Cleaning device

Abstract

The invention discloses cleaning equipment which is used for operating in a target water area and comprises a cleaning equipment body, a filtering mechanism, a first speed measuring assembly and a second speed measuring assembly. The first speed measuring assembly at least comprises a first transmitting end and a first receiving end; the second speed measuring assembly and the first speed measuring assembly are oppositely arranged on the cleaning equipment body, the second speed measuring assembly at least comprises a second transmitting end and a second receiving end, signals transmitted by the first transmitting end are received by the second receiving end, and signals transmitted by the second transmitting end are received by the first receiving end; the included angle between the connecting line of the first speed measuring assembly and the second speed measuring assembly and the normal cruising direction of the cleaning equipment body in the target water area is not 90 degrees. According to the cleaning equipment, the measurement precision of the movement speed of the cleaning equipment can be improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of liquid working, in particular to a cleaning device. BACKGROUND

[0002] The accuracy of the movement speed of the cleaning device determines the accuracy of the positioning and mapping of the cleaning device, and thus directly affects the cleaning efficiency and user experience. The existing cleaning device mainly measures the movement speed of the cleaning device through an external auxiliary positioning speed measurement system such as RTK (Real-time kinematic) and UWB (Ultra Wide Band). SUMMARY

[0003] The present application provides a cleaning device to solve the technical problem that the existing cleaning device mainly measures the movement speed of the cleaning device through an external auxiliary positioning speed measurement system such as RTK and UWB, and the external auxiliary positioning speed measurement system is not only low in accuracy but also expensive.

[0004] To solve the above technical problems, the present application provides a cleaning device for running in a target water area, comprising: a cleaning device main body; at least one filtering mechanism, at least partially housed in the cleaning device main body, for filtering liquid entering therein; further comprising: a first speed measurement assembly provided on the cleaning device main body, the first speed measurement assembly comprising at least a first transmitting end and a first receiving end; a second speed measurement assembly provided on the cleaning device main body and oppositely arranged with the first speed measurement assembly, the second speed measurement assembly comprising at least a second transmitting end and a second receiving end, the signal transmitted by the first transmitting end being received by the second receiving end, and the signal transmitted by the second transmitting end being received by the first receiving end; wherein the included angle between the connecting line of the first speed measurement assembly and the second speed measurement assembly and the normal cruising direction of the cleaning device main body in the target water area is not 90°.

[0005] The cleaning device main body comprises a shell, and the first speed measurement assembly and the second speed measurement assembly are oppositely arranged outside the shell or inside the cleaning device main body.

[0006] The cleaning device main body is provided with a measurement channel, and at least one of the first speed measurement assembly and the second speed measurement assembly is arranged in the measurement channel.

[0007] The measurement channel is a first measurement channel cavity, the first measurement channel cavity is arranged through the cleaning device main body, the first speed measurement assembly and the second speed measurement assembly are arranged in the first measurement channel cavity, and one channel opening of the first measurement channel cavity is located at the front end of the cleaning device main body, and the other channel opening is located at the rear end of the cleaning device main body.

[0008] The measurement channel is a measurement channel groove recessed on the outside of the shell, and the first speed measurement component and the second speed measurement component are arranged in the measurement channel groove; and / or the measurement channel is a second measurement channel cavity protruding on the inside of the cleaning device body, and the first speed measurement component and the second speed measurement component are arranged in the second measurement channel cavity.

[0009] The cleaning device comprises at least one set of first speed measurement components and second speed measurement components.

[0010] The cleaning device comprises a set of first speed measurement components and second speed measurement components, and the cleaning device comprises a direction measurement component arranged on the cleaning device body, and the direction measurement component and the set of first speed measurement components and second speed measurement components jointly function to obtain the movement speed and / or movement direction of the cleaning device.

[0011] The cleaning device comprises at least two sets of first speed measurement components and second speed measurement components; at least one set of first speed measurement components and second speed measurement components are arranged on one side of the cleaning device body along the running direction, and at least one set of first speed measurement components and second speed measurement components are arranged on the other side of the cleaning device body along the running direction; and / or the at least two sets of first speed measurement components and second speed measurement components are arranged on the same side of the cleaning device body.

[0012] The cleaning device further comprises an auxiliary cleaning component arranged on the cleaning device body; along the height direction of the cleaning device, the first speed measurement component and the second speed measurement component are higher or lower than the auxiliary cleaning component.

[0013] The cleaning device comprises a control unit arranged on the cleaning device body, the control unit is electrically connected with the first speed measurement unit and the second speed measurement unit and obtains the movement speed of the cleaning device, and the control unit controls the cleaning device to perform at least one of the following tasks based on the movement speed of the cleaning device: controlling at least one of the movement speed, movement direction and movement distance of the cleaning device; determining whether the corresponding obstacle avoidance action is performed when the cleaning device is in an obstacle avoidance state; controlling the cleaning device to move in a target water area to construct a target water area map; controlling the cleaning device to escape or report a trapped state of the cleaning device; and controlling the cleaning device to escape or report a skidding state of the cleaning device.

[0014] The beneficial effects of the present application are: different from the prior art, the present application provides a cleaning device for running in a target water area. The cleaning device comprises a cleaning device body, at least one filtering mechanism, a first speed measuring assembly and a second speed measuring assembly. The at least one filtering mechanism is at least partially accommodated in the cleaning device body and is used for filtering liquid entering therein. The first speed measuring assembly is arranged on the cleaning device body. The first speed measuring assembly at least comprises a first transmitting end and a first receiving end. The second speed measuring assembly is arranged on the cleaning device body and is arranged opposite to the first speed measuring assembly. The second speed measuring assembly at least comprises a second transmitting end and a second receiving end. The signal transmitted by the first transmitting end is received by the second receiving end, and the signal transmitted by the second transmitting end is received by the first receiving end. Wherein, the included angle between the connection line of the first speed measuring assembly and the second speed measuring assembly and the normal cruising direction of the cleaning device body in the target water area is not 90°.

[0015] By arranging the first speed measuring assembly and the second speed measuring assembly on the cleaning device body, and by the joint action of the first transmitting end, the first receiving end, the second transmitting end and the second receiving end, at least part of the water flow flows between the first speed measuring assembly and the second speed measuring assembly. By measuring the speed of the water flow relative to the cleaning device body, the movement speed of the cleaning device relative to the target water area can be obtained, and the measurement accuracy of the movement speed of the cleaning device is improved. BRIEF DESCRIPTION OF DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed in the embodiment description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0017] Figure 1 is a first partial schematic view of an embodiment of the cleaning device of the present application;

[0018] Figure 2 is a second partial schematic view of an embodiment of the cleaning device of the present application;

[0019] Figure 3 is a first principle schematic view of the first speed measuring assembly and the second speed measuring assembly of the present application;

[0020] Figure 4 is a second principle schematic view of the first speed measuring assembly and the second speed measuring assembly of the present application;

[0021] Figure 5 is a third principle schematic view of the first speed measuring assembly and the second speed measuring assembly of the present application;

[0022] Figure 6 is a fourth principle schematic diagram of the first speed measurement component and the second speed measurement component of the present application;

[0023] Figure 7 This is a schematic structural diagram of the third embodiment of the cleaning device of the present application;

[0024] Figure 8 This is a schematic structural diagram of the first embodiment of the cleaning device of the present application;

[0025] Figure 9 This is a schematic structural diagram of the second embodiment of the cleaning device of the present application;

[0026] Figure 10 This is a schematic structural diagram of the fourth embodiment of the cleaning device of the present application;

[0027] Figure 11 This is a schematic diagram from a first angle of the fifth embodiment of the cleaning device of the present application;

[0028] Figure 12 This is a second angle schematic diagram of the fifth embodiment of the cleaning device of the present application.

[0029] Figure numbers: 10, cleaning device; 11, cleaning device main body; 111, measuring channel; 1111, measuring channel groove; 12a, first cleaning mechanism; 121a, first water inlet; 124a, first drain outlet; 125a, first cleaning assembly; 1251a, first auxiliary cleaning assembly; 131a, first walking mechanism; 1311a, side plate; 1312a, outer baffle; 132a, first propulsion mechanism; 12b, second cleaning mechanism; 124b, second drain outlet; 125b, second cleaning assembly; 131b, second walking mechanism; 12c, third cleaning mechanism; 121c, third water inlet; 122c, third filtering mechanism; 124c, third drain outlet; 125c, third cleaning assembly; 132c, third propulsion mechanism; 191, first speed measuring assembly; 192, second speed measuring assembly. DETAILED DESCRIPTION

[0030] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0031] Reference to an "embodiment" in this document means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the application. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are they necessarily mutually exclusive of one another. As will be apparent to those of ordinary skill in the art, embodiments described herein can be combined with other embodiments.

