A pool robot

Abstract

This invention relates to a swimming pool robot, comprising a shell, a filter module, a water pump module, and a water-leaving detection module. The water-leaving detection module includes a buoyancy unit and a sensing unit. The swimming pool robot is equipped with a drainage module. A first chamber is formed inside the shell and communicates with the water inlet. The first chamber is located at the front end of the swimming pool robot in the direction of travel and is connected to / closed to the outside through the drainage module. The swimming pool robot is equipped with a control module, a cleaning module, and a drive module. The control module is signal-connected to the drive module and the water-leaving detection module, respectively. The drive module simultaneously controls the movement of the swimming pool robot and the cleaning module. The water pump module includes a guide component and a power water pump. The water outlet, the guide component, and the power water pump are connected in sequence. The shell has a first chamber and a second chamber that are separated from each other. The bottom of the shell has a flow channel that reduces resistance when the swimming pool robot moves. The bottom of the shell also has an inwardly recessed cavity area.

Description

Technical Field

[0001] This invention relates to the field of robotics, and more particularly to a swimming pool robot. Background Technology

[0002] Pool robots are robots developed to address the needs of pool cleaning. In existing technologies, when cleaning the waterline near the pool surface, pool robots cannot accurately determine whether they are above the waterline, making it impossible for the control unit to control the robot to perform the appropriate cleaning operations at the waterline location, resulting in poor cleaning effectiveness. Summary of the Invention

[0003] To address the inability to accurately determine whether a pool robot is above the water surface, this invention proposes a pool robot.

[0004] The technical solution adopted in this invention is a swimming pool robot, comprising a shell, a filter module, and a water pump module. The shell has a water inlet and a water outlet, which are sequentially connected. The water pump module and the filter module are also connected. The robot also includes a water-free detection module located at one end of the shell.

[0005] 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 in the first position, the sensing unit sends a first signal; when the buoyancy unit is in the second position, the sensing unit sends a second signal.

[0006] Compared with the prior art, the present invention has the following beneficial effects:

[0007] This application discloses a swimming pool robot. By placing a water exit detection module at one end of the shell, the robot can be detected as soon as it emerges from the pool waterline, making the determination of whether the robot has exited the water more sensitive. The water exit detection module includes a buoyancy unit and a sensing unit. Based on whether the robot has emerged from the waterline, the buoyancy unit moves between a first position and a second position. Then, the sensing unit identifies the position of the buoyancy unit and sends a first signal or a second signal to the robot, thereby determining whether the robot has emerged from the water. Compared with existing technologies, the swimming pool robot disclosed in this application can accurately determine whether the robot has emerged from the pool water. Attached Figure Description

[0008] The present invention will now be described in detail with reference to the embodiments and accompanying drawings, wherein:

[0009] Figure 1 A schematic diagram of the structure of a pool robot provided according to an embodiment of the present invention is shown;

[0010] Figure 2 It shows according to Figure 1 A schematic diagram of the structure of a pool robot from another angle is provided;

[0011] Figure 3 It shows according to Figure 1 A schematic diagram of a swimming pool robot with its top cover removed is provided.

[0012] Figure 4 It shows according to Figure 1 A bottom view of a swimming pool robot is provided.

[0013] Figure 5 It shows according to Figure 1 A front view of a swimming pool robot with its side cover removed;

[0014] Figure 6 It shows according to Figure 1 A cross-sectional view of a swimming pool robot is provided;

[0015] Figure 7 It shows according to Figure 1 A schematic diagram of the accommodating structure and the cut-off portion of the shell in a swimming pool robot is provided.

[0016] Figure 8 It shows according to Figure 6 An enlarged view of region A in a swimming pool robot is provided.

[0017] Figure 9 It shows according to Figure 6 A magnified view of region B in a swimming pool robot is provided.

[0018] Figure 10 This is a schematic diagram of the internal structure of the pool robot described in one embodiment of the present invention;

[0019] Figure 11 This is a schematic diagram of the internal structure of the pool robot described in another embodiment of the present invention;

[0020] Figure 12 This is a schematic diagram illustrating the signal transmission principle of the swimming pool cleaning system according to one embodiment of the present invention;

[0021] Figure 13 This is a schematic diagram of the pool robot in Example 1;

[0022] Figure 14 This is a schematic diagram of the robot's structure when it is cleaning the pool wall in Example 1, moving vertically upwards and being underwater.

[0023] Figure 15This is a schematic diagram of the robot moving vertically upwards and beyond the waterline during the cleaning of the pool wall in Example 1.

[0024] Figure 16 This is a schematic diagram of the robot's structure when it is cleaning the pool wall in Example 2, moving vertically upwards and being underwater.

[0025] Figure 17 This is a schematic diagram of the robot moving vertically upwards and beyond the waterline during the cleaning of the pool wall in Example 2.

[0026] Figure 18 This is a schematic diagram of the robot's horizontal movement and underwater position during the cleaning of the pool bottom in Example 2;

[0027] Figure 19 This is a schematic diagram of the robot moving horizontally and exceeding the waterline during the cleaning of the pool bottom in Example 2.

[0028] Figure 20 This is a simplified schematic diagram of the charging system according to Embodiment 1 of the present invention.

[0029] Figure 21 A cross-sectional view of a swimming pool robot according to an embodiment of the present invention. Figure 1 ;

[0030] Figure 22 A cross-sectional view of a swimming pool robot according to an embodiment of the present invention. Figure 2 ;

[0031] Figure 23 This is an exploded view of a portion of the structure of a swimming pool robot according to an embodiment of the present invention;

[0032] Figure 24 This is an exploded view of the second filtration device and quick-release bracket in a swimming pool robot according to an embodiment of the present invention. Detailed Implementation

[0033] To make the objectives, technical solutions, and advantages of the present invention clearer, the embodiments of the present invention will be further described in detail below with reference to the accompanying drawings. Examples of embodiments are shown in the accompanying drawings, wherein the same reference numerals denote the same or similar parts or parts having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0034] This invention discloses a swimming pool robot; please refer to [reference needed]. Figures 1 to 6The system includes a housing 10, a filter module 20, and a water pump module 30. The housing 10 has an inlet 12 and an outlet 11, which are sequentially connected. The water pump module 30 is connected to the filter module 20. It also includes a drive module 50 for driving the pool robot's movement; and a cleaning module 60, mounted on the housing 10. The drive module 50 and the cleaning module 60 are connected in a drive-driven manner. It should be noted that the drive module 50 can simultaneously drive the pool robot and the cleaning module 60, resulting in a more compact overall structure, smaller size, and reduced costs.

[0035] 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, and 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.

[0036] In some embodiments, please refer to Figure 5 and Figure 6 The pool robot also includes a drainage module 70. The housing 10 has a first chamber 13 inside, which is connected to / closed to the outside via the drainage module 70. It should be noted that when the pool robot is performing cleaning operations above the water surface, a portion of the robot will be above the surface, reducing buoyancy. With the weight remaining constant, this requires the robot's drive components to have greater power to maintain the robot above the water. Alternatively, when the pool robot needs to be lifted by the user, the water in the first chamber 13 needs to be drained quickly. Therefore, a first chamber 13 is provided at the front end of the swimming pool robot's direction of travel. When the swimming pool robot is below the water surface, water enters the first chamber 13. In addition, a drain module 70 is provided, through which the first chamber 13 is connected to / closed to the outside. This allows the drain module 70 to drain the water accumulated in the first chamber 13 when the swimming pool robot emerges from the water surface, thereby reducing the overall weight of the swimming pool robot, reducing the power consumption when the swimming pool robot emerges from the water surface, extending the swimming pool robot's battery life, and reducing the robot's weight so that it can be easily lifted.

[0037] In some specific embodiments, please refer to Figure 5 and Figure 6The drainage module 70 is a drain outlet located on the side wall of the first chamber 13. Specifically, the drainage module 70 is a drain outlet located on the side wall of the first chamber 13. By positioning the drain outlet in front of the inlet 12, water accumulated in the first chamber 13 can be discharged through the drain outlet when the end of the drainage module 70 is exposed above the water surface. This design simplifies the structure of the drainage module 70, and when the pool robot is underwater, the drain outlet assists the inlet 12 in taking in water, allowing the pool robot to sink quickly. In other embodiments, the drainage module 70 can also be electrically controlled to achieve external communication / closure.

[0038] In some specific embodiments, a water separation detection module is located within the first chamber 13. It should be noted that, in order to protect the water separation detection module from damage and to minimize interference from water splashes in the pool, the water separation detection module is placed within the first chamber 13, thereby extending its service life and improving its stability during use.

[0039] In some embodiments, please refer to Figure 6 The inlet 12, filter module 20, and outlet 11 are sequentially connected to form a filter channel. The interior of the housing 10 has a separated first chamber 13 and a second chamber 14, and the filter channel is only located in one of the first chamber 13 and the second chamber 14. By providing a separated first chamber 13 and second chamber 14 inside the housing 10, and connecting the filter channel to only one of the first chamber 13 and the second chamber 14, the water entering the inlet 12 only passes through the first chamber 13 or the second chamber 14. This greatly reduces the space required for the pump module 30 to perform its work, achieving the purpose of pumping water without requiring a large power, thus reducing the energy consumption of the pool robot and improving its endurance. In other words, with a fixed pump power, the efficiency of filtration and cleaning can be improved. Compared with the prior art, the pool robot disclosed in this application can achieve the goal of reducing energy loss during the operation of the pool robot.

