a faster water inlet speed and reducing the energy consumption of the water pump module 30, the water collection end 154 is configured as a curved structure protruding away from the housing 10, and is positioned in front of the water inlet 12 along the direction of travel of the pool robot. In some more specific embodiments, referring to Figures 2 and 6 , the angle of inclination of any tangent line on the curved surface from the diversion surface 151 to the water collection end 154 relative to the first plane is greater than 0° and no greater than 65°. It should be noted that both excessively small and excessively large angles will increase the resistance to water flow along the direction of travel, thereby failing to achieve the effect of effectively reducing water flow resistance. Therefore, the angle range of the inclination of the flow channel 15 relative to the first plane is set to be greater than 0° and no greater than 65°.

[0062] In some embodiments, referring to FIG. 6 and FIG. 8 , the water inlet 12 is recessed toward the interior of the housing 10 to form a guide plate 121 , and the guide plate 121 is inclined at an angle ranging from 50° to 80° relative to the first plane.

[0063] Specifically, the water inlet 12 is recessed toward the interior of the housing 10 to form a guide plate 121. The provision of the guide plate 121 can limit the flow direction of water as it enters the housing 10 from the outside, allowing the water to flow directly into the filter module 20, thereby improving the filtration effect. Furthermore, by tilting the guide plate 121 at an angle ranging from 50° to 80° relative to the direction of travel, the water flow near the water inlet 12 can be better received. The water flow maintains a certain speed near the water inlet 12, thereby reducing the power of the water pump module 30 and thus reducing energy consumption.

[0064] In some embodiments, the guide plate 121 is inclined at an angle of 55° to 75° relative to the first plane. This angle allows water near the water inlet 12 to more easily enter the water inlet 12. The guide plate 121 is vertically higher than the bottom plate of the filter module 20 to facilitate garbage deposition.

[0065] In some embodiments, referring to Figures 2 and 4 , the pool robot further comprises at least two wheels (drive modules 50 ), which define a plane, referred to as a first plane. The bottom of the housing 10 is recessed inward to form a cavity region, with the top surface of the cavity region being higher than the first plane. Specifically, the inward recessed bottom of the housing 10 forms a cavity region, with the top surface of the cavity region being higher than the first plane. This prevents the bottom of the housing 10 from being adsorbed by the pool outlet 11 on the pool surface, preventing the pool robot from tilting upward, while also enabling the operator to smoothly lift the pool robot.

[0066] In some specific embodiments, referring to Figures 2 and 4 , a grille 16 is further provided within the cavity area, with the length of the grille 16 arranged along the direction of travel of the pool robot. Specifically, the grille 16 is further provided within the cavity area, with the length of the grille 16 arranged along the direction of travel of the pool robot. This prevents the grille 16 from blocking the flow of water at the bottom of the housing 10, thereby increasing resistance. Furthermore, the provision of the grille 16 further enhances the ability to prevent adsorption. In more specific embodiments, referring to Figures 2 and 4 , the spacing between any two adjacent grilles 16 ranges from 30 mm to 40 mm. In some embodiments, the length of the water inlet 12 ranges from 150 mm to 175 mm.

[0067] In some embodiments, referring to Figures 2, 4, and 8, the water inlet 12 is disposed at the bottom of the housing 10, and a cleaning brush 61 is provided at the bottom of the housing 10. The cleaning brush 61 is located behind the water inlet 12 in the direction of travel of the pool robot. It should be noted that the cleaning brush 61 provided behind the water inlet 12 cleans the pool surface behind the water inlet 12, further enhancing the cleaning of the pool surface. Furthermore, the rearward placement of the cleaning brush 61 not only blocks waste that does not enter the water inlet 12 for filtration, but also allows waste that has been cleaned by the cleaning brush 61 to enter the water inlet 12 and be filtered by the filtration module 20. In some specific embodiments, referring to Figures 2, 4, and 8, the length of the cleaning brush 61 is no less than the length of the water inlet 12, and the cleaning brush 61 is positioned side by side with the water inlet 12. In some more specific embodiments, referring to FIG. 2 , FIG. 4 and FIG. 8 , the distance between the cleaning brush 61 and the water inlet 12 ranges from 12 mm to 32 mm.

[0068] In some embodiments, please refer to Figures 10 and 11. Specifically, the shell 10 and the control module 80, the water flow velocity detection device, the filter module 20 and the power water pump 32 are arranged in the shell 10. The control module 80 is connected to the water flow velocity detection device. A water inlet 12 and a water outlet are provided on the shell 10. A water flow channel 18 connected to the water inlet 12 and the water outlet is provided in the shell 10. The filter module 20 is arranged in the water flow channel 18, and the water flow velocity detection device is at least partially arranged in the water flow channel 18.

[0069] Furthermore, in the swimming pool robot described in the present invention, the water flow velocity detection device includes a first impeller 182 and a Hall sensor 183, the control module 80 is connected to the Hall sensor 183, and the power water pump 32 and the first impeller 182 are at least partially arranged in the water flow channel 18; wherein, the Hall sensor 183 is arranged close to the first impeller 182, and at least one first magnetic member 184 is provided on the first impeller 182 corresponding to the Hall sensor 183.

[0070] As can be seen from the above description, in the present invention, the inventors have optimized and designed a completely new swimming pool robot. In actual use, the powered water pump 32, partially located within the water flow channel 18, effectively draws sewage from the water inlet 12 into the housing 10, causing the sewage to flow through the water flow channel 18. This allows the sewage entering the water flow channel 18 to be filtered by the filter module 20 before being discharged from the water outlet. Arrows X in Figures 10 and 11 indicate the flow trajectory of the water. Unlike the prior art, the swimming pool robot designed in the present invention also includes a water flow velocity detection device, partially located within the water flow channel 18, installed within the housing 10 to detect the water flow velocity within the water flow channel 18.

[0071] The water flow velocity detection device designed by the present invention may specifically include a first impeller 182 and a Hall effect sensor 183. The first impeller 182 is partially disposed within the water flow channel 18. At least one first magnetic member 184 is also disposed on the first impeller 182. The first impeller 182 and the Hall effect sensor 183 cooperate to form a low-cost, open-type water flow meter. The water flow velocity detection device composed of the first impeller 182 and the Hall effect sensor 183 has a relatively simple structure, is relatively easy to install, has low waterproofing requirements, is low in cost, is easy to implement, and has high reliability.

[0072] In the present invention, when water flows through the water flow channel 18, it drives the first impeller 182 to rotate about its own rotation axis. The higher the degree of blockage of the filter module 20, the slower the water flow rate in the water flow channel 18, and the slower the first impeller 182 rotates. Conversely, the less blocked the filter module 20 is, the faster the water flow rate in the water flow channel 18 is, and the faster the first impeller 182 rotates. Specifically, when the first impeller 182 rotates about its own rotation axis, the first magnetic member 184 mounted on the first impeller 182 will periodically act on the Hall sensor 183, causing the Hall sensor 183 to periodically conduct. At this time, the control module 80 can calculate the rotation speed of the first impeller 182 by measuring the periodic pulse signal generated by the Hall sensor 183, and then determine the current water flow rate in the water flow channel 18, thereby obtaining the blockage status of the filter module 20 of the swimming pool robot.

[0073] It should be pointed out that in the present invention, the reason why the Hall sensor 183 is set at a position close to the first impeller 182 is because: setting the above-mentioned Hall sensor 183 at a position close to the first impeller 182 can ensure that when the first impeller 182 rotates around its own rotation axis under the push of the water flow, it can drive the first magnetic part 184 to pass through the sensing range of the Hall sensor 183. When the first magnetic part 184 passes through the sensing range of the Hall sensor 183, it can trigger the Hall sensor 183 to generate a pulse signal. The pulse signal is periodic, and the Hall sensor 183 can transmit the pulse signal to the control module 80 accordingly.