[0032] The cleaning device provided by the application will be described in detail below in combination with embodiments.

[0033] Please refer to Figure 1 and Figure 2 , Figure 1 is a first partial schematic view of an embodiment of the cleaning device of the application; Figure 2 is a second partial schematic view of an embodiment of the cleaning device of the application. The application provides a cleaning device. The cleaning device 10 can be but is not limited to a pool cleaning robot (not shown in the figure), a swimming pool cleaning robot (not shown in the figure), an underwater cleaning device (not shown in the figure), etc. The cleaning device 10 is used to run in a target water area. The target water area can be but is not limited to a pool, a swimming pool, a lake, a river, etc.

[0034] The cleaning device 10 comprises a cleaning device main body 11 and at least one filtering mechanism. The filtering mechanism is at least partially accommodated in the cleaning device main body 11 and is used to filter liquid entering the filtering mechanism. The number of filtering mechanisms can be but is not limited to one, two, three or more.

[0035] The cleaning device 10 can further comprise a water inlet and / or a water outlet. The number of water inlets can be but is not limited to one, two, three or more. When the number of water inlets is one, the water inlet can be arranged on the bottom surface or the front side surface of the cleaning device main body 11. When the number of water inlets is two or more, the water inlets can be arranged on the bottom surface and / or the front side surface of the cleaning device main body 11. The number of water outlets can be but is not limited to one, two, three or more. When the number of water outlets is one, the water outlet can be arranged on the top surface or the rear side surface of the cleaning device main body 11. When the number of water outlets is two or more, the water outlets can be arranged on the top surface and / or the rear side surface and / or the bottom surface of the cleaning device main body 11. The at least one filtering mechanism is in fluid communication with the at least one water inlet and the at least one water outlet, respectively. During the operation of the cleaning device, water flows into the at least one water inlet, passes through the at least one filtering mechanism, and is discharged from the at least one water outlet in sequence, so as to realize the filtering and cleaning of the target water area. The front side surface and the rear side surface of the cleaning device main body 11 can be determined according to the preset advancing direction of the cleaning device 10.

[0036] The cleaning device 10 further comprises a first speed measuring assembly 191 and a second speed measuring assembly 192. The first speed measuring assembly 191 is arranged on the cleaning device body 11. The first speed measuring assembly 191 is detachably or fixedly connected to the cleaning device body 11. The second speed measuring assembly 192 is arranged on the cleaning device body 11. The second speed measuring assembly 192 is detachably or fixedly connected to the cleaning device body 11. The first speed measuring assembly 191 and the second speed measuring assembly 192 are oppositely arranged on the cleaning device body 11, i.e. the first speed measuring assembly 191 is at least partially oppositely arranged with the second speed measuring assembly 192, such as the first transmitting end and the first receiving end are oppositely arranged with the second transmitting end and the second receiving end. Not only can the first speed measuring assembly 191 and the second speed measuring assembly 192 send and receive signals to each other, but also at least part of the water flow can flow through the first speed measuring assembly 191 and the second speed measuring assembly 192, so that the first speed measuring assembly 191 and the second speed measuring assembly 192 can measure the speed of the water flow between the first speed measuring assembly 191 and the second speed measuring assembly 192.

[0037] When the cleaning device 10 is operated in the target water area, the speed of the water flow between the first speed measuring assembly 191 and the second speed measuring assembly 192 can be measured by the first speed measuring assembly 191 and the second speed measuring assembly 192, and the speed of the water flow relative to the cleaning device body 11 can be obtained.

[0038] The speed of the water flow relative to the cleaning device body 11 can be obtained by measuring the speed of the water flow relative to the cleaning device body 11, and the speed of the cleaning device 10 relative to the target water area can be obtained. For example, when the water body itself is in a static state or the water body has a small speed relative to the target water area, the speed of the water flow relative to the cleaning device body 11 can be regarded as the speed of the cleaning device 10 relative to the target water area.

[0039] The first speed measurement component 191 at least includes a first transmitting end (not shown in the figure) and a first receiving end (not shown in the figure). The second speed measurement component 192 at least includes a second transmitting end (not shown in the figure) and a second receiving end (not shown in the figure). The signal transmitted by the first transmitting end is received by the second receiving end. The signal transmitted by the second transmitting end is received by the first receiving end. Through the joint action of the first transmitting end, the first receiving end, the second transmitting end and the second receiving end, the movement speed of the cleaning device 10 relative to the target water area can be obtained. The angle between the connection line of the first speed measurement component 191 and the second speed measurement component 192 and the normal cruising direction of the cleaning device body 11 in the target water area is not 90°. The normal cruising direction includes the running direction of the cleaning device body 11 in a straight line, the running direction adjusted according to the work task or the obstacle avoidance requirement, etc. When the device is abnormal, there is external influence, the cleaning device body 11 performs a work task or makes a large turning radius during the obstacle avoidance process, there may be a case that the angle between the connection line of the first speed measurement component 191 and the second speed measurement component 192 and the running direction of the cleaning device body 11 is 90°.

[0040] Therefore, through the relative arrangement of the first speed measurement component 191 and the second speed measurement component 192 on the cleaning device body 11, and the joint action of the first transmitting end, the first receiving end, the second transmitting end and the second receiving end, at least part of the water flow passes between the first speed measurement component 191 and the second speed measurement component 192. By measuring the speed of the water flow relative to the cleaning device body 11, the movement speed of the cleaning device 10 relative to the target water area can be obtained, the measurement accuracy of the cleaning device movement speed of the cleaning device 10 is improved, and at least one of the mapping, positioning, obstacle avoidance and motion planning capabilities of the cleaning device 10 can be improved, thereby improving the cleaning efficiency and user experience of the cleaning device 10.

[0041] The measurement principle of the first speed measurement component 191 and the second speed measurement component 192 can be applied to the cleaning device 10 in the first movement posture, the second movement posture, the third movement posture and the suspension posture, but is not limited thereto. The first movement posture includes but is not limited to pool bottom running or cleaning. The second movement posture includes but is not limited to pool wall and water line running or cleaning. The third movement posture includes but is not limited to water surface running or cleaning.

[0042] Please refer to Figure 3 and Figure 4 , Figure 3 is the first principle diagram of the first speed measurement component and the second speed measurement component of the present application; Figure 4 is the second principle diagram of the first speed measurement component and the second speed measurement component of the present application. Combined with Figure 1 and Figure 2When the cleaning device 10 comprises a first speed measuring component 191 and a second speed measuring component 192, the cleaning device movement speed is calculated as follows. The distance between the first speed measuring component 191 and the second speed measuring component 192 is defined as S, the first speed measuring component 191 is arranged on the cleaning device body 11 closer to the front side of the cleaning device body 11 in the normal movement direction than the second speed measuring component 192; the water flow direction F is the running direction of the cleaning device 10 in the target water area; the signal propagation speed in the water body is V 信号 , for example, when the first speed measuring component and the second speed measuring component 192 are acoustic devices, V 信号 is V 声 ; the water flow speed is V 水测 . The first speed measuring component 191 transmits a signal, and the second speed measuring component 192 receives the signal, and the signal propagation time is t1. The second speed measuring component 192 transmits a signal, and the first speed measuring component 191 receives the signal, and the signal propagation time is t2. That is, t1 = S / (V 信号 + V 水测 ); t2 = S / (V 信号 - V 水测 ). According to the above t1 formula and t2 formula, V 水测 = (t2-t1)S / 2t1t2. The above t1 formula and t2 formula are for the case that the line between the first speed measuring component 191 and the second speed measuring component 192 is parallel to the water flow direction F. When the angle between the line between the first speed measuring component 191 and the second speed measuring component 192 and the water flow direction F is greater than 0 degrees, the formula for the water flow speed relative to the cleaning device body 11 is V 水 = V 水测 / cosα. α is the water flow angle. The water flow angle is the angle between the line between the first speed measuring component 191 and the second speed measuring component 192 and the water flow direction F. V 水测 is calculated according to the above t1 formula and t2 formula.

[0043] When the water flow speed relative to the cleaning device body 11 is equivalent to the cleaning device movement speed, V 水 is the cleaning device movement speed. Therefore, the cleaning device movement speed formula is V 水 = (t2-t1)S / (2t1t2cosα).

[0044] The connection between the first speed measurement component 191 and the second speed measurement component 192 is at an angle to the water flow direction F, which can ensure that at least part of the water flow always passes between the first speed measurement component 191 and the second speed measurement component 192, so that the flow rate of the water flow can affect the propagation time of the signal transmitted between the first speed measurement component 191 and the second speed measurement component 192, thereby improving the measurement accuracy of the operating speed of the cleaning device 10.

