Swimming pool cleaning robot and control method thereof
By incorporating a resistance unit and an independently adjustable power unit into the pool cleaning robot, a diverse distribution of resultant force and torque is constructed, solving the problem of difficulty in turning in narrow areas for existing cleaning robots and achieving higher cleaning coverage and flexibility.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- YITUO ELECTRIC CO LTD
- Filing Date
- 2026-03-18
- Publication Date
- 2026-06-05
AI Technical Summary
Existing pool cleaning robots have difficulty maneuvering flexibly in narrow areas such as corners, near steps, and around drains, resulting in poor cleaning coverage.
By employing a drag unit and independently adjustable first and second power units, and controlling the magnitude and direction of drag and thrust, diverse resultant force and resultant torque distribution characteristics are constructed to achieve multiple motorized cleaning modes.
This improved the cleaning coverage of the pool cleaning robot, reduced blind spots, and enhanced cleaning effectiveness and flexibility.
Smart Images
Figure CN122148105A_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of pool cleaning technology, and in particular to a pool cleaning robot and its control method. Background Technology
[0002] Pool cleaning robots are efficient tools that can replace manual cleaning. They can automatically walk on the bottom and side walls of the pool to complete the cleaning work.
[0003] In related technologies, pool cleaning robots rely on wheeled or tracked structures to move. Due to the steering principle of wheeled or tracked structures, pool cleaning robots usually require a large turning radius and have difficulty turning flexibly in narrow areas such as pool corners, near steps, and around drains, which can easily leave cleaning blind spots and result in poor cleaning coverage. Summary of the Invention
[0004] The main objective of this invention is to propose a swimming pool cleaning robot and its control method, which aims to improve the cleaning coverage of the swimming pool cleaning robot.
[0005] To achieve the above objectives, the present invention proposes a control method for a pool cleaning robot. The pool cleaning robot includes a body, a resistance unit, and a power component. The resistance unit and the power component are respectively disposed at both ends of the body in the forward direction. The power component includes a first power unit and a second power unit that can independently adjust their output power. The first power unit and the second power unit are respectively disposed on both sides of the body in the transverse direction.
[0006] The control method includes the following steps: The resistance unit is controlled to generate resistance in a preset direction and magnitude; The first power unit and the second power unit are controlled to output a first thrust and a second thrust applied to the body, respectively. By adjusting the magnitude and / or direction of the first thrust and the second thrust, different resultant force and / or resultant torque distribution characteristics are constructed to drive the pool cleaning robot to perform multiple motorized cleaning modes.
[0007] In one embodiment, the drag unit is located at the front end of the fuselage, and the first power unit and the second power unit are symmetrically located at the rear end of the fuselage.
[0008] In one embodiment, the resistance unit is a roller brush, and / or, both the first power unit and the second power unit are water pumps.
[0009] In one embodiment, the multiple motorized cleaning modes include a stationary holding mode at the bottom of the pool, which allows the pool cleaning robot to be in the stationary holding mode by adjusting the magnitude and / or direction of the first thrust and the second thrust, including: adjusting the resultant force of the first thrust and the second thrust to be the same in magnitude and opposite in direction to the resistance.
[0010] In one embodiment, the multiple motorized cleaning modes include a stationary turning mode on the pool bottom wall, which allows the pool cleaning robot to be in the stationary turning mode by adjusting the magnitude and / or direction of the first thrust and the second thrust, including one of the following: Adjust the first thrust to 0, and adjust the magnitude of the second thrust to be the same as the magnitude of the resistance but opposite in direction; Adjust the second thrust to 0, and adjust the magnitude of the first thrust to be the same as the magnitude of the resistance but opposite in direction.
[0011] In one embodiment, the multiple motorized cleaning modes include an offset axis steering mode on the pool bottom wall, which enables the pool cleaning robot to operate in the offset axis steering mode by adjusting the magnitude and / or direction of the first thrust and the second thrust, including one of the following: Adjust the first thrust to 0, and adjust the second thrust to half the magnitude of the resistance and in the opposite direction; Adjust the second thrust to 0, and adjust the magnitude of the first thrust to 1 / 2 of the magnitude of the resistance and in the opposite direction.