[0074] Accordingly, when actually designing such a swimming pool robot, the operator can also pre-set a preset threshold. When the rotation speed of the first impeller 182 calculated by the control module 80 based on the periodic pulse signal generated by the Hall sensor 183 is greater than the preset threshold, it can be judged that the flow rate of the current swimming pool robot is normal and it can maintain normal cleaning of the swimming pool; on the contrary, if the rotation speed of the first impeller 182 calculated by the control module 80 based on the periodic pulse signal generated by the Hall sensor 183 is less than the preset threshold, it can be judged that the filter module 20 of the current swimming pool robot is blocked, and an alarm is issued to the user in time, prompting the user to clean the filter module 20.

[0075] Furthermore, in the swimming pool robot described in the present invention, the first impeller 182 is disposed at one end of the water flow channel 18 near the water inlet 12 or the water outlet. Referring to Figures 10 and 11 , in the above technical solution of the present invention, in certain specific embodiments, the first impeller 182 can be specifically disposed at one end of the water flow channel 18 near the water inlet 12 or the water outlet. This is because the water flow near the water inlet 12 or the water outlet is more stable, which drives the first impeller 182 to rotate more stably around its own rotation axis, thereby making the periodic pulse signal generated by the Hall sensor 183 more accurate, thereby facilitating the control module 80 to accurately determine the current rotation speed of the first impeller 182, and thus more accurately reflecting the degree of blockage of the filter module 20 in the swimming pool robot.

[0076] Furthermore, in the swimming pool robot of the present invention, the first impeller 182 includes a rotating shaft and a plurality of blades, the plurality of blades being connected to the rotating shaft, and the shape and size of the blades being the same as the shape and size of the cross-sectional area of ​​the water flow channel 18. Furthermore, in the swimming pool robot of the present invention, the first impeller 182 is provided with two first magnetic members 184, the two first magnetic members 184 being respectively provided on two of the blades disposed opposite each other.

[0077] In the above-described technical solution of the present invention, the first impeller 182 is designed to include a rotating shaft and a plurality of blades, and these blades are all connected to the rotating shaft so that when the first impeller 182 rotates, all blades can rotate around the axis of the rotating shaft. It should be noted that the shape and size of the blades are controlled to be the same as the shape and size of the cross-sectional area of ​​the water flow channel 18 because this configuration ensures that the blades are larger in size, which allows the blades to more fully absorb the impact of the water flow, thereby rotating.

[0078] Accordingly, please refer to Figures 10 and 11. In some embodiments, the first impeller 182 may include a rotating shaft and four blades connected to the rotating shaft, and the four blades are evenly arranged at 90 degrees to each other. In actual application, two first magnetic members 184 can be specifically provided on the first impeller 182, and the two first magnetic members 184 can be respectively provided on two blades arranged opposite to each other. Of course, in some other embodiments, more first magnetic members 184 can also be provided so that the first impeller 182 triggers the Hall sensor 183 more times when it rotates one circle, so that the Hall sensor 183 generates more signals, making it more sensitive, so as to ensure that the rotation speed of the first impeller 182 can be accurately measured even when the water flow rate in the water flow channel 18 is slow. It should be pointed out that the first impeller 182 will rotate around its own rotation axis under the drive of the water flow. The higher the degree of blockage of the filter module 20, the slower the water flow rate in the water flow channel 18, and the slower the first impeller 182 rotates. At the same time, the first magnetic member 184 installed on the blades of the first impeller 182 will periodically act on the Hall sensor 183, causing the Hall sensor 183 to be periodically turned on. At this time, the control module 80 can calculate the rotation speed of the first impeller 182 by measuring the periodic pulse signal generated by the Hall sensor 183, and then judge the current water flow rate in the water flow channel 18, thereby obtaining the blockage condition of the filter module 20 of the swimming pool robot.

[0079] Assume that n first magnetic members 184 are mounted on the first impeller 182. One rotation of the first impeller 182 triggers the Hall sensor 183 to generate n pulse signals. The period of the Hall sensor 183 pulse signal measured by the control module 80 is t. Then, the rotational speed w of the first impeller 182 is calculated as follows: w = 60 / (n*t)

[0080] Where w represents the impeller speed, measured in rpm (revolutions per minute), and t represents the pulse signal period of Hall effect sensor 183 measured by the controller, measured in milliseconds (ms). Therefore, once the operator has pre-calibrated the mapping relationship between the impeller speed w and the filter clogging degree, the pool robot's filter clogging degree can be determined based on this mapping relationship and the real-time acquired impeller speed w.

[0081] Furthermore, in the swimming pool robot described in the present invention, a recessed portion 181 is provided in the water flow channel 18, and the first impeller 182 is at least partially disposed in the recessed portion 181. Furthermore, in the swimming pool robot described in the present invention, at least half of the first impeller 182 is disposed in the recessed portion 181. In the above technical solution of the present invention, a recessed portion 181 may also be provided in the water flow channel 18, and the first impeller 182 may be at least partially disposed in the recessed portion 181. The recessed portion 181 can partially block the water flow, thereby preventing the technical problem of the first impeller 182 being unable to rotate about its own rotation axis due to the force of the water flow on the first impeller 182 reaching equilibrium. Accordingly, in certain embodiments, during actual installation, it may be preferable to control that at least half of the first impeller 182 is disposed in the recessed portion 181 in the water flow channel 18.

[0082] Furthermore, in the swimming pool robot described in the present invention, the water flow channel 18 also includes a detection channel, the cross-sectional area of ​​the detection channel being smaller than the cross-sectional area of ​​the rest of the water flow channel 18, and the first impeller 182 being at least partially disposed in the detection channel. In the above technical solution of the present invention, the first impeller 182 is at least partially disposed in the detection channel, and the cross-sectional area of ​​the detection channel is controlled to be smaller than the cross-sectional area of ​​the rest of the water flow channel 18, because: the detection channel has the smallest cross-sectional area, and the water flow velocity increases when passing through the detection channel, thereby enabling the water flow to obtain greater kinetic energy, thereby preventing the water flow from being unable to drive the first impeller 182 to rotate about its own rotation axis.

[0083] Furthermore, the pool robot of the present invention also includes an alarm device, which is mounted on the housing 10 and electrically connected to the control module 80. The alarm device includes at least one of an indicator light, a buzzer, and a vibrator. Currently, after a period of time while the pool robot is cleaning, the filter module 20 can become clogged due to accumulation of fine dust, causing a gradual decrease in water intake and discharge, thereby reducing the pool robot's cleaning ability. If the pool is particularly dirty, the pool robot's filter module 20 can quickly become clogged, resulting in ineffective cleaning and a high risk of user complaints. Therefore, when the swimming pool robot is actually used, an alarm device can also be set on the swimming pool robot. The alarm device can include at least one of an indicator light, a buzzer and a vibrator. Once the control module 80 determines that the water flow rate in the water flow channel 18 is lower than the preset threshold value based on the rotation speed of the first impeller 182 calculated according to the periodic pulse signal generated by the Hall sensor 183, it is determined that the current filter module 20 is blocked; at this time, the control module 80 can send an alarm signal to the alarm device, the indicator light of the alarm device can light up, the buzzer can sound an alarm, and the vibrator can start vibrating, so as to remind the user to clean the filter module 20 of the swimming pool robot in time.

[0084] Furthermore, the pool robot of the present invention further includes a communication device, which is disposed in the housing 10 and electrically connected to the control module 80. In the present invention, in order to facilitate the pool robot to transmit information regarding the clogging status of the filter module 20 to an external device, in certain embodiments, the pool robot may further include a communication device, which is electrically connected to the control module 80 and capable of wirelessly communicating with the external device.

[0085] As shown in Figure 12, accordingly, in the present invention, the inventors have also designed a swimming pool cleaning system, which includes: a user-end device, a cloud server, and the swimming pool robot described above in the present invention, wherein the swimming pool robot is directly or indirectly connected to the cloud server, and the user-end device is connected to the cloud server. As can be seen from the above technical solution of the present invention, in actual application, the swimming pool robot can also be controlled to be directly or indirectly connected to the cloud server, so as to send the blockage status of its own filter module 20 to the cloud server. At this time, the user can use the user-end device (mobile phone or tablet) carried with him to obtain the information from the cloud server and obtain the blockage status of the filter module 20 of the swimming pool robot. It should be noted that in some cases, the swimming pool robot can directly communicate with the cloud server wirelessly, and in some embodiments, the swimming pool robot can also achieve indirect communication connection with the cloud server through a gateway.