[0045] Specifically, the water flow angle is greater than or equal to 0 degrees and less than 90 degrees. Through the above-mentioned water flow angle limitation, at least part of the water flow can flow between the first speed measurement component 191 and the second speed measurement component 192. The above-mentioned water flow angle can be, but is not limited to, 0 degrees, 1 degree, 9 degrees, 13 degrees, 19 degrees, 25 degrees, 29 degrees, 34 degrees, 40 degrees, 47 degrees, 56 degrees, 68 degrees, 75 degrees, 84 degrees, 89 degrees, etc.

[0046] In some embodiments, the first speed measurement component 191 and the second speed measurement component 192 can be arranged inside the cleaning device body 11. Alternatively, the cleaning device body 11 includes a housing, and the first speed measurement component 191 and the second speed measurement component 192 are arranged outside the housing, etc. Through the above-mentioned arrangement position limitation of the first speed measurement component 191 and the second speed measurement component 192, the installation range of the first speed measurement component 191 and the second speed measurement component 192 can be increased, thereby meeting different installation position requirements.

[0047] The above-mentioned first speed measurement component 191 and the second speed measurement component 192 can be detachably or fixedly connected inside the cleaning device body 11 or outside the housing, etc. In the present embodiment, the first speed measurement component 191 and the second speed measurement component 192 are connected to the inside of the cleaning device body 11 or the outside of the housing by clamping, plug-in or bolt, etc.

[0048] In some embodiments, the cleaning device body 11 is provided with a measurement channel 111. At least one of the first speed measurement component 191 and the second speed measurement component 192 is arranged at the measurement channel 111. When the cleaning device 10 is located in the target water area, the water flow passes through the measurement channel 111.

[0049] The first speed measurement component 191 and the second speed measurement component 192 are arranged at the measurement channel 111. Alternatively, the first speed measurement component 191 is arranged at the measurement channel 111, and the second speed measurement component 192 is arranged at other regions of the cleaning device body 11; or the second speed measurement component 192 is arranged at the measurement channel 111, and the first speed measurement component 191 is arranged at other regions of the cleaning device body 11.

[0050] By arranging at least one of the first speed measurement component 191 and the second speed measurement component 192 in the measurement channel 111, not only can the wear and tear caused by the protrusion of the first speed measurement component 191 and the second speed measurement component 192 be reduced, thereby prolonging the service life of the first speed measurement component 191 and the second speed measurement component 192 and reducing the cost, but also the water flow around the cleaning device 10 can be disturbed by the protrusion of the first speed measurement component 191 and the second speed measurement component 192, thereby improving the measurement accuracy of the cleaning device movement speed of the cleaning device 10.

[0051] In some embodiments, the length extension direction of the measurement channel 111 is arranged in parallel with the forward direction of the cleaning device 10. By limiting the length extension direction of the measurement channel 111, the water flow through the measurement channel 111 is the same or similar to the flow direction of the water flow through the surface of the cleaning device 11, so that the cleaning device movement speed measured by the first speed measurement component 191 and the second speed measurement component 192 located at the measurement channel 111 is closer to the forward running speed of the cleaning device 10, thereby further improving the measurement accuracy of the cleaning device movement speed of the cleaning device 10.

[0052] For example, the cleaning device 10 moves at least in the horizontal direction and / or the vertical direction. When the cleaning device 10 moves forward in the horizontal direction, the length extension direction of the measurement channel 111 can be arranged in parallel with the horizontal direction of the cleaning device 10. When the cleaning device 10 moves forward in the vertical direction, the length extension direction of the measurement channel 111 can be arranged in parallel with the vertical direction of the cleaning device 10. At least one measurement channel 111 can be arranged on the cleaning device 10 in parallel with the forward direction of the cleaning device 10, or a single measurement channel 111 can be arranged, and the measurement channel 111 is adjusted in the corresponding direction when the cleaning device 10 changes the movement posture. For example, when the cleaning device 10 performs underwater cleaning work, at least one measurement channel 111 extends in the horizontal direction; when the cleaning device 10 changes from the first movement posture to the third movement posture, i.e., when the cleaning device 10 switches from underwater cleaning work to water surface cleaning work, at least one measurement channel 111 extends in the vertical direction, and so on.

[0053] Of course, in other embodiments, the length extension direction of the measurement channel 111 can be arranged at an angle with the forward direction of the cleaning device 10, and the size of the angle can be determined according to the actual situation, which is not limited herein.

[0054] The measurement passage 111 can have various structures, and can be, but is not limited to, a cavity structure, a groove structure, and the like. In one embodiment, the measurement passage 111 is a first measurement passage cavity (not shown in the figure). The first measurement passage cavity is disposed through the cleaning device body 11. The first speed measurement assembly 191 and the second speed measurement assembly 192 are disposed in the first measurement passage cavity. One passage opening of the first measurement passage cavity is located at the front end of the cleaning device body 11. The other passage opening of the first measurement passage cavity is located at the rear end of the cleaning device body 11.

[0055] The first measurement passage cavity is disposed through the cleaning device body 11. During the operation of the cleaning device 10 in the water body, at least part of the water flow enters the first measurement passage cavity and flows between the first speed measurement assembly 191 and the second speed measurement assembly 192, so that the first speed measurement assembly 191 and the second speed measurement assembly 192 can measure the movement speed of the cleaning device.

[0056] The cross-sectional shape of the first measurement passage cavity in the direction perpendicular to the length extension direction of the first measurement passage cavity can be, but is not limited to, a regular shape, an irregular shape, and the like. The regular shape can be, but is not limited to, a rectangle, a circle, an ellipse, and the like. The irregular shape can be, but is not limited to, a combination of a polygonal line and an arc line, and the like. For example, when the cross-sectional shape of the first measurement passage cavity is a rectangle, the detection portions of the first speed measurement assembly 191 and the second speed measurement assembly 192 can be disposed on the opposite side walls of the first measurement passage cavity, or the detection portions of the first speed measurement assembly 191 and the second speed measurement assembly 192 can be disposed on the adjacent side walls of the first measurement passage cavity. The extension length of the first measurement passage cavity can be less than or equal to the maximum length of the cleaning device body 11 in the forward direction.

[0057] The detection portions of the first speed measurement assembly 191 and the second speed measurement assembly 192 can be located at any position in the first measurement passage cavity, as long as at least part of the water flow passes between the first speed measurement assembly 191 and the second speed measurement assembly 192. For example, the first speed measurement assembly 191 and the second speed measurement assembly 192 can be located at the front portion, the middle portion, or the rear portion of the first measurement passage cavity, or the like. Alternatively, the first speed measurement assembly 191 and the second speed measurement assembly 192 can be located at different positions of the front portion, the middle portion, and the rear portion of the first measurement passage cavity, respectively.

[0058] In one embodiment, the first measurement passage cavity includes two passage openings. The first speed measurement assembly 191 is located at one passage opening of the first measurement passage cavity, and the second speed measurement assembly 192 is located at the other passage opening of the first measurement passage cavity. That is, the first speed measurement assembly 191 and the second speed measurement assembly 192 can measure the water flow speed flowing through the first measurement passage cavity.

[0059] The first and second speed measurement components 191 and 192 are disposed in the first measurement passage cavity, which is disposed through the front end and the rear end of the cleaning device main body 11. The water flow is relatively smooth when passing through the first measurement passage cavity, which can reduce the disturbance phenomenon and can be suitable for the cleaning device 10 in the forward direction with less turning.

[0060] In another specific embodiment, the measurement passage 111 is a measurement passage groove 1111. The measurement passage groove 1111 is recessed on the outer side of the cleaning device main body 11. For example, the measurement passage groove 1111 can be disposed on the outer side wall of at least one side of the cleaning device main body 11; and / or, the measurement passage groove 1111 can be disposed at the corner between adjacent outer side walls of the cleaning device main body 11; and / or, at least one side of the cleaning device main body 11 is recessed, which constitutes part of the wall of the measurement passage groove 1111.

[0061] The measurement passage groove 1111 is recessed, and at least one set of first and second speed measurement components 191 and 192 are disposed at the measurement passage groove 1111. For example, when the cleaning device 10 includes a walking mechanism, the first and second speed measurement components 191 and 192 can be disposed on the side plate 1311a of the walking mechanism. For example, the measurement passage groove 1111 can be recessed on the side plate 1311a, and the first and second speed measurement components 191 and 192 can be disposed on the side plate 1311a. Figure 7 .