[0012] In one embodiment, the multiple motorized cleaning modes include a cleaning mode for the pool sidewalls, wherein the pool cleaning robot is in the cleaning mode, and by adjusting the magnitude and / or direction of the first thrust and the second thrust, the following is included: By adjusting the magnitudes of the first thrust and the second thrust, the fuselage is tilted to a preset angle, and the resultant force of the first thrust, the second thrust, and the resistance is decomposed into a constraint force component in the vertical direction and a driving force component in the horizontal direction. The constraint force component is used to adjust the vertical position of the pool cleaning robot, and the driving force component is used to drive the pool cleaning robot to move along the horizontal direction.
[0013] In one embodiment, the working interface of the pool cleaning robot is the pool water level line; the resultant force of the constraint force component and the buoyancy force acting on the pool cleaning robot balances the weight of the pool cleaning robot.
[0014] In one embodiment, the resistance generated by the resistance unit is in the same direction as the first thrust and the second thrust.
[0015] The present invention also proposes a swimming pool cleaning robot, comprising: a body, a resistance unit, a power component, and a control module; the resistance unit is disposed at one end of the body in the forward direction; the power component is disposed at the other end of the body in the forward direction, and the power component includes a first power unit and a second power unit disposed on both sides in the transverse direction of the body; the control module includes: a memory, a processor, and a control program for the swimming pool cleaning robot stored in the memory and executable on the processor, the control program for the swimming pool cleaning robot being configured to implement the above-described control method for the swimming pool cleaning robot.
[0016] In the technical solution of the present invention, the control method can accurately construct diverse resultant force and resultant torque distribution characteristics by independently adjusting the magnitude and direction of the first and second thrusts on both sides and combining the synergistic effect of the front resistance, so as to drive the pool cleaning robot to perform multiple motor cleaning modes, which is beneficial to improve the cleaning coverage of the pool cleaning robot, reduce cleaning blind spots, and improve the cleaning effect of the pool. Attached Figure Description
[0017] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.
[0018] Figure 1 A flowchart of the control method for the pool cleaning robot provided by the present invention.
[0019] Figure 2 This is a structural schematic diagram of the pool cleaning robot provided by the present invention.
[0020] Figure 3 for Figure 2 A schematic diagram of the structure of the swimming pool cleaning robot in cleaning mode on the side wall of the pool.
[0021] Explanation of icon numbers: 10. Pool cleaning robot; 1. Fuselage; 2. Drag unit; 3. Power assembly; 31. First power unit; 32. Second power unit.
[0022] The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation
[0023] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.
[0024] It should be noted that if the embodiments of the present invention involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a specific posture. If the specific posture changes, the directional indicators will also change accordingly.
[0025] Furthermore, if the embodiments of this invention involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the use of "and / or" or "and / or" throughout the text includes three parallel solutions. For example, "A and / or B" includes solution A, solution B, or a solution where both A and B are satisfied simultaneously. Furthermore, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this invention.
[0026] This invention proposes a control method for a pool cleaning robot 10.
[0027] Please see Figures 1-3 In one embodiment of the present invention, the control method of the pool cleaning robot 10 is provided. The pool cleaning robot 10 includes a body 1, a resistance unit 2 and a power component 3. The resistance unit 2 and the power component 3 are respectively disposed at both ends of the body 1 in the forward direction. The power component 3 includes a first power unit 31 and a second power unit 32 that can independently adjust the output power. The first power unit 31 and the second power unit 32 are respectively disposed on both sides of the body 1 in the transverse direction. The control method includes the following steps: Step S1: Control the resistance unit 2 to generate a resistance f with a preset direction and magnitude; Step S2: Control the first power unit 31 and the second power unit 32 to output the first thrust F1 and the second thrust F2 applied to the body 1 respectively. By adjusting the magnitude and / or direction of the first thrust F1 and the second thrust F2, different resultant force and / or resultant torque distribution characteristics are constructed to drive the pool cleaning robot 10 to perform multiple motor cleaning modes.