[0086] In this embodiment, the swimming pool robot specifically includes: a housing 10 and a filter module 20 disposed in the housing 10, a power water pump 32, a control module 80, a communication device, and a water flow rate detection device. The housing 10 is provided with a water inlet 12 and a water outlet, and the housing 10 is provided with a water flow channel 18 that is respectively connected to the water inlet 12 and the water outlet. The water flow rate detection device includes a first impeller 182 and a Hall sensor 183. The filter module 20 is disposed in the water flow channel 18. The first impeller 182 and the power water pump 32 are at least partially disposed in the water flow channel 18. The Hall sensor 183 is disposed near the first impeller 182. The power water pump 32, the communication device, and the Hall sensor 183 are all connected to the control module 80.

[0087] Accordingly, further reference to FIG11 shows that, in the present embodiment, the first impeller 182 in the water flow velocity detection device specifically includes a rotating shaft and four blades, and the four blades are all connected to the rotating shaft. Among them, two first magnetic members 184 are also provided on the first impeller 182, and the two first magnetic members 184 are respectively provided on two blades arranged opposite to each other. As shown in FIG11 , in the present embodiment, the water flow channel 18 includes a detection channel, which is located at one end of the water flow channel 18 close to the water inlet 12, and the cross-sectional area of ​​the detection channel is smaller than the cross-sectional area of ​​the rest of the water flow channel 18. Among them, in the present embodiment, a recessed portion 181 is also provided in the above-mentioned detection channel, so that the first impeller 182 is completely disposed in the detection channel, and the first impeller 182 can be partially disposed in the recessed portion 181 of the detection channel.

[0088] In this embodiment, when water flows through the water flow channel 18, it drives the first impeller 182 to rotate about its own rotation axis. The arrows X in Figure 11 represent the flow trajectory of the water flow. The higher the degree of blockage of the filter module 20, the slower the water flow rate in the water flow channel 18, and the slower the first impeller 182 rotates. Conversely, the less blocked the filter module 20 is, the faster the water flow rate in the water flow channel 18, and the faster the first impeller 182 rotates. Specifically, when the first impeller 182 rotates about its own rotation axis, the first magnetic member 184 mounted on the first impeller 182 periodically acts on the Hall sensor 183, causing the Hall sensor 183 to periodically conduct. At this time, the Hall sensor 183 generates a periodic pulse signal. By measuring the periodic pulse signal generated by the Hall sensor 183, the control module 80 can calculate the rotation speed of the first impeller 182, and then determine the current water flow rate in the water flow channel 18, thereby determining the blockage status of the filter module 20 of the swimming pool robot.

[0089] Before the actual application of the swimming pool robot of the first embodiment of the present invention, a preset threshold value needs to be set in advance. When the rotation speed of the first impeller 182 calculated by the control module 80 based on the periodic pulse signal generated by the Hall sensor 183 is greater than the preset threshold value, it can be determined that the flow rate of the current swimming pool robot is normal and it can maintain normal cleaning of the swimming pool; conversely, if the rotation speed of the first impeller 182 calculated by the control module 80 based on the periodic pulse signal generated by the Hall sensor 183 is less than the preset threshold value, it can be determined that the filter module 20 of the current swimming pool robot is clogged.

[0090] When the swimming pool robot is turned on, the power water pump 32 can draw water into the housing 10 from the water inlet 12. After entering the housing 10, the water will flow along the water flow channel 18, be filtered by the filter module 20, and then be discharged from the water outlet. The filtered waste enters the accommodating structure 21. During the operation of the swimming pool robot, the water will generate flow rate and flow velocity when flowing in the water flow channel 18. When the water flows in the water flow channel 18, it will drive the first impeller 182 to rotate around its own rotation axis, so that the two first magnetic members 184 installed on the first impeller 182 will periodically act on the Hall sensor 183, causing the Hall sensor 183 to periodically conduct and generate a pulse signal. At this time, the control module 80 can calculate the rotation speed of the first impeller 182 by measuring the periodic pulse signal generated by the Hall sensor 183.

[0091] Once the rotation speed of the first impeller 182 calculated by the control module 80 based on the periodic pulse signal generated by the Hall sensor 183 is less than a preset threshold, it is determined that the filter module 20 of the current swimming pool robot is clogged; at this time, the control module 80 can send an alarm signal to the alarm device, and the indicator light of the alarm device can light up, the buzzer can sound an alarm, and the vibrator starts to vibrate, so as to remind the user to clean the filter module 20 of the swimming pool robot in time.

[0092] In actual use, the control module 80 can transmit information about the current pool robot's filter module 20's blockage level to the cloud server via a communication device in real time. Users can then wirelessly connect their client devices to the cloud server via wireless communication to receive information about the current pool robot's filter module 20 blockage from their client devices. For example, if a filter module 20 is clogged, the control module 80 can transmit a blockage signal to a shore gateway via the communication module. This signal, which is then transmitted to the cloud server via the gateway connected to the cloud server, is then stored by the cloud server and ultimately transmitted to the client device, alerting the user to the need to clean the pool robot's filter module 20.

[0093] As can be seen from the foregoing, the inventors have optimized and designed a novel swimming pool robot, incorporating a first impeller 182 and a Hall effect sensor 183 into the swimming pool robot. These two components together form a low-cost, open-type water flow meter. This simplified flow meter, comprised of the first impeller 182 and Hall effect sensor 183, is simple to install, requires minimal waterproofing, is low cost, is easy to implement, and functions reliably. The Hall effect sensor 183 generates a periodic pulse signal when the first impeller 182, which includes a first magnetic element 184, rotates. The control module 80 calculates the rotational speed of the first impeller 182 based on the periodic pulse signal generated by the Hall effect sensor 183. The control module 80 then monitors the water flow rate in the water flow channel 18 based on the rotational speed of the first impeller 182, thereby determining the degree of clogging in the pool robot's filter module 20 based on the water flow rate in the water flow channel 18.

[0094] Referring to Figures 13-19 , the pool robot also includes a water-discharge detection module located at one end of the housing 10. The water-discharge detection module includes a buoyancy unit 41 and a sensing unit 42. The buoyancy unit 41 is movable between a first position and a second position. When the buoyancy unit 41 is in the first position, the sensing unit 42 emits a first signal; when the buoyancy unit 41 is in the second position, the sensing unit 42 emits a second signal. By placing the water-discharge detection module at one end of the housing 10, the pool robot can be detected as soon as it emerges from the pool's waterline, making it more sensitive to determine whether the pool robot has emerged from the water. The water-discharge detection module, which includes the buoyancy unit 41 and the sensing unit 42, varies the amount of buoyancy applied to the buoyancy unit 41 depending on whether the pool robot has emerged from the waterline, thereby causing the buoyancy unit 41 to move between the first and second positions. The sensing unit 42 then identifies the position of the buoyancy unit 41 and transmits a first signal or a second signal to the pool robot, thereby determining whether the pool robot has emerged from the water. Compared with the prior art, the swimming pool robot disclosed in this application can accurately determine whether the swimming pool robot is exposed to the surface of the swimming pool.

[0095] In some embodiments, the water-out detection module is signal-connected to the water pump module 30, and the first signal / second signal emitted by the water-out detection module causes the water pump module 30 to output different powers. Obviously, in other embodiments, the water-out detection module can also be used to determine whether the pool robot has emerged from the water, and combined with other technical means to achieve other operations.

[0096] The out-of-water detection module includes a buoyancy unit 41 and a sensing unit 42. The buoyancy unit 41 refers to an object that can react to the buoyancy of the water, such as a buoyancy block. It should be noted that reacting to the buoyancy of the water does not necessarily require the buoyancy unit 41 to float on the water surface. The buoyancy unit 41 can also be suspended in the water. For example, the buoyancy unit 41 is a buoyancy ball filled with water. When placed in water, the buoyancy ball can float in the water. When there is no water around the buoyancy ball, the buoyancy ball will naturally fall to the bottom, thereby achieving movement between the first position and the second position. At this time, the sensing unit 42 is a pressure sensor. The pressure of the buoyancy ball naturally falling to the bottom can also be used to determine the position of the pool robot based on the pressure.