[0062] The measurement passage groove 1111 is disposed on the outer side of the cleaning device main body 11, which not only facilitates the water flow to pass through at least one set of first and second speed measurement components 191 and 192 more smoothly, but also facilitates the installation and disassembly of the first and second speed measurement components 191 and 192.

[0063] In other specific embodiments, the measurement passage 111 is a second measurement passage cavity (not shown in the figure). The second measurement passage cavity can be disposed inside the cleaning device main body 11 and protrude outwardly. For example, the second measurement passage cavity can be disposed on the inner side of at least one side of the cleaning device main body 11; and / or, the second measurement passage cavity can be disposed at the corner between adjacent inner side walls of the cleaning device main body 11; and / or, at least one side of the cleaning device main body 11 is outwardly convex, which constitutes part of the wall of the second measurement passage cavity. The second measurement passage cavity is convex, and at least one set of first and second speed measurement components 191 and 192 are disposed at the second measurement passage cavity.

[0064] By setting the second measurement passage cavity inside the cleaning device body 11, not only can the water flow through the at least one first speed measurement assembly 191 and the second speed measurement assembly 192, but also the first speed measurement assembly 191 and the second speed measurement assembly 192 can be reduced in wear and tear, thereby prolonging the service life of the first speed measurement assembly 191 and the second speed measurement assembly 192 and reducing costs, etc.

[0065] The second measurement passage cavity can also be provided outside the housing of the cleaning device body 11. For example, the cleaning device 10 can also include an outer baffle 1312a. The outer baffle 1312a can be provided outside the side plate 1311a. The second measurement passage cavity can be formed between the side plate 1311a and the outer baffle 1312a. The first speed measurement assembly 191 and the second speed measurement assembly 192 can be provided on at least one of the side plate 1311a and the outer baffle 1312a. For example, at least one first speed measurement assembly 191 is provided outside the side plate 1311a. At least one second speed measurement assembly 192 is provided inside the outer baffle 1312a.

[0066] The first speed measurement assembly 191 and the second speed measurement assembly 192 are provided in the measurement passage groove, which is recessed outside the housing of the cleaning device body 11, and can be suitable for the cleaning device 10 in a turning situation. When the first speed measurement assembly 191 and the second speed measurement assembly 192 are provided in the measurement passage groove, it is necessary to avoid the walking mechanism, the propulsion mechanism, and other auxiliary components.

[0067] The cleaning device 10 can include at least one of the first measurement passage cavity, the measurement passage groove 1111, and the second measurement passage cavity. For example, the cleaning device 10 can include one of the first measurement passage cavity, the measurement passage groove 1111, and the second measurement passage cavity, or two of the three, or all three. When the cleaning device 10 is in a straight and turning situation, the cleaning device 10 can include the first measurement passage cavity and the measurement passage groove 1111; or the cleaning device 10 can include the first measurement passage cavity and the second measurement passage cavity, etc., without being limited herein. In other embodiments, the measurement passage can also be the water flow passage inside the cleaning device 10 itself. For example, the water flow passage formed by the water inlet, the filtration mechanism, and the water outlet.

[0068] In some embodiments, the cleaning device 10 comprises at least one set of first speed measurement components 191 and second speed measurement components 192. The at least one set of first speed measurement components 191 and second speed measurement components 192 are arranged on the cleaning device body 11. The first speed measurement components 191 and the second speed measurement components 192 can be one, two or more sets, but are not limited thereto. The number of the first speed measurement components 191 and the second speed measurement components 192 can be determined according to actual conditions, and is not limited herein. The first speed measurement components 191 and the second speed measurement components 192 in each set are arranged relative to and spaced apart from each other.

[0069] In some embodiments, the time for the different sets of first speed measurement components 191 and second speed measurement components 192 to transmit and receive signals can be staggered. In this way, when a set of speed measurement components receives signals, it can avoid receiving signals transmitted by other sets of speed measurement components. Alternatively, when a set of speed measurement components transmits signals, it can transmit signals to other sets of speed measurement components, thereby improving the accuracy and effectiveness of signal transmission.

[0070] When the cleaning device 10 comprises at least one set of first speed measurement components 191 and second speed measurement components 192, the first speed measurement components 191 and the second speed measurement components 192 can be arranged outside the housing or inside the cleaning device body 11, for example, at any position of the first measurement passage cavity, the measurement passage slot 1111 and the second measurement passage cavity, which are not limited herein. The number of the first measurement passage cavities, the measurement passage slots 1111 and the second measurement passage cavities can be one, two or more, but are not limited thereto.

[0071] Please refer to Figure 5 , Figure 5 is a third schematic diagram of the first speed measurement components and the second speed measurement components of the present application. In combination with Figures 1 to 4 In some embodiments, the cleaning device 10 comprises one set of first speed measurement components 191 and second speed measurement components 192. The cleaning device 10 comprises a direction measurement component (not shown in the figure). The direction measurement component is arranged on the cleaning device body 11. The direction measurement component is used to measure the movement direction of the cleaning device 10 in real time. Through the cooperation of the above-mentioned direction measurement component and the one set of first speed measurement components 191 and second speed measurement components 192, the movement speed and / or the movement direction of the cleaning device 10 can be obtained.

[0072] In the above-mentioned embodiments, the movement speed of the cleaning device is V 水 = V 水测 / cos(a+g). Wherein, g is the direction angle, a is the water flow angle. The direction angle is the angle between the current moving direction of the cleaning device 10, for example, the angle between the center line direction of the front and back sides of the cleaning device 10 and the water flow direction F, which can be obtained by the direction measuring component. The cleaning device 10 can calculate the real-time speed and direction of the cleaning device 10 in the process of turning and straight running through the cooperation of the first speed measuring component 191, the second speed measuring component 192 and the direction measuring component.

[0073] The above-mentioned direction measuring component can be but is not limited to an IMU sensor (not shown in the figure). The IMU sensor can measure the direction angle of the cleaning device 10 in real time. When the cleaning device 10 runs straight in the forward direction, the above-mentioned g can be 0 degree, at this time the cleaning device moving speed formula is V 水 = V 水测 / cos a. When the cleaning device 10 turns, the direction measuring component measures the angle Y between the center line direction of the front and back sides of the cleaning device 10 and the water flow direction F, at this time the cleaning device moving speed formula is V 水 = V 水测 / cos(a+g). As Figure 5 shown, there are multiple states in the process of turning of the cleaning device 10, for example, from state one to state two, state three to state four, wherein, state one is the straight running state, and state two to four are the turning states. When the cleaning device 10 is in state one, g is 0 degree; when the cleaning device 10 is in state two, state three and state four, g is not 0 degree. Taking the cleaning device in state four as an example, at this time the cleaning device moving speed is V 水 = V 水测 / cos(a+g), a is the angle between the center line of the first speed measuring component 191 and the second speed measuring component 192 and the water flow direction F when in state one, and g is the direction angle measured by the measuring component when in state four.

[0074] In some embodiments, the cleaning device 10 comprises at least two groups of first speed measuring components 191 and second speed measuring components 192. The at least two groups of first speed measuring components 191 and second speed measuring components 192 are arranged at different positions to measure the running speed of the cleaning device 10 in different states.

[0075] As an embodiment, at least one set of first speed measuring components 191 and second speed measuring components 192 are arranged on one side of the cleaning device body 11 along the running direction Q. At least one set of first speed measuring components 191 and second speed measuring components 192 are arranged on the other side of the cleaning device body 11 along the running direction Q. By comparing the cleaning device movement speed measured by the at least two sets of first speed measuring components 191 and second speed measuring components 192, at least one of the following states of the cleaning device 10 can be determined: forward movement, turning, deviation, and backward movement. If the cleaning device movement speed measured by the at least two sets of first speed measuring components 191 and second speed measuring components 192 is the same in size and direction, it can be determined that the cleaning device 10 is moving forward or backward. The one side of the cleaning device body 11 and the other side of the cleaning device body 11 can be the left and right sides of the cleaning device 10 along the running direction Q.

[0076] As another embodiment, at least one set of first speed measuring components 191 and second speed measuring components 192 are arranged on the front side of the cleaning device 10 along the running direction Q to measure the speed of the cleaning device 10 when moving forward. At least one set of first speed measuring components 191 and second speed measuring components 192 are arranged on the rear side of the cleaning device 10 along the running direction Q to measure the speed of the cleaning device 10 when moving backward. By arranging different sets of first speed measuring components 191 and second speed measuring components 192 at different positions, the measurement accuracy of the cleaning device movement speed of the cleaning device 10 is improved.