[0040] In this design, one of the first chamber 13 and the second chamber 14 is equipped with a filter channel. It is important to note that the first chamber 13 and the second chamber 14 do not need to be completely sealed. It is sufficient that most of the water flow passes through the chamber containing the filter channel to achieve the energy reduction objective required in this application. It should be noted that during operation, the water pump module 30 needs to perform work on the water inside the housing 10 and pump it out to the external environment through the outlet 11. If the cavity inside the housing 10 is too large, the water flow entering from the bottom will pass through a large flow area, easily forming turbulence and vortices. This results in the water flow consuming a large amount of work inside the housing 10, wasting the pump's work and increasing the pump's energy consumption. This not only reduces the pump's power but also lowers the pool robot's endurance. However, this application sets up two chambers spaced apart from each other, so that most of the water flow only passes through one of them, while the power supply sealing chamber, sensors and other components are installed in the other chamber. This reduces the space through which the water flows, constrains the water flow, reduces the generation of turbulence and vortices, promotes water circulation, improves work efficiency, and also improves the machine's endurance.

[0041] Furthermore, the specific power of the water pump module 30 can be determined based on 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 is matched with the size of the chamber, thereby enabling the water pump module 30 to work at an appropriate power without causing insufficient suction or wasting excess energy.

[0042] Specifically, if the filter channel is connected to either the first chamber 13 or the second chamber 14, the other chamber can house other components of the pool robot, making the overall structure of the pool robot more compact and reducing its size. At the same time, it does not restrict whether the other chamber needs to be connected to the external environment, allowing water from outside to enter that chamber.

[0043] In some specific embodiments, please refer 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 and make the arrangement between the modules more compact, thereby reducing 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.

[0044] In some specific embodiments, please refer to Figures 5 to 7The partition plate on the inner wall of the housing 10 is the wall of the existing modules of the pool robot. Furthermore, the first chamber 13 and the second chamber 14 can also be separated by the partition plate fixed to the inner wall of the housing 10. Since the filter module 20 often needs to be removed for cleaning, placing other components of the pool robot in the separated chamber makes the pool robot more visually appealing. In other embodiments, existing modules such as the drive module 50 and the control module 80 can also be used to separate the first chamber 13 and the second chamber 14.

[0045] In some more specific embodiments, please refer to Figures 5 to 7 The filter module 20 includes a waste filter box 22 and a housing structure 21 for housing the waste 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 waste filter box 22. The filter module 20 serves to separate the first chamber 13 and the second chamber 14 on the one hand, and to house the waste filter box 22 on the other hand, further making the structure more compact.

[0046] In some more specific embodiments, please refer to Figure 6 and Figure 7 The accommodating structure 21 has a first partition 212 on one side, which separates the first chamber 13 and the second chamber 14. Specifically, the first partition 212 on one side of the accommodating structure 21 separates the first chamber 13 and the second chamber 14, making the pool robot simpler in structure and lighter in weight.

[0047] In some more specific embodiments, please refer to Figure 7 The accommodating structure 21 has a first partition 212 on one side, and a second partition 17 on the inner wall of the housing 10. The first partition 212 and the second partition 17 are fitted together and together separate the first chamber 13 and the second chamber 14. It should be noted that in order to ensure a tight fit between the accommodating structure 21 and the interior of the housing 10, a second partition 17 is provided on the inner wall of the housing 10, while the first partition 212 and the second partition 17 can be directly fitted together.

[0048] In some more specific embodiments, please refer to Figure 7 The second partition 17 abuts against and adheres to the side plate of the accommodating structure 21, which is on a different side from the first partition 212. Specifically, when the accommodating structure 21 is placed in the housing 10, the second partition 17 abuts against and adheres to the side plate of the accommodating structure 21, thereby simplifying the structure, facilitating disassembly, and providing better separation. In some embodiments, two second partitions 17 are provided, respectively abutting against and adhering to two side plates adjacent to and opposite to the first partition 212.

[0049] In some more specific embodiments, please refer to Figure 2 , Figure 5 and Figure 6 The accommodating structure 21 is box-shaped, with a first partition 212 on one side and water inlets 211 on the other sides. Specifically, the box-shaped accommodating structure 21 has a first partition 212 on one side and water inlets 211 on the other sides. By having water inlets 211 on different sides, the water filtered by the garbage filter box 22 can flow quickly into the water pump module 30, facilitating water discharge and thus increasing the filtration speed. In some embodiments, please refer to... Figure 6 and Figure 9 The water pump module 30 includes a guide component 31 and a power water pump 32, with the water outlet 11, the guide component 31 and the power water pump 32 connected in sequence.

[0050] It should be noted that the power pump 32 provides power to discharge the water accumulated inside the housing 10 through the outlet 11, and the guide component 31 changes the spray direction of the water pump module 30 from the outlet 11, thereby controlling the posture of the pool robot. For some specific embodiments, please refer to... Figure 6 and Figure 9 The guiding component 31 includes a guiding chamber 311 and a guiding blade 312 disposed in the guiding chamber 311. One end of the guiding chamber 311 is connected to the water outlet 11, and the other end is connected to the power water pump 32.

[0051] Specifically, the guide vane 312 is disposed in the guide chamber 311 and together with the guide chamber 311 is used to change the spray direction of the water jet outlet 11. The guide vane 312 has a simple structure and is easy to assemble, while not adding too much weight.

[0052] In some embodiments, please refer to Figure 6 and Figure 9 The angle of inclination of the water outlet 11 relative to the first plane ranges from ° to 50°. It should be noted that by setting the angle of inclination of the water outlet 11 relative to the first plane to between ° and 50°, the pool robot possesses both a vertically downward component of force and a horizontally forward component of force. This allows the pool robot to adhere to the bottom plane and also assists in moving the pool robot horizontally forward, which is beneficial for energy conservation. In some embodiments, the angle of inclination of the water outlet 11 relative to the first plane is 135°, making the upward and downward components of force more evenly distributed.

[0053] In some embodiments, please refer to Figures 4 to 6The pool robot also includes at least two wheels (drive modules 50), which define a plane, which is a first plane; a flow channel 15 is formed on the bottom of the housing 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.

[0054] By providing a curved flow channel 15 on the bottom surface, the water flows backward along the flow channel 15 during the pool robot's movement. This allows most of the water flow in the direction of travel to flow backward in a streamlined manner along the flow channel 15, thus preventing excessive resistance at the front end of the first plane and reducing energy consumption. Compared with the prior art, the pool robot disclosed in this application can achieve the goal of reducing water flow resistance during the pool robot's movement.

[0055] In this context, the "wheel (drive module 50)" in the plane refers to the component that drives the pool robot to move, such as tracks, rollers, or casters. Furthermore, it should be noted that when multiple wheels (drive modules 50) are aligned in a straight line (i.e., when a plane cannot be defined by 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) aligned 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 pool surface when the pool robot is working).

[0056] It should be noted that during the movement of the pool robot, the front end of its movement direction will collide with the water flow, which will cause the water flow to form resistance in the opposite direction of movement. Through the flow channel 15, on the one hand, the contact area between the front end of the shell 10 and the water flow in the movement direction can be reduced. On the other hand, since the flow channel 15 is an arc surface structure, when the water flow acts on the front end of the shell 10, its water flow resistance has a component force parallel to the first plane and a component force perpendicular to the first plane, thus achieving the effect of reducing resistance.

[0057] In some specific embodiments, please refer to Figure 6 The drainage surface 151 extends forward along the direction of travel of the pool robot to form a water-facing end 153, and extends backward along the direction of travel of the pool robot to form a water-collecting end 154. The two ends of the drainage surface 151 are respectively connected to the water-facing end 153 and the water-collecting end 154 in an arc transition. Specifically, by providing the water-facing end 153 and the water-collecting end 154, it is possible to more effectively match other structures on the pool robot, playing a role in protection and drainage, while also making the pool robot more aesthetically pleasing. For some specific embodiments, please refer to... Figure 2 and Figure 6The water-facing end 153 is an inwardly recessed arc-shaped structure of the housing 10, and the wheel is located at the water-facing end 153.

[0058] In some embodiments, the pool robot also includes a cleaning module 60, with the water-facing end 153 having an arc-shaped structure recessed towards the interior of the housing 10. The cleaning module 60 is located below the water-facing end 153. This arrangement allows the water-facing end 153 to match the shape of the cleaning module 60 during placement; it also allows the waste cleaned by the cleaning module 60 to move backward through the flow channel 15 from the water-facing end 153, preventing waste accumulation in the cleaning module 60. Furthermore, if a water inlet 12 is provided at the rear, the filtration effect of the pool robot will be improved.