[0097] It should be noted that the present invention does not limit whether the water-leaving detection module is disposed outside or inside the housing 10, nor does it limit the number of water-leaving detection modules. The water-leaving detection module being disposed at one end of the housing 10 means that the water-leaving detection module can be disposed at the upper end, lower end, front end, rear end, left end, or right end of the housing 10. This is because certain types of pool robots can move in multiple directions, and thus the position at which they first emerge from the water is not necessarily the front end of the housing 10. Furthermore, by changing the position at which the water-leaving detection module is disposed, it is possible to provide an early warning of the extreme position at which the pool robot can emerge from the water. It is also possible to determine the specific posture of the pool robot when it emerges from the water by disposing of multiple water-leaving detection modules.

[0098] In some embodiments, the buoyancy unit 41 always maintains the same posture relative to the water surface. It has a first posture and a second posture relative to the sensing unit 42. When the buoyancy unit 41 is in the first posture, the sensing unit 42 emits a third signal. When the buoyancy unit 41 is in the second posture, the sensing unit 42 emits a fourth signal. The first and second postures of the buoyancy unit 41 can be used to determine the posture of the pool robot. For example, the buoyancy unit 41 is a plate-shaped buoyant block that is always parallel to the water surface. When the pool robot is placed horizontally in the pool and the sensing unit 42 is positioned directly below the buoyant block, the buoyant block's profile identified by the sensing unit 42 is the frontal profile of the plate-shaped buoyant block, representing the first posture. When the pool robot is placed vertically in the pool, the buoyant block remains parallel to the water surface, but the sensing unit 42 changes with the pool robot's posture, resulting in the buoyant block's profile identified by the sensing unit 42 as the side thickness profile of the plate-shaped buoyant block, representing the second posture. The sensing unit 42 can be two position sensors positioned in different directions, or a capture camera, etc.

[0099] In some embodiments, please refer to Figure 13, the buoyancy unit 41 is a buoyancy block, the sensing unit 42 is a position sensor, the buoyancy block moves between a first position and a second position according to the different buoyancy it receives, and the position sensor is arranged on the movement path of the buoyancy block. It should be noted that the buoyancy unit 41 is a buoyancy block, the sensing unit 42 is a position sensor, and the position sensor is arranged on the movement path of the buoyancy block, which means that the position sensor can monitor the position of the buoyancy block, and its identification difference is located on the movement path of the buoyancy block. In some embodiments, the position sensor is an optical position sensor, the optical path of the optical position sensor passes through the movement path of the buoyancy block, and the optical position sensor can identify when its light path is blocked by the buoyancy block. Specifically, the water-out detection module also includes a slide bar, the slide bar is fixedly connected to the housing 10, the buoyancy block is slidably connected to the slide bar, and the position sensor is located at the bottom of the slide bar. The position sensor is used to detect the position of the buoyancy block on the slide bar during the movement of the swimming pool robot, thereby realizing the water-out detection of the swimming pool robot.

[0100] When the pool robot moves underwater and the water surface is higher than the top of the slider, the buoyancy block remains at the top of the slider under the action of buoyancy. When the pool robot continues to move upward and the water surface is between the top and bottom of the slider, the buoyancy block slides vertically downward along the slider under the action of the buoyancy of the water and its own weight. When the pool robot continues to move upward and the water surface does not exceed the bottom of the slider, the buoyancy block is at the bottom of the slider under the action of its own weight. The position sensor detects the position of the buoyancy block and sends a corresponding first signal. It should be explained that when the buoyancy block is in other positions, the position sensor sends a second signal. In addition, position sensors can be provided at different positions on the slider to achieve the sending of the second signal.

[0101] In some embodiments, when the buoyancy unit 41 is continuously in the first position, the sensing unit 42 emits a first signal, thereby making it more accurate to determine whether the pool robot has emerged from the water. It should be noted that the buoyancy unit 41 is continuously in the first position for less than a few seconds, so that the determination of whether the pool robot has emerged from the water is not too delayed.

[0102] Among them, the present application can use the "stop sending of the first signal" as the second signal. Taking the above embodiment as an example, when the buoyancy block is at the bottom of the slide bar under the action of its own gravity, the first signal is sent, and when the buoyancy block is not at the bottom of the slide bar, the first signal is stopped from being sent, and the "stop sending of the first signal" at this time is used as the second signal. It should be noted that at this time, the first signal needs to be continuously sent in order to make an accurate judgment on whether the swimming pool robot is out of the water, especially in the scenario where the swimming pool robot needs to frequently enter and exit the water line. In other embodiments, the sensing unit 42 can also be a camera unit. In addition, the sensing unit 42 can also be monitored remotely.

[0103] In some embodiments, the buoyancy unit 41 is a buoyancy block, the sensing unit 42 is an angle sensor, the buoyancy block is rotatably connected to the shell 10, and the buoyancy block swings between a first position and a second position according to the different buoyancy it receives. The angle sensor detects the swing angle of the buoyancy block and sends a first signal / second signal.

[0104] Specifically, the water-leaving detection module also includes a pendulum rod and a limit block. One end of the pendulum rod is rotatably connected to the shell 10, and the other end is connected to the buoyancy block. The limit block is fixedly mounted on the shell 10 and is located on the rotation stroke of the pendulum rod. It is used to limit the rotation angle of the pendulum rod. The angle sensor is connected to the rotation axis of the pendulum rod. The angle sensor is used to detect the angle of rotation of the pendulum rod driven by the buoyancy block during the movement of the swimming pool robot, thereby realizing the water-leaving detection of the swimming pool robot.

[0105] When the swimming pool robot moves in an underwater position and the water surface is higher than the highest position that the buoyancy block can reach, the buoyancy block continues to be at the highest position under the action of buoyancy, and the swing arm is at the maximum angle; when the swimming pool robot continues to move upward and the water surface is between the highest and lowest positions that the buoyancy block can reach, the buoyancy block reduces the swing arm angle under the action of the buoyancy of the water and its own gravity; when the swimming pool robot continues to move upward and the water surface does not exceed the lowest position of the buoyancy block, the buoyancy block is at the lowest position under the action of its own gravity, and the angle sensor detects the position of the buoyancy block and sends out a corresponding first signal at this time.

[0106] In some embodiments, the buoyancy unit 41 is a buoyancy block, the sensing unit 42 is a Hall sensor, and the water separation detection module also includes a magnetic element. One of the Hall sensor and the magnetic element is connected to the buoyancy block, and the other is connected to the shell 10. The buoyancy block is rotatably connected to the shell 10. The buoyancy block swings between the first position and the second position according to the different buoyancy it receives, and the Hall sensor and the magnetic element are connected / disconnected with the swing angle of the buoyancy block.

[0107] Specifically, the water departure detection module also includes a magnetic element, a rocker arm and a limit block. One end of the rocker arm is rotatably connected to the shell 10, and the other end is connected to the buoyancy block. The limit block is fixedly mounted on the shell 10 and is located on the rotational stroke of the rocker arm, and is used to limit the rotation angle of the rocker arm. The magnetic element is arranged on the buoyancy block. The Hall sensor is fixedly connected to the shell 10 and is located at the lowest position of the buoyancy block. The Hall sensor is used to detect whether the buoyancy block drives the magnetic element closer or farther away during the movement of the swimming pool robot, thereby causing connection / disconnection between the Hall sensor and the magnetic element, thereby realizing water departure detection of the swimming pool robot.

[0108] In some embodiments, referring to Figures 1 to 5 , the pool robot further includes: a drive module 50 for driving the pool robot; and a control module 80, which is signal-connected to the water-out detection module and the drive module 50. The control module 80 receives the first signal / second signal emitted by the sensing unit 42 and controls the opening and closing of the drive module 50. Specifically, by providing the drive module 50 and the control module 80, the control module 80 can receive the first signal / second signal emitted by the sensing unit 42 and control the opening and closing of the drive module 50 based on the first signal / second signal. This allows the pool robot to precisely move up and down near the waterline of the pool wall, thereby achieving better cleaning results and more thorough removal of debris. The water pump module 30 in this application is connected to the filter module 20 and provides suction to draw water from the pool through the water inlet 12, pass through the filter module 20, and then be ejected from the water outlet 11, thereby filtering the pool water. In some embodiments, the water ejected from the water outlet 11 creates a backward recoil force, which can generate downward pressure, allowing the pool robot to conform to the pool surface.