[0077] The running direction Q of the cleaning device 10 in the water body can be determined according to the comparison of t1 and t2 in the above cleaning device movement speed formula. Of course, the running direction Q of the cleaning device 10 in the water body can also be determined in other ways, such as an IMU (Inertial Measurement Unit) sensor.

[0078] For example, if the cleaning device 10 includes a single set of first speed measuring components 191 and second speed measuring components 192, and t2 is greater than t1, it means that the running direction of the cleaning device 10 is positive (i.e., moving forward). If t1 is greater than t2, it means that the running direction of the cleaning device 10 is negative (i.e., moving backward).

[0079] If the cleaning device 10 comprises two sets of first speed measuring components 191 and second speed measuring components 192, and the motion speeds of the two sets of speed measuring components are different, and t2 of the two sets of speed measuring components are both greater than t1, that is, the running directions of the two sides of the cleaning device 10 are both positive (that is, forward), it can be judged that the cleaning device 10 is in a forward turning state. Wherein, the running direction Q of the cleaning device 10 is left turning or right turning, which can be determined according to the motion speed of the cleaning device measured by the two sets of first speed measuring components 191 and second speed measuring components 192, which is not limited here.

[0080] If the motion speed direction of the cleaning device measured by one set of first speed measuring components 191 and second speed measuring components 192 is positive, that is, t2 is greater than t1. The motion speed direction of the cleaning device measured by the other set of first speed measuring components 191 and second speed measuring components 192 is negative, that is, t1 is greater than t2, it can be judged that the cleaning device 10 is in a U-turn or turning in place.

[0081] In some embodiments, the cleaning device 10 comprises at least two sets of first speed measuring components 191 and second speed measuring components 192. The at least two sets of first speed measuring components 191 and second speed measuring components 192 can be arranged on the same side of the cleaning device main body 11. Wherein, the at least two sets of first speed measuring components 191 and second speed measuring components 192 are arranged on one side or the other side of the cleaning device main body 11 along the motion direction, or arranged on the front side or the rear side of the cleaning device main body 11.

[0082] Please refer to Figure 6 , Figure 6 is the fourth schematic diagram of the first speed measuring component and the second speed measuring component of the present application. In combination with Figures 1 to 5 , one set of first speed measuring components 191 is defined as speed measuring component a, and the second speed measuring component 192 is defined as speed measuring component b; the other set of first speed measuring components 191 is defined as speed measuring component c, and the second speed measuring component 192 is defined as speed measuring component d. The speed measuring component a, the speed measuring component b, the speed measuring component c and the speed measuring component d can be arranged on the same side of the cleaning device main body 11, or the speed measuring component c and the speed measuring component b can be arranged on the same side, and the speed measuring component a and the speed measuring component d can be arranged on the same side, which is not limited here. The water flow speed measured by the speed measuring component a and the speed measuring component b is recorded as V 水测1 , the water flow speed measured by the speed measuring component c and the speed measuring component d is recorded as V 水测2 , then by performing any parallelogram method, triangle method, coordinate method and other vector sum operations on V 水测1 and V 水测2 , the speed V 水, and then the movement speed of the cleaning device is obtained. Wherein, the direction of V 水 is the same as the direction of the vector sum of V 水测1 and V 水测2 . As shown in FIG. 1, the direction of V

[0083] In some embodiments, the angle between the line connecting the speed measuring component a and the speed measuring component b and the line connecting the speed measuring component c and the speed measuring component d is denoted as θ, and 0° < θ ≤ 90°. Since θ is known, the angle between V 水 and the line connecting the speed measuring component a and the speed measuring component b and / or the angle between V 水 and the line connecting the speed measuring component c and the speed measuring component d can be calculated by the vector angle relationship. Then, according to the positions of the speed measuring component a and the speed measuring component b and / or the positions of the speed measuring component c and the speed measuring component d in the cleaning device body 11, the movement direction of the cleaning device 10 can be obtained.

[0084] In some embodiments, when the two groups of first speed measuring components 191 and second speed measuring components 192 are needed to be installed, the line connecting the first speed measuring components 191 and the second speed measuring components 192 of one group and the line connecting the first speed measuring components 191 and the second speed measuring components 192 of the other group can be perpendicular. This not only facilitates the quick installation of the first speed measuring components 191 and the second speed measuring components 192, thereby improving the assembly efficiency of the first speed measuring components 191 and the second speed measuring components 192, but also simplifies the movement speed formula of the cleaning device, which is more conducive to calculation, etc.

[0085] In some embodiments, the cleaning device 10 further comprises an auxiliary cleaning component. The auxiliary cleaning component is arranged on the cleaning device body 11. Along the height direction of the cleaning device 10, the first speed measuring component 191 and the second speed measuring component 192 are both higher or lower than the auxiliary cleaning component. That is, the first speed measuring component 191 and the second speed measuring component 192 are both higher than the auxiliary cleaning component, or the first speed measuring component 191 and the second speed measuring component 192 are both lower than the auxiliary cleaning component. By limiting the positional relationship between the first speed measuring component 191, the second speed measuring component 192 and the auxiliary cleaning component, the influence of the auxiliary cleaning component on the water flow during operation is reduced, thereby improving the accuracy of the movement speed of the cleaning device. The above-mentioned auxiliary cleaning component can include but is not limited to a side brush, a collision prevention roller, etc.

[0086] In some embodiments, the distance between the first speed measuring component 191 and the second speed measuring component 192 is greater than or equal to 1 millimeter and less than or equal to 2000 millimeters. By limiting the distance between the first speed measuring component 191 and the second speed measuring component 192, not only can it be ensured that at least part of the water flow passes between the first speed measuring component 191 and the second speed measuring component 192, thereby improving the measurement accuracy of the cleaning device movement speed of the cleaning device 10, but also it can ensure signal transmission and reception between the first speed measuring component 191 and the second speed measuring component 192.

[0087] The distance between the first speed measuring component 191 and the second speed measuring component 192 is S. Specifically, S can be, but is not limited to, 1 millimeter, 40 millimeters, 100 millimeters, 200 millimeters, 302 millimeters, 400 millimeters, 500 millimeters, 650 millimeters, 700 millimeters, 850 millimeters, 950 millimeters, 1000 millimeters, 1200 millimeters, 1300 millimeters, 1400 millimeters, 1500 millimeters, 1600 millimeters, 1700 millimeters, 1800 millimeters, 1900 millimeters, and 2000 millimeters, etc.

[0088] In some embodiments, the first speed measuring component 191 and the second speed measuring component 192 are the same component. The first speed measuring component 191 can be, but is not limited to, an ultrasonic probe (not shown in the figure), an infrared probe (not shown in the figure), a visible light probe (not shown in the figure), etc. The first speed measuring component 191 can also be other devices that emit and receive mechanical waves.

[0089] In a specific embodiment, the first speed measuring component 191 includes at least one ultrasonic probe. The second speed measuring component 192 includes at least one ultrasonic probe. The frequency range of the ultrasonic probe is greater than or equal to 20 kilohertz and less than or equal to 100 megahertz. By using the ultrasonic probe, the first speed measuring component 191 and the second speed measuring component 192 can not only obtain the cleaning device movement speed, but also have a simple structure, are easy to obtain, and have a low cost.

[0090] Specifically, the frequency range of the ultrasonic probe can be, but is not limited to, 20 kilohertz, 500 kilohertz, 870 kilohertz, 1000 kilohertz, 1500 kilohertz, 2000 kilohertz, 2500 kilohertz, 3000 kilohertz, 3500 kilohertz, 4000 kilohertz, 5000 kilohertz, 6000 kilohertz, 7000 kilohertz, 8500 kilohertz, 9000 kilohertz, 10 megahertz, 30 megahertz, 50 megahertz, 70 megahertz, 90 megahertz, 100 megahertz, etc.

[0091] When the cleaning device 10 comprises a plurality of sets of first speed measurement components 191 and second speed measurement components 192, at least one set of first speed measurement components 191 and second speed measurement components 192 are ultrasonic probes; and / or, at least one set of first speed measurement components 191 and second speed measurement components 192 are infrared probes; or, at least one set of first speed measurement components 191 and second speed measurement components 192 are visible light probes.

[0092] When the cleaning device 10 is used in the water body during operation, the water flow speed can also be affected by the external environment (such as wind, etc.). The setting position of at least one set of first speed measurement components 191 and second speed measurement components 192 can be as far as possible at the lower part of the cleaning device 10. Such as the bottom of the cleaning device 10 or the lower part of the front side of the cleaning device 10, etc.