[0059] In some more specific embodiments, please refer to Figure 2 and Figure 6 Any tangent line on the arc surface from the drainage surface 151 to the water collection end 154 is not parallel to the first plane. By ensuring that no tangent line on the arc surface from the drainage surface 151 to the water collection end 154 is parallel to the first plane, the flow of water through the flow channel 15 is smoother, and the water can adhere to the bottom surface of the shell 10 where the flow channel 15 is located, thus achieving a more uniform force distribution when flowing through the flow channel 15.

[0060] In some specific embodiments, please refer to Figure 2 and Figure 6 The water collection end 154 is an arc-shaped structure protruding away from the housing 10. It should be noted that, in order to allow the water flow to automatically converge at the inlet 12, achieving a faster water intake speed and reducing the energy consumption of the water pump module 30, the water collection end 154 is designed as an arc-shaped structure protruding away from the housing 10, and is positioned in front of the inlet 12 along the direction of travel of the pool robot. For more specific embodiments, please refer to... Figure 2 and Figure 6 The angle of inclination of any tangent line on the arc surface from the drainage surface 151 to the water collection 154 relative to the first plane is greater than 0° and not greater than 65°. It should be noted that angles that are too small or too large will increase the resistance of the water flow in the direction of travel, thus failing to achieve the desired effect of reducing water flow resistance. Therefore, the angle of inclination of the flow channel 15 relative to the first plane is set to be greater than 0° and not greater than 65°.

[0061] In some embodiments, please refer to Figure 6 and Figure 8 The inlet 12 is recessed into the housing 10 to form a guide plate 121, and the angle of inclination of the guide plate 121 relative to the first plane is in the range of 50° to 80°.

[0062] Specifically, a guide plate 121 is recessed into the housing 10 at the inlet 12. The guide plate 121 limits the flow direction of water entering 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 of 50° to 80° relative to the direction of travel, it can better receive the water flowing near the inlet 12. The water still maintains a certain velocity near the inlet 12, thereby reducing the power consumption of the water pump module 30 and lowering energy consumption.

[0063] In some embodiments, the guide plate 121 is tilted at an angle ranging from 55° to 75° relative to the first plane. This angle range allows water flow near the inlet 12 to more easily enter the inlet 12. The vertical height of the guide plate 121 is higher than the bottom plate of the filter module 20, facilitating debris deposition.

[0064] In some embodiments, please refer to Figure 2 and Figure 4 The pool robot also includes at least two wheels (drive modules 50), each wheel (drive module 50) defining a plane, which is a first plane. The bottom of the housing 10 is recessed inward to form a cavity region, and the top surface of the cavity region is higher than the first plane. Specifically, the recessed bottom of the housing 10 to form a cavity region, with the top surface of the cavity region higher than the first plane, prevents the bottom of the housing 10 from being sucked onto the pool surface by the pool outlet 11, thus preventing the pool robot from tilting upwards, while also allowing the operator to easily lift the pool robot.

[0065] In some specific embodiments, please refer to Figure 2 and Figure 4 The cavity area is also equipped with a grid 16, the length of which is arranged along the traveling direction of the pool robot. Specifically, the grid 16 is arranged along the traveling direction of the pool robot, which ensures that the grid 16 does not obstruct the water flow at the bottom of the shell 10, thus increasing resistance. Furthermore, the grid 16 improves the anti-adhesion effect. For more specific embodiments, please refer to... Figure 2 and Figure 4 The spacing between any two adjacent grilles 16 ranges from 30 mm to 40 mm. In some embodiments, the length of the inlet 12 ranges from 150 mm to 175 mm.

[0066] In some embodiments, please refer to Figure 2 , Figure 4 and Figure 8The water inlet 12 is located at the bottom of the housing 10, and a cleaning brush 61 is provided at the bottom of the housing 10. Along the traveling direction of the pool robot, the cleaning brush 61 is located behind the water inlet 12. It should be noted that the cleaning brush 61 behind the water inlet 12 allows for cleaning of the pool surface behind the water inlet 12, resulting in a cleaner pool surface. Furthermore, the cleaning brush 61 at the rear serves two purposes: firstly, it blocks debris that does not enter the water inlet 12 for filtration; secondly, debris cleaned by the cleaning brush 61 can enter the water inlet 12 and be filtered by the filtration module 20. For some specific embodiments, please refer to... Figure 2 , Figure 4 and Figure 8 The length of the cleaning brush 61 is not less than the length of the water inlet 12, and the cleaning brush 61 and the water inlet 12 are arranged side by side. For some more specific embodiments, please refer to... Figure 2 , Figure 4 and Figure 8 The distance between the cleaning brush 61 and the water inlet 12 ranges from 12mm to 32mm.

[0067] In some embodiments, please refer to Figure 10 and Figure 11 Specifically, the housing 10 includes a control module 80, a water flow velocity detection device, a filter module 20, and a power water pump 32, all housed within the housing 10. The control module 80 is connected to the water flow velocity detection device. The housing 10 has an inlet 12 and an outlet. The housing 10 has a water flow channel 18 that communicates with the inlet 12 and the outlet. The filter module 20 is located in the water flow channel 18. The water flow velocity detection device is at least partially located in the water flow channel 18.

[0068] Furthermore, in the swimming pool robot of 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 pump 32 and the first impeller 182 are at least partially disposed in the water flow channel 18; wherein, the Hall sensor 183 is disposed close to the first impeller 182, and at least one first magnetic element 184 is provided on the first impeller 182 corresponding to the Hall sensor 183.

[0069] As can be seen from the above description, in this invention, the inventors have optimized and designed a novel swimming pool robot. In practical application of this swimming pool robot, the power pump 32, partially installed in the water flow channel 18, can effectively draw sewage from the inlet 12 into the housing 10, causing the sewage to flow within the water flow channel 18. This allows the sewage entering the water flow channel 18 to be filtered by the filter module 20 and then discharged from the outlet. Figure 10 and Figure 11 The middle arrow X indicates the flow trajectory of the water. Unlike the prior art, in the pool robot designed in this invention, the shell 10 is also equipped with a water flow velocity detection device partially disposed in the water flow channel 18 to detect the water flow velocity in the water flow channel 18.

[0070] The water flow velocity detection device designed in this invention specifically includes a first impeller 182 and a Hall sensor 183. The first impeller 182 is partially disposed in the water flow channel 18, and at least one first magnetic element 184 is disposed on the first impeller 182. The first impeller 182 and the Hall sensor 183 work together to form a low-cost, open-type water flow meter. This water flow velocity detection device, composed of the first impeller 182 and the Hall sensor 183, has a relatively simple structure, is easy to install, has low waterproofing requirements, low cost, is easy to implement, and has high reliability.

[0071] In this invention, when water flows in the water flow channel 18, it drives the first impeller 182 to rotate around its own rotation axis. The higher the degree of blockage in the filter module 20, the slower the water flow velocity in the water flow channel 18, and the slower the first impeller 182 rotates; conversely, the lower the degree of blockage in the filter module 20, the faster the water flow velocity in the water flow channel 18, and the faster the first impeller 182 rotates. When the first impeller 182 rotates around its own rotation axis, the first magnetic component 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 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, thereby determining the current water flow velocity in the water flow channel 18 and thus obtaining the blockage status of the filter module 20 of the pool robot.

[0072] It should be noted that in this invention, the reason why the Hall sensor 183 is positioned close to the first impeller 182 is that: by positioning the Hall sensor 183 close to the first impeller 182, it is ensured that when the first impeller 182 rotates around its own axis under the push of the water flow, it can drive the first magnetic component 184 to pass through the sensing range of the Hall sensor 183. When the first magnetic component 184 passes through the sensing range of the Hall sensor 183, it can trigger the Hall sensor 183 to generate a pulse signal. This pulse signal is periodic, and the Hall sensor 183 can transmit the pulse signal to the control module 80 accordingly.

[0073] Accordingly, in the actual design of this pool robot, the operator can also preset a 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 determined that the current flow rate of the pool robot is normal and it can maintain normal cleaning of the 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, it can be determined that the current filter module 20 of the pool robot is blocked, and an alarm will be promptly issued to the user, prompting the user to clean the filter module 20.

[0074] Furthermore, in the pool robot described in this invention, the first impeller 182 is disposed at one end of the water flow channel 18 near the inlet 12 or the outlet. Please refer to... Figure 10 and Figure 11 In the above-described technical solution of the present invention, in some specific embodiments, the first impeller 182 may be specifically disposed at one end of the water flow channel 18 near the inlet 12 or the outlet. The reason for this disposal is that the water flow near the inlet 12 or the outlet is more stable, and the rotation of the first impeller 182 around its own rotation axis is also more stable, so that the periodic pulse signal generated by the Hall sensor 183 is more accurate. This makes it easier for the control module 80 to accurately determine the current rotation speed of the first impeller 182, and thus more accurately reflect the degree of blockage of the filter module 20 in the pool robot.

[0075] Furthermore, in the 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 pool robot of the present invention, the first impeller 182 is provided with two first magnetic elements 184, the two first magnetic elements 184 being respectively disposed on two blades arranged opposite to each other.