[0028] It is understood that by separately positioning the resistance unit 2 and the power assembly 3 at opposite ends of the forward direction of the body 1, and by providing independently adjustable first power unit 31 and second power unit 32 on both lateral sides, the control method of the present invention can improve the maneuverability of the pool cleaning robot 10. The forward direction of the body 1 can be... Figure 2 In the forward and backward direction, the lateral direction of fuselage 1 can be... Figure 2 The left and right directions in the middle.
[0029] Specifically, the control method, by independently adjusting the magnitude and direction of the first thrust F1 and the second thrust F2 on both sides, and combining the synergistic effect of the front resistance f, can accurately construct diverse resultant force and resultant torque distribution characteristics. This allows the pool cleaning robot 10 to achieve a variety of complex motion modes in a limited space without a complex mechanical steering structure, such as straight-line movement, turning around different axes (including turning in place), and curved movement along a specific path. This can effectively improve the pool cleaning robot 10's passability and edge cleaning ability in complex pool contours (such as steps, slopes, and irregular corners), which is conducive to improving the cleaning coverage of the pool cleaning robot 10, reducing cleaning blind spots, and improving the cleaning effect of the pool.
[0030] In the technical solution of the present invention, the control method can accurately construct diverse resultant force and resultant torque distribution characteristics by independently adjusting the magnitude and direction of the first thrust F1 and the second thrust F2 on both sides, and combined with the synergistic effect of the front resistance f, so as to drive the pool cleaning robot 10 to perform multiple motor cleaning modes, which is beneficial to improve the cleaning coverage of the pool cleaning robot 10, reduce cleaning blind spots, and improve the cleaning effect on the pool.
[0031] Please see Figure 2 and Figure 3 In an embodiment of the present invention, the drag unit 2 is disposed at the front end of the fuselage 1, and the first power unit 31 and the second power unit 32 are symmetrically disposed at the rear end of the fuselage 1.
[0032] It is understandable that when the first thrust F1 output by the first power unit 31 and the second thrust F2 output by the second power unit 32 are equal in magnitude and in the same direction, the fuselage 1 can be subjected to a balanced driving force in the lateral direction of the fuselage 1 due to the symmetrical distribution of the first power unit 31 and the second power unit 32. This reduces the offset of the fuselage 1 caused by the imbalance of power on both sides of the fuselage 1, thereby helping to ensure the stability of straight-line driving.
[0033] When a turning operation is required, the magnitude of the first thrust F1 output by the first power unit 31 and the second thrust F2 output by the second power unit 32 can be independently adjusted to form a thrust difference at the rear end of the body 1. Combined with the reverse resistance f provided by the resistance unit 2 at the front end of the body 1, a larger turning torque can be generated, making the turning response of the pool cleaning robot 10 more sensitive and precise.
[0034] In an embodiment of the present invention, the resistance unit 2 is a roller brush, and / or the first power unit 31 and the second power unit 32 are both water pumps. That is, the resistance unit 2 is a roller brush, or the first power unit 31 and the second power unit 32 are both water pumps, or the resistance unit 2 is a roller brush, and the first power unit 31 and the second power unit 32 are both water pumps.
[0035] Understandably, the roller brush, acting as resistance unit 2, contacts the pool wall during the movement of the pool cleaning robot 10. Its rotation not only performs preliminary cleaning and collection of dirt and hair from the pool bottom, but also generates resistance f through friction with the pool wall. The magnitude of resistance f can be preset by adjusting parameters such as the roller brush's rotation speed or the material and density of the bristles, thus providing a reliable basis for the motion control of the pool cleaning robot 10. Specifically, the roller brush can be controlled to rotate forward to generate resistance f in the pool cleaning direction, or to rotate backward to generate resistance f in the opposite direction.