[0109] The swimming pool robot with water-leave detection capability shown in FIG13 includes a housing 10, a running wheel assembly 51, a filter chamber 23, a detection device, a control device, a first sealed chamber 333, and a water outlet 11. By providing a detection device, namely, a water-leave detection module, on the swimming pool robot, the swimming pool robot can clean the water level when cleaning the pool wall or bottom, and simultaneously detect whether the main body is out of water. This prevents the robot from exceeding the water surface and inhaling a large amount of air, which would affect the pool robot's water and dirt absorption, thereby improving cleaning efficiency and effectiveness.

[0110] Specifically, the running wheel set 51 includes two sets of wheels and is installed at the bottom of the housing 10 to drive the housing 10 to move.

[0111] Specifically, the filter chamber 23 is opened inside the housing 10 and is located at the bottom of the housing 10; the filter chamber 23 includes:

[0112] The water inlet 12 is provided at the bottom of the filter chamber 23 and is located between the running wheel assembly 51 ; the water inlet 12 connects the filter chamber 23 with the outside and is separated by a first chamber cover 25 ; the filter screen 24 is provided at the top of the filter chamber 23 and is used to filter garbage in the swimming pool water and collect it into the filter chamber 23 .

[0113] Specifically, the detection device, namely the water separation detection module, is installed on the housing 10 and is used to detect whether the housing 10 is out of water.

[0114] In this embodiment, the detection device includes a slide bar detection device, which includes: a slide bar 411, which is disposed on the top of the housing 10; a first buoyancy block 411, which is slidably connected to the slide bar 411; and a position sensor 421, i.e., a sensing unit 42, which is disposed at one end of the slide bar 411 near the water outlet 11 and is used to detect the position of the first buoyancy block 411 on the slide bar 411. By providing the slide bar detection device, the position sensor 421 is used to detect the position of the first buoyancy block 411 on the slide bar 411 during the pool wall cleaning process, thereby performing a water exit detection for the pool robot to prevent it from exceeding the water level.

[0115] Specifically, the first sealed chamber 333 is located within the housing 10 and above the filter chamber 23. Specifically, the water outlet 11 is located within the housing 10 and is arranged at the same level as the first sealed chamber 333. The water outlet 11 is connected to the outside world and is used to spray water filtered by the filter 24 out of the housing 10. Specifically, the control device is installed within the first sealed chamber 333, which can effectively seal the control device and prevent the control module 80 from coming into contact with water.

[0116] The control device includes: a motor 33, whose output shaft 331 passes through the first sealed chamber 333 and extends to the water outlet 11, and is dynamically sealed with the first sealed chamber 333; an impeller is installed on the output shaft 331, which is used to drive the water in the shell 10 to spray out; a control module 80, which is electrically connected to the motor 33 and the detection device, respectively, and is used to drive the second impeller 332 on the output shaft 331 to rotate to drive the shell 10 to move, receive the water separation detection signal issued by the detection device and issue an alarm.

[0117] In this embodiment, the position sensor 421 includes any one of a Hall sensor, a photoelectric switch, and a micro switch.

[0118] This embodiment also provides a method for detecting when a swimming pool robot is out of water, which detects the position of the swimming pool robot when it is cleaning the pool wall, and determines whether the swimming pool robot is out of water. The method then uses the position detection to determine whether the swimming pool robot is out of water, ensuring that the swimming pool robot does not go beyond the waterline and always cleans the pool wall or bottom, thereby improving the cleaning efficiency and cleaning effect of the swimming pool robot.

[0119] The position detection is to detect the position of the first buoyancy block 411 on the slide bar 411 when the swimming pool robot is cleaning the pool wall, so as to detect whether the housing 10 is out of water.

[0120] When performing position detection, the control device controls the swimming pool robot to move vertically upward along the pool wall. The specific process includes the following steps:

[0121] S1: When the pool robot moves underwater and the water surface is higher than the top of the slide bar 411, the first buoyancy block 411 is continuously at the top of the slide bar 411 under the action of buoyancy;

[0122] S2: When the pool robot continues to move upward and the water surface is between the top and bottom of the slide bar 411, the first buoyancy block 411 slides vertically downward along the slide bar 411 under the buoyancy of the water and its own gravity;

[0123] S3: When the pool robot continues to move upward and the water surface does not exceed the bottom of the slide bar 411, the first buoyancy block 411 continues to be at the bottom of the slide bar 411 under the action of its own gravity. The position sensor 421 detects the position of the first buoyancy block 411 and identifies the pool robot leaving the water signal, and issues an alarm prompt.

[0124] 14 is a schematic diagram showing the robot moving vertically upward and underwater when cleaning the pool wall; FIG15 is a schematic diagram showing the robot moving vertically upward and beyond the waterline when cleaning the pool wall.

[0125] Example 2

[0126] This embodiment provides another swimming pool robot capable of detecting when it leaves the water, including a housing 10, a running wheel assembly 51, a filter chamber 23, a detection chamber 43, a detection device, a control device, a first sealed chamber 333, and a water outlet 11. By providing the detection device on the swimming pool robot, the swimming pool robot can clean the water level when cleaning the pool wall or bottom, and simultaneously detect whether the main body is out of the water at an angle, thereby preventing the robot from exceeding the water surface and inhaling a large amount of air, which would affect the pool robot's water and dirt absorption, thereby improving cleaning efficiency and effectiveness.

[0127] Specifically, the running wheel set 51 includes two sets of wheels and is installed at the bottom of the housing 10 to drive the housing 10 to move.

[0128] Specifically, the filter chamber 23 is opened inside the housing 10 and is located at the bottom of the housing 10; the filter chamber 23 includes:

[0129] The water inlet 12 is provided at the bottom of the filter chamber 23 and is located between the running wheel assembly 51 ; the water inlet 12 connects the filter chamber 23 with the outside and is separated by a first chamber cover 25 ; the filter screen 24 is provided at the top of the filter chamber 23 and is used to filter garbage in the swimming pool water and collect it into the filter chamber 23 .

[0130] Specifically, the detection chamber 43 is opened inside the shell 10 and is located at the top of the shell 10; the detection chamber 43 opens a detection port 44 to communicate with the outside world; the detection chamber 43 is arranged at the same level as the first sealing chamber 333 and the water outlet 11, and is set at an end away from the water outlet 11; specifically, the detection device is installed on the shell 10 and is used to detect whether the shell 10 is out of water.

[0131] In this embodiment, the detection device includes a pendulum detection device installed in the detection chamber 43. The pendulum detection device includes: a pendulum 45, one end of which is connected to the inner wall of the detection chamber 43 and the other end of which rotates about a connection point with the inner wall of the detection chamber 43; a second buoyancy block 412, which is provided at the end of the pendulum 45 away from the connection point; a limit block 46, which is fixedly installed on the inner wall of the detection chamber 43 and located within the rotation range of the pendulum 45, and is used to limit the rotation angle of the pendulum 45; and an angle sensor 422, which is provided at the connection point and is used to detect the rotation angle of the pendulum 45. By providing the pendulum detection device and placing the second buoyancy block 412 on the pendulum 45, the influence of friction during the rotation of the pendulum 45 is reduced, thereby effectively preventing the pendulum 45 from getting stuck and failing during rotation. At the same time, the angle sensor 422 is used to detect the rotation angle of the pendulum 45 during the cleaning of the pool wall or pool bottom, and to detect whether the swimming pool robot is out of water and prevent it from exceeding the water level.

[0132] Specifically, the first sealed chamber 333 is located within the housing 10 and above the filter chamber 23. Specifically, the water outlet 11 is located within the housing 10 and is arranged at the same level as the first sealed chamber 333. The water outlet 11 is connected to the outside world and is used to spray water filtered by the filter 24 out of the housing 10. Specifically, the control device is installed within the first sealed chamber 333, which can effectively seal the control device and prevent the control module 80 from coming into contact with water.