[0076] In the above-described technical solution of the present invention, the designed first impeller 182 may include a rotating shaft and a plurality of blades, all of which can be 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 reason for controlling the shape and size of the blades to be the same as the cross-sectional area of ​​the water flow channel 18 is that this arrangement ensures that the blades are relatively large, allowing them to more fully receive the impact of the water flow and thus rotate.

[0077] Accordingly, please refer to Figure 10 and Figure 11In some embodiments, the first impeller 182 may include a rotating shaft and four blades connected to the rotating shaft, the four blades being evenly arranged at 90° intervals. In practical applications, the first impeller 182 may specifically be provided with two first magnetic elements 184, which may be respectively provided on two blades arranged opposite each other. Of course, in some other embodiments, more first magnetic elements 184 may be provided, so that the Hall sensor 183 is triggered more times when the first impeller 182 rotates once, thereby causing the Hall sensor 183 to generate more signals and making it more sensitive, so as to accurately measure the rotational speed of the first impeller 182 even when the water flow velocity in the water flow channel 18 is slow. It should be noted that the first impeller 182 rotates around its own axis under the influence of the water flow. The higher the degree of blockage in the filter module 20, the slower the water flow rate in the water channel 18, and the slower the first impeller 182 rotates. At the same time, the first magnetic component 184 installed on the blades of 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 channel 18, thereby obtaining the blockage status of the filter module 20 of the pool robot.

[0078] Assuming the first impeller 182 is equipped with n first magnetic components 184, one revolution will trigger the Hall sensor 183 to generate n pulse signals. The period of the pulse signal from the Hall sensor 183 measured by the control module 80 is t. Then the formula for calculating the rotational speed w of the first impeller 182 is as follows:

[0079] w = 60 / (n*t)

[0080] Where w represents the impeller rotation speed in rpm (revolutions per minute), and t is the pulse signal period of the Hall sensor 183 measured by the controller in ms (milliseconds). Therefore, once the operator pre-calibrates the mapping relationship between the impeller rotation speed w and the degree of filter clogging, the degree of filter clogging in the pool robot can be determined based on this mapping relationship and the real-time acquired impeller rotation speed w.

[0081] Furthermore, in the swimming pool robot of the present invention, a recess 181 is provided in the water flow channel 18, and the first impeller 182 is at least partially disposed in the recess 181. Further, in the swimming pool robot of the present invention, at least half of the first impeller 182 is disposed in the recess 181. In the above technical solution of the present invention, the water flow channel 18 may also be provided with a recess 181, and the first impeller 182 may be at least partially disposed in the recess 181. The recess 181 can block part of the water flow, thereby preventing the technical problem that the first impeller 182 cannot rotate around its own axis of rotation due to the force of the water flow acting on it reaching equilibrium. Correspondingly, in some embodiments, in actual installation, it is preferable to control at least half of the first impeller 182 to be disposed in the recess 181 in the water flow channel 18.

[0082] Furthermore, in the pool robot described in this invention, the water flow channel 18 further includes a detection channel. The cross-sectional area of ​​the detection channel is smaller than the cross-sectional area of ​​the rest of the water flow channel 18, and the first impeller 182 is at least partially disposed in the detection channel. In the above technical solution of this invention, the reason for at least partially disposing of the first impeller 182 in the detection channel and controlling the cross-sectional area of ​​the detection channel to be smaller than the cross-sectional area of ​​the rest of the water flow channel 18 is that: the detection channel has the smallest cross-sectional area, and the water flow velocity increases when passing through the detection channel, allowing the water flow to obtain greater kinetic energy, thereby preventing the water flow from failing to drive the first impeller 182 to rotate around its own rotation axis.

[0083] Furthermore, the pool robot of this invention also includes an alarm device, which is disposed on the housing 10 and electrically connected to the control module 80; wherein the alarm device includes at least one of an indicator light, a buzzer, and a vibrator. Currently, after a period of time during cleaning, the filter module 20 becomes clogged due to the accumulation of micro-dust, leading to a gradual decrease in water inflow and drainage, thus causing a continuous decline in the cleaning ability of the pool robot. If the pool is particularly dirty, the filter module 20 of the pool robot will be quickly clogged, resulting in ineffective cleaning and easily causing user complaints. Therefore, in practical applications of this pool robot, an alarm device can also be installed on the 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 velocity in the water flow channel 18 is lower than a preset threshold based on the rotation speed of the first impeller 182 calculated by the periodic pulse signal generated by the Hall sensor 183, it determines 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 to remind the user to clean the filter module 20 of the pool robot in time.

[0084] Furthermore, the swimming pool robot of the present invention also includes a communication device, which is disposed in the housing 10 and electrically connected to the control module 80. In some embodiments of the present invention, in order to facilitate the swimming pool robot to transmit its information on the clogging of the filter module 20 to external devices, a communication device may also be provided in the swimming pool robot. This communication device is electrically connected to the control module 80 and is capable of wireless communication with external devices.

[0085] like Figure 12 Accordingly, in this invention, the inventors have also designed a swimming pool cleaning system, which includes: a user terminal device, a cloud server, and the swimming pool robot described above. The swimming pool robot is directly or indirectly connected to the cloud server, and the user terminal device is also connected to the cloud server. As can be seen from the above technical solution of this invention, in practical applications, the swimming pool robot can be controlled to connect directly or indirectly to the cloud server, thereby sending the clogging status of its own filter module 20 to the cloud server. At this time, the user can use their portable user terminal device (mobile phone or tablet) to obtain information from the cloud server and thus obtain the clogging status of the swimming pool robot's filter module 20. It should be noted that in some cases, the swimming pool robot can directly communicate wirelessly with the cloud server, while in some embodiments, the swimming pool robot can also achieve indirect communication 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, a power water pump 32, a control module 80, a communication device, and a water flow velocity detection device disposed within the housing 10. The housing 10 has an inlet 12 and an outlet, and the housing 10 has a water flow channel 18 that communicates with the inlet 12 and the outlet, respectively. The water flow velocity 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 close to the first impeller 182, and the power water pump 32, the communication device, and the Hall sensor 183 are all connected to the control module 80.

[0087] Accordingly, further reading Figure 11 As can be seen, in this embodiment, the first impeller 182 in the water flow velocity detection device specifically includes a rotating shaft and four blades, all of which are connected to the rotating shaft. Two first magnetic elements 184 are also disposed on the first impeller 182, and these two first magnetic elements 184 are respectively disposed on two blades arranged opposite to each other. Figure 11 As shown, in this embodiment, the water flow channel 18 includes a detection channel located at one end of the water flow channel 18 near the 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. In this embodiment, the detection channel also includes a recess 181, so that the first impeller 182 is completely disposed within the detection channel, and the first impeller 182 can be partially disposed within the recess 181 of the detection channel.

[0088] In this embodiment, when the water flows in the water channel 18, it drives the first impeller 182 to rotate around its own axis of rotation. Figure 11 The X-shaped arrows represent the flow trajectory of water. The higher the degree of blockage in the filter module 20, the slower the water flow velocity in the water channel 18, and the slower the first impeller 182 rotates. Conversely, the lower the degree of blockage in the filter module 20, the faster the water flow velocity in the water channel 18, and the faster the first impeller 182 rotates. When the first impeller 182 rotates around its own axis, the first magnetic component 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. The control module 80 can calculate the rotational speed of the first impeller 182 by measuring the periodic pulse signal generated by the Hall sensor 183, thereby determining the current water flow velocity in the water channel 18 and thus obtaining the blockage status of the filter module 20 of the pool robot.

[0089] Before applying the pool robot of this embodiment, a preset threshold 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, it can be determined that the current flow rate of the pool robot is normal and it can maintain normal cleaning of the 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, it can be determined that the current filter module 20 of the pool robot is blocked.

[0090] When the pool robot is activated, the power pump 32 draws water from the inlet 12 into the housing 10. After entering the housing 10, the water flows along the water flow channel 18, is filtered by the filter module 20, and is discharged from the outlet. The filtered waste enters the containing structure 21. During the operation of the pool robot, the water flow in the water flow channel 18 generates flow rate and velocity. The water flow in the water flow channel 18 drives the first impeller 182 to rotate around its own axis of rotation, so that the two first magnetic components 184 installed on the first impeller 182 periodically act on the Hall sensor 183, causing the Hall sensor 183 to periodically conduct and generate pulse signals. At this time, the control module 80 can calculate the rotation speed of the first impeller 182 by measuring the periodic pulse signals generated by the Hall sensor 183.

[0091] Once the rotational 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 current filter module 20 of the pool robot 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 will light up, the buzzer will sound an alarm, and the vibrator will start vibrating to remind the user to clean the filter module 20 of the pool robot in time.

[0092] In practical applications, the control module 80 can send the current clogging level information of the pool robot's filter module 20 to the cloud server in real time via a communication device. Users can then receive the clogging information of the filter module 20 from their user-end devices by establishing a wireless communication connection with the cloud server. For example, when the filter module 20 is clogged, the control module 80 can send a clogging signal to the gateway on the shore via the communication module. This signal is then transmitted to the cloud server via the gateway connected to the cloud server. The cloud server stores the signal and ultimately sends it to the user-end device to alert the user that the pool robot's filter module 20 needs cleaning.