[0093] When the cleaning device 10 is at least partially immersed in water, at least one set of first speed measurement components 191 and second speed measurement components 192 are located underwater. When the lower part of the cleaning device 10 is at least partially immersed in water or completely immersed in water, at least one set of first speed measurement components 191 and second speed measurement components 192 are located as far as possible in the relatively lower position of the water body. The water flow at the lower position of the water body is less affected by the external environment than the water flow at the surface, reducing the influence of the external environment on the water flow speed measurement, and further improving the measurement accuracy of the cleaning device movement speed of the cleaning device 10.

[0094] In some embodiments, the internal structure of the first speed measurement component 191 can be integrated or independently set. The internal structure of the second speed measurement component 192 can be integrated or independently set.

[0095] In a specific embodiment, the internal structure of the first speed measurement component 191 and the second speed measurement component 192 are integrated. Such as the first transmitting end and the first receiving end are integrated; the second transmitting end and the second receiving end are integrated. The first transmitting end and the second receiving end are signal connected, that is, the first transmitting end and the second receiving end transmit and receive signals with each other. The first receiving end and the second transmitting end are signal connected, and the first receiving end and the second transmitting end transmit and receive signals with each other.

[0096] By integrating the first transmitting end and the first receiving end in the first speed measurement component 191, and simultaneously integrating the second transmitting end and the second receiving end in the second speed measurement component 192, not only the installation space is saved, but also the stability of the first speed measurement component 191 and the second speed measurement component 192 installed on the cleaning device main body 11 is improved, and the stability of signal transmission is further improved.

[0097] As another specific embodiment, the internal structures of the first speed measuring assembly 191 and the second speed measuring assembly 192 are separately arranged. As the first transmitting end and the first receiving end are separately arranged, the first transmitting end and the first receiving end are arranged in close proximity. The second transmitting end and the second receiving end are separately arranged, and the second transmitting end and the second receiving end are arranged in close proximity. The first transmitting end and the second receiving end are signal connected, i.e. the first transmitting end and the second receiving end transmit and receive signals to each other. The first receiving end and the second transmitting end are signal connected, i.e. the first receiving end and the second transmitting end transmit and receive signals to each other.

[0098] By separately arranging the first transmitting end and the first receiving end in the first speed measuring assembly 191 and separately arranging the second transmitting end and the second receiving end in the second speed measuring assembly 192, not only the flexibility of arranging the first speed measuring assembly 191 and the second speed measuring assembly 192 is increased, but also the installation and replacement are facilitated. The cleaning device 10 comprises a plurality of groups of the first speed measuring assembly 191 and the second speed measuring assembly 192. The first transmitting end and the first receiving end in the first speed measuring assembly 191 and the second transmitting end and the second receiving end in the second speed measuring assembly 192 in different groups can be integrally arranged and / or separately arranged, which can be determined according to actual needs, and is not limited herein.

[0099] Please refer to Figures 7 to 12 , Figure 7 is a structural schematic diagram of a third embodiment of the cleaning device of the present application; Figure 8 is a structural schematic diagram of a first embodiment of the cleaning device of the present application; Figure 9 is a structural schematic diagram of a second embodiment of the cleaning device of the present application; Figure 10 is a structural schematic diagram of a fourth embodiment of the cleaning device of the present application; Figure 11 is a first angle schematic diagram of a fifth embodiment of the cleaning device of the present application; Figure 12 is a second angle schematic diagram of the fifth embodiment of the cleaning device of the present application. Please refer to Figures 1 to 6In some embodiments, the cleaning device 10 can include multiple types, and different types of cleaning device 10 can implement the same or different motion postures. For example, cleaning device 10 that can implement the first motion posture and the second motion posture, cleaning device 10 that can implement the third motion posture, cleaning device 10 that can implement all motion postures, and the like. Different types of cleaning device 10 correspond to corresponding differences in structure. For example, the cleaning device 10 can include a cleaning mechanism, and / or a walking mechanism, and / or a propulsion mechanism. Among them, the cleaning mechanism is used to perform cleaning work; the walking mechanism and the propulsion mechanism are used to drive the cleaning device 10 to move in the target water area. Among them, the cleaning mechanism, the walking mechanism, and the propulsion mechanism can each include one or more types of structures. For example, the cleaning mechanism can include at least one of a water inlet, a filtering mechanism, a water outlet, a cleaning assembly, and a fluid suction mechanism. The water inlet is the entrance of the cleaning device 10 for the dust-carrying water flow. The filtering mechanism is used to filter the dust-carrying water flow and the like. After the dust-carrying water flow is filtered by the filtering mechanism, it is discharged to the outside of the cleaning device 10 from the water outlet. The above-mentioned cleaning mechanism, walking mechanism, and propulsion mechanism are arranged on the cleaning device main body 11.

[0100] In some embodiments, the first speed measurement component 191 and the second speed measurement component 192 are away from at least one of the cleaning mechanism, and / or the walking mechanism, and / or the propulsion mechanism. By limiting the positions of the above-mentioned first speed measurement component 191 and the second speed measurement component 192, the influence of the disturbance of the water flow caused by the operation of the above-mentioned mechanism can be reduced, and the measurement accuracy of the cleaning device motion speed of the cleaning device 10 can be improved.

[0101] The above-mentioned first speed measurement component 191 and the second speed measurement component 192 can be arranged in different types of cleaning device 10. For example, in the first type of cleaning device 10, the cleaning device 10 can support water surface, water bottom, and pool wall motion. That is, the cleaning device 10 has at least the first motion posture, the second motion posture, and the third motion posture.

[0102] Please refer to Figures 1 to 9The first type of cleaning device 10 comprises a cleaning device body 11, a first cleaning mechanism 12a, a first walking mechanism 131a, a first propulsion mechanism 132a, and a mode adjusting mechanism (not shown in the figure). The cleaning mechanism 12a comprises a first water inlet 121a, a first filtering mechanism (not shown in the figure), a first fluid suction mechanism (not shown in the figure), a first water outlet 124a, and a first cleaning assembly 125a, etc. The first fluid suction mechanism is arranged downstream of the first filtering mechanism and upstream of at least one first water outlet 124a. The number of first water inlets 121a and the number of first water outlets 124a can be one, two, three or more. The first fluid suction mechanism is used to generate suction force to form a water flow channel at the first water inlet 121a, the first filtering mechanism, and the first water outlet 124a. The first fluid suction mechanism can be, but is not limited to, a water pump.

[0103] The first walking mechanism 131a is used for the cleaning device 10 to walk on the pool bottom or the pool wall. The first propulsion mechanism 132a is used for the cleaning device 10 to travel on the water surface. The first walking mechanism 131a can comprise at least one guide wheel. The first walking mechanism 131a can also comprise a track. When the first walking mechanism 131a comprises two or more guide wheels, the track can be sleeved on the guide wheels to drive the driven wheels in the guide wheels to move by the driving wheels in the guide wheels. The first propulsion mechanism 132a can comprise a propeller.

[0104] The mode adjusting mechanism is used to realize the switching of the cleaning device 10 between the first motion posture and the third motion posture. The mode adjusting mechanism can comprise a floating cavity. The floating cavity can be arranged on the upper part of the first filtering mechanism or around the upper part of the first filtering mechanism.

[0105] The cleaning device 10 can perform underwater cleaning work in the first motion posture. The cleaning device 10 can perform water surface cleaning work in the third motion posture. The cleaning device 10 can perform pool wall or water line cleaning work in the second motion posture. The switching of the cleaning device 10 between the first motion posture and the third motion posture can or can not include the second motion posture.

[0106] The measurement channel 111 is arranged on the cleaning device body 11. Due to the disturbance of the structure of the cleaning device 10 to the water flow during the operation or cleaning of the cleaning device 10, the first speed measurement assembly 191 and the second speed measurement assembly 192 can be arranged as far away from the structure as possible, for example, away from the first water inlet 121a, the first water outlet 124a, the first cleaning assembly 125a, the first walking mechanism 131a, the first propulsion mechanism 132a, etc.

[0107] For example, the cleaning device 10 itself can cause disturbance to the water flow (e.g. the disturbance caused by the rear propulsion mechanism 132a to the water flow, etc.), the first speed measuring assembly 191 and the second speed measuring assembly 192 can be arranged at the front of the cleaning device 10 (including the front side or the top front position or the bottom front position of the cleaning device body 11) so that the first speed measuring assembly 191 and the second speed measuring assembly 192 can be in contact with the water as early as possible, and the cleaning device 10 can not cause additional disturbance to the water flow other than the movement of the cleaning device 10, so as to avoid affecting the accuracy of the measurement.