[0133] The control device includes: a motor 33, whose output shaft 331 extends through the first sealed chamber 333 and extends to the water outlet 11, and is dynamically sealed with the first sealed chamber 333; an impeller mounted on the output shaft 331 for driving the water flow from the housing 10; a control module 80, which is electrically connected to the motor 33 and the detection device, and is respectively configured to drive the second impeller 332 on the output shaft 331 to rotate and drive the housing 10, and to receive the water separation detection signal from the detection device and issue an alarm. In this embodiment, the angle sensor 422 includes any one of a Hall effect sensor, a photoelectric switch, and a micro switch.

[0134] This embodiment also provides a water-leaving detection method for a swimming pool robot capable of water-leaving detection, which performs angle detection on the swimming pool robot when cleaning the pool wall or pool bottom to determine whether the swimming pool robot has left the water. The angle detection is then used to ensure that the swimming pool robot does not go beyond the waterline and always cleans the pool wall or pool bottom, thereby improving the cleaning efficiency and cleaning effect of the swimming pool robot.

[0135] The angle detection is to detect the rotation angle of the swing arm 45 when the swimming pool robot is cleaning the pool wall or the pool bottom, so as to detect whether the housing 10 is out of water.

[0136] When performing angle detection, the control device controls the pool robot to move vertically upward along the pool wall or horizontally along the pool bottom. The specific process includes the following steps:

[0137] T1: When the pool robot is moving underwater and the water surface is higher than the limit block 46, the second buoyancy block 412 on the swing rod 45 continuously presses the swing rod 45 against the limit block 46 under the action of buoyancy;

[0138] T2: When the pool robot continues to move upward along the pool wall or horizontally along the pool bottom, and the water surface is between the limit block 46 and the bottom of the swing rod 45, the second buoyancy block 412 on the swing rod 45 rotates around the connection point of the swing rod 45 in a direction away from the limit block 46 under the action of the buoyancy of the water and its own gravity;

[0139] T3: When the pool robot continues to move upward along the pool wall or horizontally along the pool bottom, and the water surface does not exceed the bottom of the pendulum rod 45, the second buoyancy block 412 on the pendulum rod 45 keeps the pendulum rod 45 in a vertical downward or horizontal state under the action of its own gravity. The angle sensor 422 detects the rotation angle of the pendulum rod 45, identifies the pool robot leaving the water signal, and issues an alarm prompt.

[0140] FIG16 is a schematic diagram showing the robot moving vertically upward and underwater when cleaning the pool wall; FIG17 is a schematic diagram showing the robot moving vertically upward and beyond the waterline when cleaning the pool wall;

[0141] FIG18 is a schematic diagram showing the robot moving horizontally and underwater when cleaning the pool bottom; FIG19 is a schematic diagram showing the robot moving horizontally and beyond the waterline when cleaning the pool bottom.

[0142] Referring to FIG. 20 , a swimming pool robot includes a main body 90 and a controllable magnetic member 91 disposed on the main body 90 . A charging port 92 is disposed on the main body 90 . The controllable magnetic member 91 is disposed near the charging port 92 . The controllable magnetic member 91 is configured to switch between a magnetic state and a non-magnetic state.

[0143] From the above description, it can be seen that the beneficial effects of the present invention are: the swimming pool robot has a novel structure and can achieve quick docking and connection with the external interface 97 of the external charger 100. Compared with the solution of setting a permanent magnet on the swimming pool robot, the controllable magnetic part 91 will not absorb ferromagnetic impurities such as iron filings when the swimming pool robot is working. The user does not need to frequently clean the swimming pool robot, which is conducive to enhancing the user experience. The charging interface 92 will not have poor contact with the external interface 97 due to the adsorption of ferromagnetic impurities, ensuring that the swimming pool robot can be charged stably.

[0144] The charging system includes an external charger 100 and a swimming pool robot.

[0145] In some embodiments, the swimming pool robot includes a main body 90 and a controllable magnetic member 91 provided on the main body 90, wherein the main body 90 is provided with a charging interface 92, and the controllable magnetic member 91 is provided near the charging interface 92. The controllable magnetic member 91 is configured to be able to switch between a magnetic state and a non-magnetic state, and the controllable magnetic member 91 is at least one of an electro-permanent magnet, an ordinary electromagnet, a holding electromagnet, and a power-off electromagnet; the main body 90 is provided with a control module 80 electrically connected to the controllable magnetic member 91, and the control module 80 is used to control the controllable magnetic member 91 to switch between a magnetic state and a non-magnetic state. The external charger 100 has a magnetic attraction structure 98, and the magnetic attraction structure 98 is provided with a permanent magnet 99 for magnetically cooperating with the controllable magnetic member 91 and an external interface 97 for cooperating with the charging interface 92.

[0146] This embodiment is described using a swimming pool robot as an example (i.e., the swimming pool robot in this embodiment is a swimming pool robot). The main body 90 includes a housing 10, a water pump, a battery, and a filter. The housing 10 is provided with a water inlet and a water outlet. The housing 10 is provided with a water flow channel connecting the water inlet and the water outlet. The water pump and the filter are both disposed in the water flow channel. A controllable magnetic member 91 is disposed on the housing 10. The battery is mounted on the housing 10 and is directly or indirectly electrically connected to the charging port 92.

[0147] Specifically, a second sealed chamber 93 is provided in the shell 10, and the battery and the control module 80 are respectively provided in the second sealed chamber 93. The battery is indirectly electrically connected to the charging interface 92 through the control module 80. The control module 80 includes a main control board, which is electrically connected to the charging interface 92 through a first connecting line 94 and electrically connected to the controllable magnetic part 91 through a second connecting line 95.

[0148] Optionally, a charging structure 96 is provided on the shell 10 , the charging interface 92 and the controllable magnetic component 91 are both provided on the charging structure 96 , and the charging structure 96 is sealed and connected to the shell 10 .

[0149] When the control module 80 detects that the charging port 92 is connected to the external port 97, it controls the controllable magnetic member 91 to switch to a magnetic state; when the control module 80 detects that the charging port 92 is disconnected from the external port 97, it controls the controllable magnetic member 91 to switch to a non-magnetic state. Optionally, the controllable magnetic member 91 does not exhibit magnetism when powered on, and exhibits magnetism when powered off. In detail, when the swimming pool robot is turned on and enters the charging current detection state, if no charging current is detected, the main control board will energize the controllable magnetic part 91. At this time, the controllable magnetic part 91 is not magnetic (the controllable magnetic part 91 selected at this time is an electropermanent magnet), and the swimming pool robot can enter the water normally to work. The controllable magnetic part 91 is always energized during work. At this time, since the controllable magnetic part 91 is not magnetic, the controllable magnetic part 91 will not absorb ferromagnetic impurities. When the swimming pool robot is taken ashore, it will automatically shut down through detection (normal mode, the swimming pool robot cannot be charged when turned on, and an alarm will be issued). At this time, after the swimming pool robot is turned off, the main control board will not energize the controllable magnetic part 91, and the controllable magnetic part 91 will immediately show magnetism, and the charging interface 92 can be normally aligned with the external interface 97 of the external charger 100 for charging. Since the controllable magnetic part 91 does not absorb ferromagnetic impurities such as iron filings in the water, the swimming pool robot can use the charging interface 92 to charge stably.

[0150] Of course, the controllable magnetic part 91 shows magnetism when it is powered on and does not show magnetism when it is powered off. This setting is also possible. Specifically, when the swimming pool robot is turned on and enters the charging current detection state, if no charging current is detected, the main control board will not energize the controllable magnetic part 91. At this time, the controllable magnetic part 91 is non-magnetic (the controllable magnetic part 91 selected at this time is an ordinary electromagnet, etc.), and the swimming pool robot can enter the water and work normally. During operation, the controllable magnetic part 91 is not energized. At this time, since the controllable magnetic part 91 is non-magnetic, the controllable magnetic part 91 will not absorb ferromagnetic impurities. When the swimming pool robot is taken ashore, it automatically shuts down through detection. At this time, after the swimming pool robot is shut down, the main control board continues to energize the controllable magnetic part 91 within a preset time period. The controllable magnetic part 91 shows magnetism, and the charging interface 92 can be normally aligned with the external interface 97 of the external charger 100 for charging. Since the controllable magnetic part 91 does not absorb ferromagnetic impurities such as iron filings in the water, the swimming pool robot can be stably charged using the charging interface 92. It should be noted that during the charging process of the swimming pool robot, the control method does not necessarily have to be the two mentioned above. Other control methods can also be used. For example, the swimming pool robot does not automatically shut down after coming ashore, and the swimming pool robot can be charged while it is turned on.