[0093] In summary, this invention presents a novel swimming pool robot with an optimized design. A first impeller 182 and a Hall sensor 183 are incorporated into the robot to form a low-cost, open-type flow meter. This simplified flow meter, composed of the first impeller 182 and the Hall sensor 183, is easy to install, has low waterproofing requirements, low cost, is easy to implement, and is reliable. The Hall sensor 183 generates periodic pulse signals when the first impeller 182, which has a first magnetic element 184, rotates. The control module 80 calculates the rotational speed of the first impeller 182 based on these periodic pulse signals, using this speed to monitor the water flow velocity in the water channel 18. This allows the control module 80 to determine the degree of blockage in the swimming pool robot's filter module 20.

[0094] Please refer to Figures 13-19 The pool robot also includes a water-leaving detection module located at one end of the housing 10. This module includes a buoyancy unit 41 and a sensing unit 42. The buoyancy unit 41 can move between a first position and a second position. When the buoyancy unit 41 is in the first position, the sensing unit 42 sends a first signal; when the buoyancy unit 41 is in the second position, the sensing unit 42 sends a second signal. By placing the water-leaving detection module at one end of the housing 10, the pool robot can be detected as soon as it emerges from the pool waterline, making the determination of whether the pool robot has emerged from the water more sensitive. The water-leaving detection module, including the buoyancy unit 41 and the sensing unit 42, can change the magnitude and presence of buoyancy on the buoyancy unit 41 according to whether the pool robot has emerged from the waterline, thereby causing the buoyancy unit 41 to move between the first and second positions. Then, the sensing unit 42 identifies the position of the buoyancy unit 41 and sends a first or second signal to the pool robot, thus determining whether the pool robot has emerged from the water. Compared with the prior art, the pool robot disclosed in this application can accurately determine whether the pool robot is above the surface of the pool water.

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

[0096] The water separation detection module includes a buoyancy unit 41 and a sensing unit 42. The buoyancy unit 41 refers to an object capable of responding to the buoyancy of water, such as a buoyancy block. It should be noted that responding to buoyancy does not limit the buoyancy unit 41 to floating on the water surface; it can also be suspended in the water. For example, the buoyancy unit 41 could be a buoyancy ball filled with water, allowing it to float in the water. When there is no water around the buoyancy ball, it will naturally sink to the bottom, thus enabling movement between a first position and a second position. In this case, the sensing unit 42 acts as a pressure sensor, detecting the pressure exerted by the buoyancy ball as it sinks to the bottom. The pressure magnitude can then be used to determine the position of the pool robot.

[0097] It should be noted that this invention does not limit the location of the water exit detection module on the outside or inside of the housing 10, nor the number of water exit detection modules. The phrase "water exit detection module located at one end of the housing 10" means that the water exit detection module can be located at the upper end, lower end, front end, rear end, left end, or right end of the housing 10. This is because some types of pool robots can move in multiple directions, resulting in the position where the robot first emerges from the water not necessarily being the front end of the housing 10. Furthermore, by changing the location of the water exit detection module, it is possible to provide early warning of the extreme position at which the pool robot can emerge from the water. Also, by setting multiple water exit detection modules, the specific posture of the pool robot when it emerges from the water can be determined.

[0098] In some embodiments, the buoyancy unit 41 always maintains the same posture relative to the water surface. The buoyancy unit 41 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 posture of the pool robot can be determined through the first and second postures of the buoyancy unit 41. For example, the buoyancy unit 41 is a plate-shaped buoyancy block, which is always parallel to the water surface. When the pool robot is placed horizontally in the pool, if the sensing unit 42 is positioned directly below the buoyancy block, the contour of the buoyancy block identified by the sensing unit 42 is the front contour of the plate-shaped buoyancy block; this posture is the first posture. When the pool robot is placed vertically in the pool, since the buoyancy block is always parallel to the water surface, the sensing unit 42 changes with the posture of the pool robot, so that the contour of the buoyancy block identified by the sensing unit 42 is the side thickness contour of the plate-shaped buoyancy block; this posture is the second posture. The sensing unit 42 can be two position sensors positioned in different directions, or it can be a camera, etc.

[0099] In some embodiments, please refer to Figure 13The buoyancy unit 41 is a buoyancy block, and 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 forces it receives. The position sensor is located on the movement path of the buoyancy block. It should be noted that "buoyancy unit 41 is a buoyancy block, sensing unit 42 is a position sensor, and the position sensor is located on the movement path of the buoyancy block" means that the position sensor can monitor the position of the buoyancy block, and its identification is located on the movement path of the buoyancy block. In some embodiments, the position sensor is an optical position sensor. The optical position sensor's light path passes through the movement path of the buoyancy block, and the optical position sensor can identify the buoyancy block when its light path is blocked by the buoyancy block. Specifically, the water exit detection module also includes a slide bar, which 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 detects the position of the buoyancy block on the slide bar during the movement of the pool robot, thereby realizing the water exit detection of the pool robot.

[0100] When the pool robot moves underwater and the water level is above the top of the slide bar, the buoyancy block remains at the top of the slide bar due to buoyancy. As the pool robot continues to move upward and the water level is between the top and bottom of the slide bar, the buoyancy block slides vertically downward along the slide bar under the combined effects of buoyancy and its own weight. When the pool robot continues to move upward and the water level does not exceed the bottom of the slide bar, the buoyancy block is at the bottom of the slide bar under its own weight. The position sensor detects the position of the buoyancy block and sends out the corresponding first signal. It should be noted that when the buoyancy block is in other positions, the position sensor sends out a second signal. Furthermore, position sensors can be placed at different positions on the slide bar to achieve the sending of the second signal.

[0101] In some implementations, the sensing unit 42 sends a first signal when the buoyancy unit 41 remains in the first position. This makes the determination of whether the pool robot has surfaced more accurate. It should be noted that the buoyancy unit 41 remains in the first position for less than a few seconds, so that the determination of whether it has surfaced is not too delayed.

[0102] In this application, the "cessation of emitting the first signal" can be used as the second signal. Taking the above embodiment as an example, when the buoyancy block is at the bottom of the slide bar under its own weight, the first signal is emitted; when the buoyancy block is not at the bottom of the slide bar, the emission of the first signal stops, and the "cessation of emitting the first signal" at this time is used as the second signal. It should be noted that the first signal needs to be continuously emitted to accurately determine whether the pool robot is above the water surface, especially in scenarios where the pool robot needs to frequently enter and exit the waterline. In other embodiments, the sensing unit 42 can also be a camera unit. Furthermore, the sensing unit 42 can be remotely monitored.

[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 housing 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-out detection module also includes a swing arm and a limiting block. One end of the swing arm is rotatably connected to the housing 10, and the other end is connected to the buoyancy block. The limiting block is fixedly installed on the housing 10 and located on the rotation stroke of the swing arm to limit the rotation angle of the swing arm. An angle sensor is connected to the rotation shaft of the swing arm. The angle sensor is used to detect the angle at which the buoyancy block drives the swing arm to rotate during the movement of the pool robot, thereby realizing the water-out detection of the pool robot.

[0105] When the pool robot moves underwater and the water level is higher than the highest position that the buoyancy block can reach, the buoyancy block remains at the highest position under the action of buoyancy, and the swing arm is at its maximum angle. When the pool robot continues to move upward and the water level is between the highest and lowest positions that the buoyancy block can reach, the swing arm angle decreases under the action of buoyancy and its own weight. When the pool robot continues to move upward and the water level does not exceed the lowest position of the buoyancy block, the buoyancy block is at the lowest position under the action of its own weight. The angle sensor detects the position of the buoyancy block and sends out the corresponding first signal.

[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 housing 10. The buoyancy block is rotatably connected to the housing 10. The buoyancy block swings between a first position and a second position according to the different buoyancy it receives. The Hall sensor and the magnetic element are connected / disconnected with the swing angle of the buoyancy block.

[0107] Specifically, the water-out detection module also includes a magnetic element, a swing arm, and a limiting block. One end of the swing arm is rotatably connected to the housing 10, and the other end is connected to the buoyancy block. The limiting block is fixedly installed on the housing 10 and located on the rotation stroke of the swing arm to limit the rotation angle of the swing arm. The magnetic element is set on the buoyancy block. The Hall sensor is fixedly connected to the housing 10 and located at the lowest position of the buoyancy block. The Hall sensor detects whether the buoyancy block moves the magnetic element closer to or away from the pool robot during its movement, thereby causing a connection / disconnection between the Hall sensor and the magnetic element, thus realizing the water-out detection of the pool robot.

[0108] In some embodiments, please refer to Figures 1 to 5The pool robot also includes: a drive module 50 for driving the pool robot's movement; and a control module 80, which is signal-connected to the water-leaving detection module and the drive module 50. The control module 80 receives a first signal / second signal from the sensing unit 42 and controls the drive module 50 to open and close. Specifically, by providing the drive module 50 and the control module 80, the control module 80 can receive the first signal / second signal from the sensing unit 42 and control the drive module 50 to open and close, thereby enabling the pool robot to move precisely up and down near the waterline on the pool sidewall, resulting in better cleaning and more thorough removal of debris. The water pump module 30 in this application is connected to the filter module 20. Its function is to provide suction to draw water from the pool through the inlet 12, pass it through the filter module 20, and then spray it out through the outlet 11, thus filtering the pool water. In some embodiments, the water sprayed from the outlet 11 forms a backward recoil force, thereby creating downward pressure, allowing the pool robot to conform to the surface of the pool.