[0108] The first cleaning assembly 125a can further include a first auxiliary cleaning assembly 1251a and a second auxiliary cleaning assembly (not shown in the figure). The first auxiliary cleaning assembly 1251a and the second auxiliary cleaning assembly are both used for auxiliary cleaning. The first auxiliary cleaning assembly 1251a can be but is not limited to a side brush. The side brush is used to guide at least part of the garbage in the target water area into the working area of the first water inlet 121a, or is used to brush and clean the target side wall, etc. The second auxiliary cleaning assembly can be but is not limited to a water spraying member. The water spraying member is used to spray water to the cleaning area, so as to guide at least part of the garbage into the working area of the first water inlet 121a, or is used to flush and clean the target side wall or bottom wall, etc.

[0109] Please refer to Figures 1 to 6 and Figure 10 As in the second type of cleaning device 10, the cleaning device 10 can support the movement of the pool bottom and the pool wall. That is, the cleaning device 10 has at least a first movement posture and a second movement posture.

[0110] The second type of cleaning device 10 includes a cleaning device body 11, a second cleaning mechanism 12b, and a second walking mechanism 131b. The second cleaning mechanism 12b includes a second water inlet (not shown in the figure), a second filtering mechanism (not shown in the figure), a second fluid suction mechanism (not shown in the figure), at least one second water outlet 124b, and a second cleaning assembly 125b, etc. Among them, the second fluid suction mechanism is arranged downstream of the second filtering mechanism and upstream of at least one second water outlet 124b. The second fluid suction mechanism is used to generate suction force to form a water flow channel at the second water inlet, the second filtering mechanism, and the second water outlet 124b. Among them, the second fluid suction mechanism can be but is not limited to a water pump, etc.

[0111] The second walking mechanism 131b is used for the cleaning device 10 to walk on the pool bottom or the pool wall. The second walking mechanism 131b can include at least one guide wheel. The second walking mechanism 131b can also include a track. When the second walking mechanism 131b includes two or more guide wheels, the track can be sleeved on the guide wheels to drive the driven wheels in the guide wheels to move through the driving wheels in the guide wheels.

[0112] The cleaning device 10 can perform underwater cleaning work in the first movement posture. The cleaning device 10 can perform pool wall or water line cleaning work in the second movement posture. The cleaning device 10 can switch between the first movement posture and the second movement posture and the like through the second walking mechanism 131b.

[0113] The measuring channel 111 is arranged on the cleaning device body 11. During the operation or cleaning process of the cleaning device 10, the structure of the cleaning device 10 itself can disturb the water flow. The first speed measuring assembly 191 and the second speed measuring assembly 192 are arranged as far away from the structure as possible, for example, away from the second water inlet, the second water outlet 124b, the second cleaning assembly 125b, and the second walking mechanism 131b.

[0114] Please refer to Figures 1 to 6 , Figure 11 and Figure 12 In the third type of cleaning device 10, the cleaning device 10 can support water surface movement. That is, the cleaning device 10 has at least a third movement posture.

[0115] The third type of cleaning device 10 includes a cleaning device body 11, a third cleaning mechanism 12c, and a third propulsion mechanism 132c. The third cleaning mechanism 12c includes a third filter mechanism 122c, a third water inlet 121c, a third water outlet 124c, and a third cleaning assembly 125c. The third water inlet 121c can be a part of the filter layer of the third filter mechanism 122c. The water entering the third filter mechanism 122c through the third water inlet 121c is directly discharged from the third filter mechanism 122c through the filter layer. When the cleaning device 10 is in the third movement posture, the third water inlet 121c and each third water outlet 124c, or each third water outlet 124c, form a water flow channel. The third propulsion mechanism 132c includes a propeller. The propeller is arranged on the side of the cleaning device 10. The cleaning device 10 can perform water surface cleaning work in the third movement posture.

[0116] The measuring channel 111 is arranged on the cleaning device body 11. During the operation or cleaning process of the cleaning device 10, the structure of the cleaning device 10 itself can disturb the water flow. The first speed measuring assembly 191 and the second speed measuring assembly 192 are arranged as far away from the structure as possible, for example, away from the third water inlet 121c, the third water outlet 124c, and the third propulsion mechanism 132c. For example, it can be arranged on the bottom surface of the cleaning device body 11 away from the third cleaning mechanism 12c and the third propulsion mechanism 132c.

[0117] In the above different types of cleaning devices 10, the cleaning device body 11 can be provided with multiple measurement channels 111. The cleaning device 10 includes multiple sets of first speed measurement components 191 and second speed measurement components 192. At least one set of first speed measurement components 191 and second speed measurement components 192 can be provided at different measurement channels 111. The controller can be connected with the above-mentioned multiple sets of first speed measurement components 191 and second speed measurement components 192. When the cleaning device 10 is in different first motion postures, second motion postures and third motion postures, the controller can at least obtain the cleaning device motion speed of the cleaning device 10 under different motion postures without being disturbed by water flow, that is, the cleaning device motion speed can be obtained regardless of the motion posture of the cleaning device 10, thereby improving the measurement accuracy of the cleaning device motion speed of the cleaning device 10, etc.

[0118] In some embodiments, the cleaning device 10 further includes a control unit (not shown in the figure). The control unit is electrically connected with the first speed measurement components 191 and the second speed measurement components 192. The control unit obtains the cleaning device motion speed from the first speed measurement components 191 and the second speed measurement components 192. The control unit controls the cleaning device to perform at least one of the following tasks based on the cleaning device motion speed, including: controlling at least one of the motion speed, the motion direction and the motion distance of the cleaning device 10; determining whether the obstacle avoidance action corresponding to the obstacle avoidance state is performed when the cleaning device 10 is in the obstacle avoidance state; controlling the cleaning device 10 to move in the target water area to construct a target water area map; controlling the cleaning device 10 to escape or report the trapped state of the cleaning device 10; controlling the cleaning device 10 to escape or report the skidding state of the cleaning device 10.

[0119] The control unit obtains the information that there is an obstacle in front of the cleaning device 10 and the cleaning device motion speed, and controls at least one of the motion speed, the motion direction and the motion distance of the cleaning device 10, for example, controls the cleaning device 10 to slow down to avoid colliding with the obstacle.

[0120] The control unit obtains the target water area cleanliness information and the cleaning device motion speed, and controls at least one of the motion speed, the motion direction and the motion distance of the cleaning device 10, for example, when the control unit obtains the information that the target water area has low cleanliness, the control unit controls the cleaning device 10 to slow down to make the cleaning device 10 deeply clean the target water area, etc.

[0121] The control unit obtains the movement threshold distance information and the cleaning device motion speed, and the control unit can adjust the walking mechanism, the propulsion mechanism, etc. in real time, so that the motion distance of the cleaning device 10 meets the requirements of the movement threshold distance, thereby improving the accuracy of the movement of the cleaning device 10.

[0122] The control unit obtains the identification cleaning mode information and the cleaning device movement speed. When the cleaning device 10 is in the fast cleaning mode, the control unit controls the cleaning device 10 to accelerate; or when the cleaning device 10 is in the normal cleaning mode, the control unit controls the cleaning device 10 to move at a constant speed, and the like.

[0123] Therefore, by means of the control unit, the above-mentioned at least one of the obstacle information in front of the cleaning device 10, the target water area cleanliness, the moving threshold distance, and the cleaning mode is obtained, and based on the cleaning device movement speed, the control unit controls at least one of the movement speed, the movement direction, and the movement distance of the cleaning device 10.

[0124] In some embodiments, when the cleaning device 10 is in the obstacle avoidance state, it is determined by the cleaning device movement speed whether the corresponding obstacle avoidance action is executed in the obstacle avoidance state. The obstacle avoidance state can be a state triggered when the cleaning device 10 identifies or obtains an obstacle. In the obstacle avoidance state, the cleaning device 10 needs to execute the corresponding obstacle avoidance action. For example, if there is an obstacle within a preset distance in front of the cleaning device 10, the cleaning device 10 needs to execute the corresponding obstacle avoidance action, which can be speed reduction detouring or retreating, and the like. Here, it is not limited. It can be determined by the cleaning device movement speed whether the obstacle avoidance action is currently executed. If it is determined that the obstacle avoidance action is not executed, subsequent processing can be performed, such as adjusting the action of the cleaning device 10 or reporting an abnormal condition.

[0125] In some embodiments, the control unit can also obtain the cleaning device movement time, obtain the cleaning device movement direction, and obtain the distance between the cleaning device and the object in the target water area, such as a pool wall, a step, and the like, and construct a target water area map in combination with the cleaning device movement speed.