[0151] In some embodiments, the charging interface 92 can be a wireless interface. Using a wireless interface allows for contactless charging of the pool robot, which helps improve the pool robot's sealing and charging safety. Specifically, the wireless interface is a wireless charging receiving module. However, to ensure stable and efficient charging of the pool robot, in this embodiment, the charging interface 92 is a terminal interface. The terminal interface can be an elastic conductive member with a contact area, such as a spring or elastic probe, or a rigid conductive member with a contact area, such as a metal sheet.

[0152] In summary, the pool robot and charging system provided by the present invention offer a novel structure. The pool robot avoids attracting any iron filings or other ferromagnetic impurities while operating underwater or on the surface. During charging, it precisely aligns with the external charger's external port, allowing users to quickly charge the pool robot. This eliminates the need for frequent cleaning of the pool robot, enhancing the user experience.

[0153] In some embodiments, please refer to Figures 21 to 24, which include a shell 10, the shell 10 has a water inlet 12 and a water outlet 11, and a water flow channel is formed inside the shell 10 between the water inlet 12 and the water outlet 11, and a water pump module 30 is provided in the water flow channel, and a first mounting groove 34 and a second mounting groove 35 for installing an external filtering device are respectively provided in the water flow channel, and the number of the second mounting groove 35 is at least one; the first mounting groove 34 is provided upstream of the water flow channel, and the second mounting groove 35 is provided downstream of the water flow channel.

[0154] Referring to Figures 21 to 24, a swimming pool robot includes a housing 10 having a water inlet 12 and a water outlet 11. A water flow channel is formed inside the housing 10 between the water inlet 12 and the water outlet 11. A drainage device 39 is provided in the water flow channel. A first mounting groove 34 and a second mounting groove 35 for mounting an external filtering device are respectively provided in the water flow channel. There is at least one second mounting groove 35. The first mounting groove 34 is provided upstream of the water flow channel, and the second mounting groove 35 is provided downstream of the water flow channel.

[0155] As can be seen from the above description, the beneficial effects of the present invention are as follows: the swimming pool robot of the present invention is provided with a first mounting slot 34 and at least one second mounting slot 35 upstream and downstream of the water flow channel, respectively, for mounting an external filter device. Thus, filter devices with different configurations and combinations can be installed according to the actual conditions of the swimming pool to be cleaned, thereby performing targeted cleaning of the swimming pool and achieving different cleaning effects, thereby improving cleaning efficiency and ensuring cleaning quality.

[0156] Referring to Figures 21 to 24 , the pool robot includes a housing 10 having a water inlet 12 and a water outlet 11. A water flow channel is formed within the housing 10 between the water inlet 12 and the water outlet 11. A drainage device 39 is provided within the water flow channel. The water flow channel is provided with a first mounting slot 34 and a second mounting slot 35 for mounting an external filter device. There is at least one second mounting slot 35; the first mounting slot 34 is located upstream of the water flow channel, and the second mounting slot 35 is located downstream of the water flow channel. Specifically, two rollers are provided on either side of the housing 10, and a drive motor for driving the rollers is also provided within the housing 10. The water inlet 12 is located on the bottom wall of the housing 10, and the water outlet 11 is located on the top wall of the housing 10. The drainage device 39 preferably drives a connected motor and impeller. In this embodiment, there is one second mounting slot 35. In other embodiments, the number of second mounting slots 35 may be two, three, or more.

[0157] As shown in Figures 21 and 22, in this embodiment, the drainage device 39 is provided at the water outlet 11, and the second mounting groove 35 is provided between the drainage device 39 and the first mounting groove 34. It is easy to understand that by providing the second mounting groove 35 between the drainage device 39 and the first mounting groove 34, the water flow can be discharged from the housing 10 outside the drainage device 39 only after being fully filtered. In other embodiments, the second mounting groove 35 can be provided at the water outlet 11, and the drainage device 39 can be provided between the first mounting groove 34 and the second mounting groove 35. It is easy to understand that before the water flow passes through the second mounting groove 35, it can be stirred by the drainage device 39, so that the dust is evenly distributed in the second mounting groove 35, avoiding the dust from concentrating in the middle of the external filter device, thereby extending the durability of the external filter device in the second mounting groove 35.

[0158] In some embodiments, as shown in Figures 21 to 23, the pool robot further includes at least one second compartment cover 19, which is movably disposed on the housing 10 to open and close the first mounting slot 34 and the second mounting slot 35. Specifically, the first mounting slot 34 and the second mounting slot 35 are both connected to the top wall of the housing 10, and one side of the second compartment cover 19 is rotatably connected to the top wall of the housing 10. Rotating the second compartment cover 19 so that it is close to the top wall of the housing 10 simultaneously closes the top openings of the first mounting slot 34 and the second mounting slot 35. In other embodiments, the second compartment cover 19 and the housing 10 may each be provided with a slide groove and a latch bar to achieve a sliding fit, or the second compartment cover 19 and the housing 10 may each be provided with a latch block and a slot to achieve a snap-on fastening.

[0159] In some embodiments, as shown in Figures 21 to 23, the pool robot further includes a first filter device 37, which is removably mounted in the first mounting slot 34. The first filter device 37 comprises a first frame 371 and a filter mesh. The filter mesh is mounted on the first frame 371, and the filter mesh and the first frame 371 enclose a filter chamber 372. A one-way valve is provided below the first frame 371, connecting the filter chamber 372. When the first filter device 37 is mounted in the first mounting slot 34, the one-way valve connects to the water inlet 12. Specifically, the first frame 371 is basket-shaped, with multiple windows defined in its perimeter. The filter mesh covers these windows, providing the first filter device 37 with a larger water flow area and preventing clogging. The filter mesh can have a variety of pore sizes, such as 180 μm, 250 μm, and 380 μm, allowing users to select a suitable pore size based on the level of contamination in the pool. The first filter device 37 is installed in the first installation slot 34 in a removable quick-release mode, which is convenient for replacement and cleaning.

[0160] As shown in Figures 21 to 23, the pool robot also includes a second filter device 38 and at least one quick-release bracket 36. Optionally, the quick-release bracket 36 can be removably mounted in the first mounting slot 34 or the second mounting slot 35, or the quick-release bracket 36 can be movably mounted in the first mounting slot 34 or the second mounting slot 35, and the second filter device 38 can be removably mounted on the quick-release bracket 36. In this embodiment, the number of quick-release brackets 36 corresponds to the number of second mounting slots 35. The quick-release bracket 36 is installed in the second mounting slot 35 using a removable quick-release mode, and the second filter device 38 can be quickly removed from the second mounting slot 35 via the quick-release bracket 36. As can be easily understood, the first filter device 37, the second filter device 38, the drainage device 39, and other units constitute a fluid cleaning system.

[0161] In some embodiments, as shown in Figure 24, the second filter device 38 includes a filter element 381 and a filter fixing frame 382. The filter element 381 is fixed to the filter fixing frame 382, ​​which is removably mounted on the quick-release bracket 36. Specifically, the filter element 51 is preferably made of nylon HEPA. The filter element 381 is rectangular and, after multiple folds, forms a rectangular body. The filter fixing frame 382 is a rectangular frame that fits around the outer periphery of the filter element 381 to maintain its shape and prevent deformation, facilitating removal and replacement. The quick-release bracket 36 includes a main body and support bars. The main body is rectangular, with multiple support bars connecting opposite side walls of the main body. The filter fixing frame 382 is positioned within the main body of the quick-release bracket 36. In one embodiment, the main body of the quick-release bracket 36 also includes a handle 361 for easy removal by the user.