[0109] Figure 13 The swimming pool robot shown includes a shell 10, a set of wheels 51, a filter chamber 23, a detection device, a control device, a first sealed chamber 333, and a water outlet 11. By setting a detection device, namely a water-leaving detection module, on the swimming pool robot, the robot can perform water level cleaning when cleaning the pool wall or bottom, and at the same time detect whether the robot body is out of the water. This prevents the robot from going above the water surface and sucking in a large amount of air, which would affect the robot's ability to absorb water and dirt, thus improving cleaning efficiency and effectiveness.

[0110] Specifically, the walking wheel set 51 includes two sets of wheels, which are installed at the bottom of the housing 10 to drive the housing 10 to move.

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

[0112] The inlet 12 is located at the bottom of the filter chamber 23 and between the wheels 51; the inlet 12 connects the filter chamber 23 to the outside and is separated by the first chamber cover 25; the filter screen 24 is located at the top of the filter chamber 23 and is used to filter the garbage in the 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 separated from water.

[0114] In this embodiment, the detection device includes a slide bar detection device, which comprises: 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 the end of the slide bar 411 near the water outlet 11, for detecting the position of the first buoyancy block 411 on the slide bar 411. By setting up the slide bar detection device and using the position sensor 421 to detect the position of the first buoyancy block 411 on the slide bar 411 during the cleaning of the pool wall, the robot can be detected to leave the water, thus preventing it from exceeding the water level.

[0115] Specifically, the first sealed chamber 333 is located inside the housing 10 and above the filter chamber 23. Specifically, the outlet 11 is located inside the housing 10 and is arranged horizontally with the first sealed chamber 333; the outlet 11 communicates with the outside and is used to spray water filtered by the filter screen 24 out of the housing 10. Specifically, the control device is installed inside the first sealed chamber 333, which provides a good seal to 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 sealing chamber 333 and extends to the water outlet 11, and is dynamically sealed to the first sealing chamber 333; an impeller is installed on the output shaft 331 to drive the water flow in the housing 10 to spray out; and a control module 80, which is electrically connected to the motor 33 and the detection device, respectively, to drive the second impeller 332 on the output shaft 331 to rotate and drive the housing 10 to move, receive the water separation detection signal sent 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 whether a swimming pool robot is out of the water. The method detects the position of the swimming pool robot while it is cleaning the pool wall to determine whether the robot is out of the water. By detecting the position, the method can determine whether the robot is out of the water, ensuring that the robot does not go beyond the waterline and continues to clean the pool wall or bottom, thereby improving the cleaning efficiency and cleaning effect of the swimming pool robot.

[0119] Among them, the position detection is used to detect the position of the first buoyancy block 411 on the slide bar 411 when the pool robot is cleaning the pool wall, and to detect whether the shell 10 is out of the water.

[0120] When performing position detection, the control device controls the 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 level is higher than the top of the slide bar 411, the first buoyancy block 411 remains 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 action of buoyancy of the water and its own weight.

[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 remains at the bottom of the slide bar 411 under its own weight. The position sensor 421 detects the position of the first buoyancy block 411, identifies the signal of the pool robot leaving the water, and issues an alarm prompt.

[0124] in, Figure 14 The diagram shows the robot moving vertically upwards and in an underwater position while cleaning the pool wall; Figure 15 The diagram shows the robot moving vertically upwards and beyond the waterline while cleaning the pool wall.

[0125] Example 2

[0126] This embodiment provides another type of swimming pool robot capable of detecting water separation, including a shell 10, a set of wheels 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 setting a detection device on the swimming pool robot, the robot can perform water level cleaning when cleaning the pool wall or bottom, and at the same time detect whether the body is out of the water, thereby preventing it from exceeding the water surface and sucking in a large amount of air, which would affect the robot's water and dirt suction, and improving cleaning efficiency and effect.

[0127] Specifically, the walking wheel set 51 includes two sets of wheels, which are installed at the bottom of the housing 10 to drive the housing 10 to move.

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

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

[0130] Specifically, the detection chamber 43 is located inside the shell 10 and at the top of the shell 10; the detection chamber 43 has a detection port 44 that communicates with the outside; the detection chamber 43 is arranged horizontally with the first sealing chamber 333 and the water outlet 11, and is located at the 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 inside 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 which rotates around a connection point connected to the inner wall of the detection chamber 43; a second buoyancy block 412, disposed at the end of the pendulum 45 away from the connection point; a limiting block 46, fixedly installed on the inner wall of the detection chamber 43 and located along the rotation stroke of the pendulum 45, used to limit the rotation angle of the pendulum 45; and an angle sensor 422, disposed at the connection point, used to detect the rotation angle of the pendulum 45. By setting up 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 jamming and failure during rotation. Simultaneously, the angle sensor 422 detects the rotation angle of the pendulum 45 during cleaning of the pool wall or bottom, enabling detection of the pool robot leaving the water and preventing it from exceeding the water level.

[0132] Specifically, the first sealed chamber 333 is located inside the housing 10 and above the filter chamber 23. Specifically, the outlet 11 is located inside the housing 10 and is arranged horizontally with the first sealed chamber 333; the outlet 11 communicates with the outside and is used to spray water filtered by the filter screen 24 out of the housing 10. Specifically, the control device is installed inside the first sealed chamber 333, which provides a good seal to prevent the control module 80 from coming into contact with water.

[0133] 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 to the first sealed chamber 333; an impeller is mounted on the output shaft 331 to drive the water flow out of the housing 10; and a control module 80, which is electrically connected to the motor 33 and the detection device, respectively, to drive the second impeller 332 on the output shaft 331 to rotate and move the housing 10, 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 sensor, a photoelectric switch, and a micro switch.

[0134] This embodiment also provides a method for detecting when a swimming pool robot leaves the water. The method involves detecting the angle of the swimming pool robot while it is cleaning the pool wall or bottom to determine whether the robot has left the water. This angle detection ensures that the robot does not cross the waterline and continues to clean the pool wall or bottom, thereby improving the cleaning efficiency and effectiveness of the swimming pool robot.

[0135] Among them, the angle detection is used to detect the rotation angle of the swing arm 45 when the pool robot is cleaning the pool wall or bottom, and to detect whether the shell 10 is out of the 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 moves in the underwater position and the water level is higher than the limit block 46, the second buoyancy block 412 on the swing arm 45 will keep the swing arm 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 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 swing arm 45, the second buoyancy block 412 on the swing arm 45 keeps the swing arm 45 in a vertical downward or horizontal state under its own gravity. The angle sensor 422 detects the rotation angle of the swing arm 45, identifies the signal of the pool robot leaving the water, and issues an alarm prompt.

[0140] in, Figure 16 The diagram shows the robot moving vertically upwards and in an underwater position while cleaning the pool wall; Figure 17 The diagram shows the robot moving vertically upwards and beyond the waterline while cleaning the pool wall.

[0141] Figure 18 The diagram shows the robot moving horizontally and in an underwater position while cleaning the bottom of the pool. Figure 19 The diagram shows the robot moving horizontally and exceeding the waterline when cleaning the bottom of the pool.

[0142] Please refer to Figure 20A pool robot includes a main body 90 and a controllable magnetic component 91 disposed on the main body 90. The main body 90 is provided with a charging interface 92. The controllable magnetic component 91 is disposed close to the charging interface 92 and is configured to switch between a magnetic state and a non-magnetic state.

[0143] As can be seen from the above description, the beneficial effects of the present invention are as follows: The swimming pool robot has a novel structure and can quickly connect and communicate 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 component 91 will not attract ferromagnetic impurities such as iron filings when the swimming pool robot is working. Users do not need to clean the swimming pool robot frequently, which is conducive to enhancing the user experience. In addition, the charging interface 92 will not have the problem of poor contact with the external interface 97 due to the attraction of ferromagnetic impurities, ensuring that the swimming pool robot can be charged stably.

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

[0145] In some embodiments, the pool robot includes a main body 90 and a controllable magnetic component 91 disposed on the main body 90. The main body 90 has a charging interface 92, and the controllable magnetic component 91 is disposed near the charging interface 92. The controllable magnetic component 91 is configured to switch between a magnetic state and a non-magnetic state. The controllable magnetic component 91 is at least one of an electro-permanent magnet, a common electromagnet, a holding electromagnet, and a de-energized electromagnet. The main body 90 has a control module 80 electrically connected to the controllable magnetic component 91, and the control module 80 is used to control the switching of the controllable magnetic component 91 between the magnetic state and the non-magnetic state. The external charger 100 has a magnetic attraction structure 98, which has a permanent magnet 99 for magnetically engaging with the controllable magnetic component 91 and an external interface 97 for engaging with the charging interface 92.