[0126] Specifically, the control unit obtains the cleaning device movement time and the cleaning device movement speed, and can obtain the distance moved by the cleaning device 10. The control unit obtains the cleaning device movement direction. The cleaning device movement direction can be measured by a direction measurement component. The direction measurement component can be but is not limited to a gyroscope and the like. The control unit obtains the distance between the cleaning device and the object in the target water area. The distance between the cleaning device and the object in the target water area can be measured by a distance measurement component. The distance measurement component can be but is not limited to a distance sensor and the like.

[0127] The control unit obtains the above-mentioned cleaning device movement time, cleaning device movement direction, and distance between the cleaning device 10 and the object in the target water area, and controls the cleaning device 10 to move in the target water area to collect the above-mentioned parameters based on the cleaning device movement speed, so as to construct a target water area map and the like.

[0128] When the target water area map is constructed, the cleaning device 10 moves in the target water area again, and the control unit can determine the position of the cleaning device 10 in the target water area map according to the cleaning device movement speed and the cleaning device movement direction, so as to realize the positioning of the cleaning device 10 and the like.

[0129] In some embodiments, the control unit obtains the walking mechanism and the propulsion mechanism action information in the cleaning device 10 and the cleaning device movement speed, identifies the trapped state of the cleaning device, and escapes or reports after identifying the trapped state. The trapped state includes a trapped and unable to move state or a trapped and entangled state.

[0130] When the control unit identifies the walking mechanism and the propulsion mechanism action, but cannot obtain the data of the cleaning device movement speed, it can be judged that the cleaning device 10 is in a trapped and unable to move state. When the walking mechanism and the propulsion mechanism are identified to work, but the data of the cleaning device movement speed is different from the preset speed data, or the detected speed data jumps suddenly, it can be judged that the cleaning device 10 is in a trapped and entangled state.

[0131] Optionally, when the control unit judges that the cleaning device 10 is in a trapped and entangled state, the control unit controls the cleaning device to increase the power of directional movement, such as backward movement and turning, to escape from the trapped and entangled state, or reports the trapped and entangled state to a designated position, such as a user terminal.

[0132] In some embodiments, the control unit includes obtaining the speed information of the third speed measurement component and the cleaning device movement speed data, and the control unit judges the slip state of the cleaning device.

[0133] When the cleaning device 10 moves on the target bottom wall or the target side wall, the cleaning device movement speed can be combined with the speed measured by the third speed measurement component. If the third speed measurement component detects speed data or detects that the speed data is not 0, and the first speed measurement component and the second speed measurement component do not detect speed data or detect that the speed data is close to 0, it can be judged that the cleaning device 10 is in a slip state. The above-mentioned third speed measurement component can include but is not limited to a code disc and the like.

[0134] The third speed measurement component can also be an IMU sensor. The detection data of the first speed measurement component, the second speed measurement component and the IMU sensor detection data can be used to judge that the cleaning device 10 is in a slip state. For example, the attitude of the cleaning device 10 is detected by the IMU sensor, which is used to judge whether the cleaning device 10 is climbing a wall, so as to determine whether the cleaning device 10 is slipping on the target bottom wall or slipping when climbing a wall on the target side wall.

[0135] Optionally, when the control unit determines that the cleaning device 10 is in a skidding state, the cleaning device 10 can be controlled to get rid of the skidding state by controlling the backward movement and the rotation angle, and the skidding type can be determined to determine the solution to the skidding problem, and the skidding state can be reported to a specified location, such as a user terminal.

[0136] The first speed measurement component 191 and the second speed measurement component 192 can also be combined with the distance measurement component to improve the accuracy of obstacle avoidance or escape. For example, the control unit first acquires the distance between the distance measurement component and the obstacle. The control unit controls the movement distance of the cleaning device 10 to avoid obstacles or escape. If the distance measurement component detects the distance between the cleaning device 10 and the obstacle in real time during the movement process, the accuracy of the subsequent operation such as obstacle avoidance or escape is reduced. For example, the detection accuracy may be inaccurate due to the change of the detection angle as the cleaning device 10 approaches or moves away from the obstacle.

[0137] The terms "first", "second", "third" in the present application are only for descriptive purposes, and cannot be understood as indicating the number of the technical features indicated. Therefore, the features defined as "first", "second", "third" can explicitly or implicitly include at least one of the features. All directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present application are only used to explain the relative position relationship, movement condition, etc. between components in a certain posture (as shown in the drawings), and if the certain posture changes, the directional indications also change accordingly. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device including a series of steps or units is not limited to the listed steps or units, but can optionally include steps or units not listed, or can optionally include other steps or units inherent to the process, method, product or device.

[0138] The above description is only an embodiment of the present application, and does not limit the patent scope of the present application. Any equivalent structure or equivalent process transformation based on the content of the specification and drawings, or direct or indirect application in other related technical fields, is also included in the patent protection scope of the present application.

Claims

1. A cleaning device for operating in a target water area, comprising: Clean the main body of the equipment; at least one filtering mechanism, at least partially housed within the cleaning device body, for filtering liquid entering therein; It is characterized by further comprising: A first speed measurement component is provided on the cleaning device body, and the first speed measurement component comprises at least a first transmitting end and a first receiving end; a second speed measuring component, disposed on the cleaning device body and opposite to the first speed measuring component, the second speed measuring component comprising at least a second transmitting end and a second receiving end, wherein the signal transmitted by the first transmitting end is received by the second receiving end, and the signal transmitted by the second transmitting end is received by the first receiving end; Wherein, the angle between the connecting line of the first speed measuring component and the second speed measuring component and the normal cruising direction of the cleaning equipment body in the target water area is not 90°.

2. The cleaning device according to claim 1, characterized in that The cleaning device body includes a shell, and the first speed measuring component and the second speed measuring component are relatively arranged outside the shell or inside the cleaning device body.

3. The cleaning device according to claim 2, characterized in that The cleaning device body is provided with a measurement channel, and at least one of the first speed measurement component and the second speed measurement component is provided in the measurement channel.

4. The cleaning device according to claim 3, characterized in that The measurement channel is a first measurement channel cavity, which is arranged through the cleaning device body. The first speed measurement component and the second speed measurement component are arranged in the first measurement channel cavity. One channel opening of the first measurement channel cavity is located at the front end of the cleaning device body, and the other channel opening is located at the rear end of the cleaning device body.

5. The cleaning device according to claim 3, characterized in that The measuring channel is a measuring channel groove, the measuring channel groove is recessed outside the housing, and the first speed measuring component and the second speed measuring component are arranged in the measuring channel groove; And / or, the measuring channel is a second measuring channel cavity, the second measuring channel cavity is protruding inside the cleaning device body, and the first speed measuring component and the second speed measuring component are arranged in the second measuring channel cavity.

6. The cleaning device according to claim 1, characterized in that The cleaning device includes at least one set of the first speed measuring component and the second speed measuring component.

7. The cleaning device according to claim 6, characterized in that The cleaning device includes a set of the first speed measuring components and the second speed measuring components, and the cleaning device includes a direction measuring component arranged on the cleaning device body. The direction measuring component and the set of the first speed measuring components and the second speed measuring components work together to obtain the movement speed and / or movement direction of the cleaning device.

8. The cleaning device according to claim 6, characterized in that The cleaning device includes at least two sets of the first speed measuring components and the second speed measuring components; At least one set of the first speed measuring assembly and the second speed measuring assembly is disposed on one side of the cleaning device body along the running direction, and at least one set of the first speed measuring assembly and the second speed measuring assembly is disposed on the other side of the cleaning device body along the running direction; And / or, at least two groups of the first speed measuring components and the second speed measuring components are both arranged on the same side of the cleaning device body.

9. The cleaning device according to any one of claims 1 to 8, characterized in that The cleaning device further comprises an auxiliary cleaning component disposed on the cleaning device body; Along the height direction of the cleaning device, the first speed measuring component and the second speed measuring component are both higher or lower than the auxiliary cleaning component.

10. The cleaning device according to any one of claims 1 to 8, characterized in that The cleaning device includes a control unit disposed on the cleaning device body, the control unit being electrically connected to the first speed measuring component and the second speed measuring component and acquiring the movement speed of the cleaning device, and the control unit controlling the cleaning device to perform at least one of the following tasks based on the movement speed of the cleaning device: controlling at least one of the movement speed, movement direction, and movement distance of the cleaning device; When the cleaning device is in an obstacle avoidance state, determining whether an obstacle avoidance action corresponding to the obstacle avoidance state is executed; controlling the cleaning device to move within the target water area to construct a target water area map; Controlling the cleaning device to disengage or reporting the trapped state of the cleaning device; Control the cleaning device to disengage or report a slipping state of the cleaning device.

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