[0162] In some embodiments, as shown in FIG24 , a positioning structure or a detachable connection structure is provided on the filter frame, and the filter fixed frame 382 is detachably mounted on the quick-release bracket 36 via the positioning structure 383 or the detachable connection structure. Specifically, the positioning structure 383 can be configured as a positioning protrusion or a positioning groove; the detachable connection structure can be configured as a snap-fit ​​protrusion or a snap-fit ​​groove, or the detachable connection structure can be configured as a slide groove or a slider to achieve a sliding fit.

[0163] In some embodiments, the mesh size of the second filter device 38 is smaller than that of the first filter device 37, and the mesh diameter of the filter element 381 in the second filter device 38 is less than or equal to 2 μm. Considering the small mesh size of the second filter device 38, which is prone to clogging, the width of the second filter device 38 is designed to be smaller than the width of the second mounting slot 35 when the two filters are operating simultaneously. When the second filter device 38 is placed in the second mounting slot 35, it cannot completely block the portion of the water flow path from the first mounting slot 34 to the water outlet 11, allowing some water filtered by the first filter device 37 to pass through the outside of the second filter device 38. The second filter device 38 has different widths, allowing the water flow outside the second filter device 38 to be adjusted according to the clogging status of the second filter device 38. The water flow outside the second filter device 38 accounts for 10-90% of the total flow.

[0164] It is understood that, in one embodiment, the first installation slot and the second installation slot are arranged substantially parallel to each other. The second filter device does not contact the first filter device.

[0165] As will be readily understood, the first filter device 37 and the second filter device 38 can be used in conjunction or independently. There are no fewer than three possible combinations of the first and second filter devices 37, 38. Method 1: Install both the first and second filter devices 37, 38 simultaneously. The first filter device 37 filters coarse particles from the pool water, and the second filter device 38 filters fine particles from the pool water. Method 2: Install only the first filter device 37, omitting the second filter device 38. This allows the pool robot to filter only coarse particles from the pool water. Method 3: Install only the second filter device 38, omitting the first filter device 37, to filter fine particles from the pool water. The desired combination of waterproofing should be determined based on the level of contamination in the pool.

[0166] The working principle of the first embodiment of the present technical solution can be briefly described as follows: after the swimming pool robot is turned on, the drainage device 39 starts to work, causing negative pressure to be generated in the water flow channel within the shell 10, and the one-way valve at the water inlet 12 opens; the unclean water in the pool is sucked into the first cleaning device through the water inlet 12 for the first filtration to filter out the larger particles in the water; after passing through the first filtering device 37, the pool water enters the second filtering device 38 to filter out the particulate matter in the water; finally, it flows out of the shell 10 through the drain port, achieving the purpose of deep cleaning.

Claims

1. A swimming pool robot, comprising a housing, a filter module and a water pump module, wherein the housing has a water inlet and a water outlet, the water inlet, the filter module and the water outlet are connected in sequence, and the water pump module is connected to the filter module; characterized in that: It also includes a water separation detection module located at one end of the housing, The water separation detection module includes a buoyancy unit and a sensing unit. The buoyancy unit can move between a first position and a second position. When the buoyancy unit is located at the first position, the sensing unit sends a first signal; when the buoyancy unit is located at the second position, the sensing unit sends a second signal.

2. A swimming pool robot according to claim 1, characterized in that: The buoyancy unit is a buoyancy block, the induction unit is a position sensor, the buoyancy block moves between a first position and a second position according to different buoyancy forces applied to it, and the position sensor is arranged on the movement path of the buoyancy block.

3. A swimming pool robot according to claim 1, characterized in that: The buoyancy unit is a buoyancy block, the sensing unit is an angle sensor, the buoyancy block is rotatably connected to the shell, the buoyancy block swings between a first position and a second position according to the different buoyancy it receives, and the angle sensor detects the swing angle of the buoyancy block and sends a first signal / second signal.

4. A swimming pool robot according to claim 1, characterized in that: The buoyancy unit is a buoyancy block, the sensing unit is a Hall sensor, and the water separation detection module also includes a magnetic element. One of the Hall sensor and the magnetic element is connected to the buoyancy block, and the other is connected to the shell. The buoyancy block is rotatably connected to the shell. The buoyancy block swings between a first position and a second position according to the different buoyancy it receives, and the Hall sensor and the magnetic element are connected / disconnected with the swing angle of the buoyancy block.

5. A swimming pool robot according to claim 1, characterized in that: The swimming pool robot also includes: A driving module, driving the swimming pool robot to move; A control module is connected to the water separation detection module and the driving module by signals, and the control module receives the first signal / the second signal sent by the sensing unit and controls the driving module to open and close.

6. A swimming pool robot according to claim 1, characterized in that: The swimming pool robot also includes: A driving module, driving the swimming pool robot to move; The cleaning module is installed on the housing, and the driving module is drivingly connected to the cleaning module.

7. A swimming pool robot according to claim 1, characterized in that: The swimming pool robot further includes a water discharge module. The interior of the housing has a first chamber, and the first chamber is connected to / closed by the water discharge module.

8. The swimming pool robot according to claim 1, characterized in that: The water inlet, the filter module and the water outlet are connected in sequence to form a filter flow channel; The shell has a first chamber and a second chamber separated from each other, and the filter channel is only arranged in one of the first chamber and the second chamber.

9. A swimming pool robot according to claim 8, characterized in that: The first chamber and the second chamber are separated by the filter module; or The first chamber and the second chamber are separated by a partition plate fixed on the inner side wall of the shell.

10. A swimming pool robot according to claim 9, characterized in that: The filter module comprises a garbage filter box and a containing structure for containing the garbage filter box, and the first chamber and the second chamber are separated by the containing structure.

11. A swimming pool robot according to claim 1, characterized in that: The water pump module comprises a guide component and a power water pump, and the water outlet, the guide component and the power water pump are connected in sequence.

12. A swimming pool robot according to claim 11, characterized in that: The guide component comprises a guide chamber and a guide blade arranged in the guide chamber. One end of the guide chamber is connected to the water outlet, and the other end is connected to the power water pump.

13. The swimming pool robot according to claim 1, characterized in that: The swimming pool robot further comprises at least two wheels, wherein the wheels define a plane, which is a first plane; A flow channel is formed at the bottom of the shell from the water inlet to the end of the first plane, and the flow channel has an arc-shaped drainage surface.

14. A swimming pool robot according to claim 13, characterized in that: The drainage surface extends forward along the travel direction of the swimming pool robot to form a water-facing end, and the drainage surface extends backward along the travel direction of the swimming pool robot to form a water-collecting end. The two ends of the drainage surface are respectively connected to the water-facing end and the water-collecting end in an arc-shaped transition.

15. A swimming pool robot according to claim 14, characterized in that: Any tangent line on the arc surface from the drainage surface to the water collection end is not parallel to the first plane.

16. The swimming pool robot according to claim 1, characterized in that: It also includes a water flow velocity detection device and a control module, the control module is connected to the water flow velocity detection device, a water flow channel connected to the water inlet and the water outlet is provided in the shell, the filter module is arranged in the water flow channel, and the water flow velocity detection device is at least partially arranged in the water flow channel.

17. The swimming pool robot according to claim 1, characterized in that: The swimming pool robot includes a magnetic charging device, which includes a main body and a controllable magnetic part arranged on the main body. A charging interface is provided on the main body, and the controllable magnetic part is arranged close to the charging interface. The controllable magnetic part is configured to be able to switch between magnetic and non-magnetic states.

18. The swimming pool robot according to claim 1, characterized in that: The swimming pool robot includes a dual filtering device, which includes the shell, the shell has the water inlet and the water outlet, a water flow channel is formed inside the shell between the water inlet and the water outlet, the water pump module is arranged in the water flow channel, and the water flow channel is respectively provided with a first mounting groove and a second mounting groove for installing an external filtering device, and the number of the second mounting groove is at least one; the first mounting groove is arranged upstream of the water flow channel, and the second mounting groove is arranged downstream of the water flow channel.

19. A swimming pool robot according to claim 18, characterized in that: The first mounting groove and the second mounting groove are arranged substantially in parallel.

20. The swimming pool robot according to claim 18, characterized in that: The first installation groove and the second installation groove are used to install a first filter device and a second filter device respectively, and the second filter device is not in contact with the first filter device.

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