[0146] This embodiment uses a swimming pool robot as an example for illustration (i.e., the swimming pool robot in this embodiment is a swimming pool robot). The main body 90 includes a shell 10, a water pump, a storage battery, and a filter. The shell 10 is provided with a water inlet and a water outlet. The shell 10 has a water flow channel connecting the water inlet and the water outlet. The water pump and the filter are both arranged in the water flow channel. A controllable magnetic component 91 is arranged on the shell 10. The storage battery is installed on the shell 10. The storage battery is directly or indirectly electrically connected to the charging interface 92.

[0147] Specifically, the housing 10 has a second sealed compartment 93, and the battery and the control module 80 are respectively located in the second sealed compartment 93. The battery is 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 component 91 through a second connecting line 95.

[0148] Optionally, the housing 10 is provided with a charging structure 96, 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 to the housing 10.

[0149] When the control module 80 detects that the charging interface 92 is connected to the external interface 97, it controls the controllable magnetic component 91 to switch to a magnetic state; when the control module 80 detects that the charging interface 92 is disconnected from the external interface 97, it controls the controllable magnetic component 91 to switch to a non-magnetic state. Optionally, the controllable magnetic component 91 does not display magnetism when powered on, and displays magnetism when powered off. In detail, when the pool robot is powered on and enters the charging current detection state, if no charging current is detected, the main control board powers the controllable magnetic component 91. At this time, the controllable magnetic component 91 is not magnetic (the selected controllable magnetic component 91 is an electro-permanent magnet). The pool robot can enter the water and work normally. During operation, the controllable magnetic component 91 is continuously powered. Since the controllable magnetic component 91 is not magnetic, it will not attract ferromagnetic impurities. When the pool robot is taken ashore, it automatically shuts down upon detection (in normal mode, the pool robot cannot charge when powered on and will issue an alarm). At this time, after the pool robot is powered off, the main control board does not power the controllable magnetic component 91, and the controllable magnetic component 91 immediately displays magnetism. The charging interface 92 can then be properly aligned and charged with the external interface 97 of the external charger 100. Since the controllable magnetic component 91 does not attract ferromagnetic impurities such as iron filings in the water, the pool robot can be stably charged using the charging interface 92.

[0150] Of course, it is also possible for the controllable magnetic component 91 to display magnetism when powered on and not display magnetism when powered off. Specifically, when the pool robot is powered on and enters the charging current detection state, if no charging current is detected, the main control board does not power on the controllable magnetic component 91. At this time, the controllable magnetic component 91 is not magnetic (the controllable magnetic component 91 selected at this time is an ordinary electromagnet, etc.), and the pool robot can enter the water and work normally. During operation, the controllable magnetic component 91 is not powered on. At this time, since the controllable magnetic component 91 is not magnetic, it will not attract ferromagnetic impurities. When the pool robot is taken ashore, it automatically shuts down through detection. At this time, after the pool robot is shut down, the main control board continuously powers on the controllable magnetic component 91 for a preset time period. The controllable magnetic component 91 displays magnetism, and the charging interface 92 can then be properly aligned and charged with the external interface 97 of the external charger 100. Since the controllable magnetic component 91 does not attract ferromagnetic impurities such as iron filings in the water, the pool robot can be stably charged using the charging interface 92. It should be noted that the control method for the pool robot during charging does not necessarily have to be one of the two methods mentioned above. Other control methods are also possible, such as the pool robot not automatically turning off after it gets out of the water, and the pool robot being able to charge while it is powered on.

[0151] In some embodiments, the charging interface 92 can be a wireless interface, which enables contactless charging of the pool robot, improving its sealing and charging safety. Specifically, the wireless interface is a wireless charging receiver 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 component with a contact area, such as a spring or elastic probe; or it can be a rigid conductive component with a contact area, such as a metal sheet.

[0152] In summary, the swimming pool robot and charging system provided by this invention have a novel structure. The swimming pool robot does not attract any iron filings or other ferromagnetic impurities while working underwater or on the surface. During charging, it can precisely align with the external interface of an external charger, allowing users to quickly charge the robot. Furthermore, users do not need to frequently clean the swimming pool robot, thus enhancing the user experience.

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

[0154] Please refer to Figures 21 to 24 A swimming pool robot includes a housing 10, which has an inlet 12 and an outlet 11. A water flow channel is formed inside the housing 10 between the inlet 12 and the 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 installing an external filter device are respectively provided in the water flow channel. The number of second mounting grooves 35 is at least one. The first mounting groove 34 is located upstream of the water flow channel, and the second mounting groove 35 is located 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 pool robot of the present invention is provided with a first mounting groove 34 and at least one second mounting groove 35 upstream and downstream of the water flow channel for installing external filtration devices. Thus, different configuration combinations of filtration devices can be installed according to the actual situation of the pool that needs to be cleaned, so as to clean the pool in a targeted manner, achieve different cleaning effects, improve cleaning efficiency, and ensure cleaning quality.

[0156] Please refer to Figures 21 to 24 The swimming pool robot includes a shell 10, which has an inlet 12 and an outlet 11. A water flow channel is formed inside the shell 10 between the inlet 12 and the outlet 11. A drainage device 39 is provided in the water flow channel. The water flow channel also has a first mounting groove 34 and a second mounting groove 35 for installing an external filter device, with at least one second mounting groove 35. The first mounting groove 34 is located upstream of the water flow channel, and the second mounting groove 35 is located downstream. Specifically, two rollers are provided on each side of the shell 10, and a drive motor for driving the rollers is also provided inside the shell 10. The inlet 12 is located on the bottom wall of the shell 10, and the outlet 11 is located on the top wall of the shell 10. The drainage device 39 is preferably a motor and an impeller connected in drive. In this embodiment, there is one second mounting groove 35. In other embodiments, there may be two, three, or more second mounting grooves 35.

[0157] like Figure 21 and Figure 22As shown, in this embodiment, the drainage device 39 is located at the outlet 11, and the second mounting groove 35 is located between the drainage device 39 and the first mounting groove 34. It is easy to understand that by placing the second mounting groove 35 between the drainage device 39 and the first mounting groove 34, the water flow can be fully filtered before being discharged from the outside of the housing 10 by the drainage device 39. In other embodiments, the second mounting groove 35 can be located at the outlet 11, and the drainage device 39 can be located between the first mounting groove 34 and the second mounting groove 35. It is easy to understand that before the water flows through the second mounting groove 35, the drainage device 39 agitates the water, causing the dust particles to be evenly distributed in the second mounting groove 35, preventing the dust particles from accumulating 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 implementations, such as Figures 21 to 23 As shown, the pool robot also includes at least one second 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, both the first mounting slot 34 and the second mounting slot 35 are connected to the top wall of the housing 10. One side of the second cover 19 is rotatably connected to the top wall of the housing 10. By rotating the second cover 19 so that it is close to the top wall of the housing 10, the second cover 19 can simultaneously close the top openings of the first mounting slot 34 and the second mounting slot 35. In other embodiments, the second cover 19 and the housing 10 may be provided with sliding grooves and locking strips respectively to achieve a sliding fit, or the second cover 19 and the housing 10 may be provided with locking blocks and locking grooves respectively to achieve a snap-fit ​​engagement.

[0159] In some implementations, such as Figures 21 to 23 As shown, the pool robot also includes a first filtration device 37, which is detachably mounted in the first mounting slot 34. The first filtration device 37 includes a first frame 371 and a filter screen. The filter screen is mounted on the first frame 371, and the filter screen and the first frame 371 form a filter chamber 372. A one-way valve communicating with the filter chamber 372 is located below the first frame 371. When the first filtration device 37 is installed in the first mounting slot 34, the one-way valve communicates with the water inlet 12. Specifically, the first frame 371 is basket-shaped, and multiple openings are provided on its peripheral wall. The filter screen covers the openings on the peripheral wall of the first frame 371, giving the first filtration device 37 a large water passage area and making it less prone to clogging. The filter screen pore size can be set to various sizes such as 180μm, 250μm, and 380μm, allowing users to select according to the degree of pollution in the pool. The first filtration device 37 is installed in the first mounting slot 34 using a pull-out quick-release method for easy replacement and cleaning.

[0160] like Figures 21 to 23As shown, the pool robot also includes a second filter device 38 and at least one quick-release bracket 36. Optionally, the quick-release bracket 36 is detachably disposed within the first mounting slot 34 or the second mounting slot 35, or the quick-release bracket 36 is movably mounted within the first mounting slot 34 or the second mounting slot 35, and the second filter device 38 is detachably disposed on the quick-release bracket 36. In this embodiment, the number of quick-release brackets 36 corresponds one-to-one with the number of second mounting slots 35. The quick-release bracket 36 is installed in the second mounting slot 35 using a pull-out quick-release mode, and the second filter device 38 is quickly installed and removed from the second mounting slot 35 via the quick-release bracket 36. It is easy to understand that 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 implementations, such as Figure 24 As shown, the second filtering device 38 includes a filter element 381 and a filter fixing frame 382. The filter element 381 is fixedly mounted on the filter fixing frame 382, ​​and the filter fixing frame 382 is detachably mounted on the quick-release bracket 36. Specifically, the filter element 381 is preferably made of nylon HEPA. The filter element 381 is rectangular and, after multiple folds, forms an overall rectangular shape. The filter fixing frame 382 is rectangular and fits around the outer periphery of the filter element 381 to maintain its shape and prevent deformation, thus facilitating replacement. The quick-release bracket 36 includes a main body and support bars. The main body is rectangular, and the two ends of multiple support bars are respectively connected to the opposite side walls of the main body. The filter fixing frame 382 is placed inside the main body of the quick-release bracket 36. As one embodiment, the main body of the quick-release bracket 36 is also provided with a handle 361 for easy pulling by the user.

[0162] In some implementations, such as Figure 24 As shown, the filter frame is provided with a positioning structure or a detachable connection structure. The filter fixing 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 a positioning protrusion or a positioning groove; the detachable connection structure can be a snap-fit ​​protrusion or a snap-fit ​​groove, or the detachable connection structure can be a sliding groove or a slider to achieve 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 that the filter mesh of the second filter device 38 is small and easily clogged, when the two filters are working simultaneously, the width of the second filter device 38 is smaller than the width of the second mounting groove 35. When the second filter device 38 is placed in the second mounting groove 35, the second filter device 38 cannot completely block part of the water flow channel from the first mounting groove 34 to the 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 width dimensions, so that the water flow rate outside the second filter device 38 can 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% to 90% of the total flow rate.

[0164] Understandably, in one embodiment, the first mounting slot and the second mounting slot are arranged substantially parallel to each other. The second filter device is not in contact with the first filter device.

[0165] As is easily understood, the first filter device 37 and the second filter device 38 can be used together or independently, and there are at least three ways to combine them. Method 1: Simultaneously install the first filter device 37 and the second filter device 38, using the first filter device 37 to filter coarse particles in the pool water, and then using the second filter device 38 to filter fine particles. Method 2: Install only the first filter device 37, without the second filter device 38, so that the pool robot only filters coarse particles in the pool water. Method 3: Install only the second filter device 38 without the first filter device 37, filtering fine particles in the pool water. The combination of filters should be determined based on the degree of contamination in the pool.

[0166] The working principle of Embodiment 1 of this technical solution is briefly described as follows: After the pool robot is turned on, the drainage device 39 starts to work, which creates negative pressure in the water flow channel inside the shell 10, and the one-way valve at the inlet 12 opens; the unclean water in the pool is sucked into the first cleaning device through the inlet 12 for the first filtration, which filters out larger particles in the water; after passing through the first filtration device 37, the pool water enters the second filtration device 38, which filters out particulate matter in the water; finally, it flows out of the shell 10 through the drain outlet, achieving the purpose of deep cleaning.

Claims

1. A pool cleaning robot, comprising a housing, a filter box and a water pump, the filter box and the water pump are both located inside the housing, the filter box is closer to the head of the pool cleaning robot than the water pump; a first water inlet is arranged on the bottom of the housing, a first water outlet is arranged on the top of the housing, the water pump is configured to draw water from the first water inlet into the filter box, flow to the water pump after passing through the filter box, and finally be discharged from the first water outlet; a chamber is arranged inside the housing, a second water inlet is further arranged on the housing to communicate the chamber with the outside of the pool cleaning robot, when the second water inlet is all underwater, the water flow from the outside environment can enter the chamber through the second water inlet; a containing structure is further arranged inside the housing, the containing structure surrounds at least part of the filter box and allows the water flow passing through the filter box to flow to the water pump after passing through the containing structure; the containing structure comprises a first side surface, the first side surface is used to block the water flow entering the chamber from the second water inlet from entering the filter box; the second water inlet and the chamber are both located outside the containing structure, and the second water inlet or the chamber is located at the head of the pool cleaning robot, in the transverse direction of the pool cleaning robot, the end of the first side surface is not in contact with the side wall of the chamber.

2. The swimming pool cleaning robot of claim 1, wherein, the containing structure further comprises a second side surface, a second water outlet is arranged on the second side surface to allow water flow to pass through, and the second water outlet is used to communicate the internal space of the containing structure with the water pump.

3. The swimming pool cleaning robot of claim 1, wherein, the chamber is sealed or isolated from the water pump.

4. The swimming pool cleaning robot of claim 3, wherein, a partition plate is further arranged to seal or isolate the chamber from the water pump or the filter box.

5. The swimming pool cleaning robot of claim 4, wherein, the partition plate can be assembled with the first side surface.

6. The swimming pool cleaning robot of claim 5, wherein, the partition plate is arranged between the containing structure and the housing.

7. The swimming pool cleaning robot of claim 2, wherein, the first side surface is opposite to the second side surface, the first side surface forms part of the side wall of the chamber, and the length of the chamber is greater than the length of the first side surface in the transverse direction of the pool cleaning robot.

8. The swimming pool cleaning robot of claim 2, wherein, the containing structure can be detached from the housing.

9. The swimming pool cleaning robot of claim 7, wherein, the water pump comprises a guide vane, and the guide vane is opposite to the second side surface.

10. The swimming pool cleaning robot of claim 1, wherein, a first water inlet channel is arranged on the bottom of the containing structure, the first water inlet channel is in communication with the first water inlet, and a third water inlet is arranged on the bottom of the filter box, the third water inlet is in communication with the first water inlet channel.

11. The swimming pool cleaning robot of claim 1, wherein, the containing structure surrounds the entire filter box.

12. The swimming pool cleaning robot of claim 1, wherein, a power supply sealing bin, a sensor or a control module is arranged in the chamber.

13. The swimming pool cleaning robot of claim 1, wherein, the second water inlet is located on the side of the housing.

14. The swimming pool cleaning robot of claim 1, wherein, the second water inlet is used for water inlet when the pool cleaning robot enters water and is used for water outlet when the head of the pool cleaning robot is out of water, wherein the number of the second water inlets is two, the shapes of the second water inlets are the same, and the second water inlets are arranged side by side.

15. The swimming pool cleaning robot of claim 2, wherein, the containing structure further comprises a third water outlet, the third water outlet is different from the position of the second water outlet, and the third water outlet can communicate the internal space of the containing structure with the water pump.

16. The swimming pool cleaning robot of claim 1, wherein, The accommodating structure separates the chamber from the filter box, thereby increasing the water flow sucked into the filter box by the water pump.

17. The swimming pool cleaning robot of claim 1 or 14, wherein, When the pool cleaning robot is performing a cleaning operation, the head of the pool cleaning robot is exposed above the water surface.

18. The swimming pool cleaning robot of claim 1, wherein, The first side is used to block the water flow from the second water inlet into the chamber from directly entering the filter box in a direction facing the water pump.

19. A pool cleaning robot comprising a housing, a filter box and a water pump, the filter box and the water pump are both located inside the housing, the filter box is closer to the head of the pool cleaning robot than the water pump; The bottom of the housing is provided with a first water inlet, and the top of the housing is provided with a first water outlet, the water pump is configured to suck water flow from the first water inlet into the filter box, after passing through the filter box, flow to the water pump, and finally discharged from the first water outlet; The inside of the housing is provided with a chamber, and the housing is also provided with a second water inlet for communicating the chamber with the outside of the pool cleaning robot, when the second water inlet is entirely underwater, the water flow of the external environment can enter the chamber through the second water inlet; The inside of the housing is also provided with an accommodating structure, the accommodating structure surrounds the filter box and allows the water flow passing through the filter box to flow to the water pump after passing through the accommodating structure, thereby increasing the water flow sucked into the filter box by the water pump; wherein The accommodating structure comprises a first side, the first side is used to block the water flow from the second water inlet into the chamber from entering the filter box; The second water inlet and the chamber are both located outside the accommodating structure, and the second water inlet or the chamber is located at the head of the pool cleaning robot, in the transverse direction of the pool cleaning robot, the end of the first side is not in contact with the side wall of the chamber.

20. The swimming pool cleaning robot of claim 19, wherein, The bottom of the accommodating structure is provided with a first water inlet channel, the first water inlet channel is in communication with the first water inlet, and the bottom of the filter box is provided with a third water inlet, the third water inlet is in communication with the first water inlet channel.

21. The swimming pool cleaning robot of claim 19, wherein, The first side of the accommodating structure is opposite to the head of the pool cleaning robot, and can block the water flow from the chamber from directly entering the filter box in a direction towards the water pump; the first side forms part of the side wall of the chamber, and in the transverse direction of the pool cleaning robot, the length of the chamber is greater than the length of the first side.

22. The swimming pool cleaning robot of claim 19, wherein, The second water inlet is used for water inlet when the pool cleaning robot enters the water, and is used for water outlet when the pool cleaning robot exits the water, wherein the number of the second water inlets is two, the shapes of the second water inlets are the same and the second water inlets are arranged side by side.

23. A method of cleaning a swimming pool, wherein, The method comprises using the pool cleaning robot of claim 1 or 19 to perform an underwater or at least partially exposed cleaning operation. The method comprises using the pool cleaning robot of claim 1 or 19 to perform an underwater or at least partially exposed cleaning operation.

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