[0036] The first power unit 31 and the second power unit 32 are water pumps, which can utilize the reaction force of the water flow generated when the water pumps are working as the driving force. Specifically, the water pumps draw water from the pool and then spray it out in a preset direction, thereby generating thrust to move the robot body 1. The output power of the water pumps can be precisely adjusted by controlling its motor speed, which is beneficial for independently and accurately adjusting the magnitude of the first thrust F1 and the second thrust F2, and for reliably adjusting the motion posture and trajectory of the pool cleaning robot 10.
[0037] In this embodiment, the combined application of the roller brush and the water pump enables the pool cleaning robot 10 to have a high-efficiency and controllable power system while having cleaning functions, so as to realize multiple motorized cleaning modes of the pool cleaning robot 10.
[0038] In other embodiments of the present invention, the resistance unit 2, the first power unit 31, and the second power unit 32 can all be propellers. The propeller serving as the resistance unit 2 can generate a resistance f of a preset direction and magnitude by adjusting its rotation direction and speed. Similarly, the propellers serving as the first power unit 31 and the second power unit 32 can output a first thrust F1 and a second thrust F2 of different magnitudes and directions by controlling their speed and direction, so as to meet the power requirements of the pool cleaning robot 10 in different motorized cleaning modes.
[0039] In embodiments of the present invention, multiple motorized cleaning modes include a stationary holding mode at the bottom of the pool, which allows the pool cleaning robot 10 to be in a stationary holding mode. This is achieved by adjusting the magnitude and / or direction of the first thrust F1 and the second thrust F2, including adjusting the resultant force of the first thrust F1 and the second thrust F2 to be the same in magnitude and opposite in direction to the resistance f.
[0040] Understandably, the resultant force of the first thrust F1 and the second thrust F2 cancels out the resistance f, and the pool cleaning robot 10 stays on the bottom wall of the pool under its own gravity G, realizing the static holding mode of the pool cleaning robot 10 on the bottom wall of the pool. This enables precise fixed-point cleaning. For example, for stubborn stains or specific areas on the bottom wall of the pool, the pool cleaning robot 10 can stay stably and concentrate on cleaning operations, thereby improving the cleaning quality.
[0041] Among them, the resistance unit 2 can be a roller brush, which can generate a phase resistance f by controlling the roller brush to reverse, thereby counteracting the resultant force of the first thrust F1 and the second thrust F2, and realizing the static holding mode of the body 1 on the bottom wall of the pool.
[0042] In embodiments of the present invention, multiple motorized cleaning modes include a stationary turning mode on the pool bottom wall, which allows the pool cleaning robot 10 to be in a stationary turning mode by adjusting the magnitude and / or direction of the first thrust F1 and the second thrust F2, including one of the following: Adjust the first thrust F1 to 0, and adjust the second thrust F2 to be the same as the magnitude of the resistance f but opposite in direction; Adjust the second thrust F2 to 0, and adjust the magnitude of the first thrust F1 to be the same as the magnitude of the resistance f but in the opposite direction.
[0043] In some implementations, to enable the pool cleaning robot 10 to be in a stationary turning mode, the magnitude and / or direction of the first thrust F1 and the second thrust F2 are adjusted, including: adjusting the first thrust F1 to 0, and adjusting the magnitude of the second thrust F2 to be the same as the magnitude of the resistance f and the opposite in direction.
[0044] It is understandable that the resultant force on the side of the body 1 located on the first power unit 31 is half the resistance f and directed backward. The resultant force on the side of the body 1 located on the second power unit 32 is also half the resistance f, but directed forward. This causes the pool cleaning robot 10 to experience a counterclockwise force with the center of the body 1 as the fulcrum, a lever arm length of half the distance between the first power unit 31 and the second power unit 32, and a resultant force of f. Figure 2 The rotational torque (in the direction of b) can drive the pool cleaning robot 10 to rotate counterclockwise around the center of the body 1, thereby enabling the pool cleaning robot 10 to turn in place on the bottom wall of the pool. By turning in place, the turning radius of the pool cleaning robot 10 can be reduced, so that the pool cleaning robot 10 can flexibly adjust its orientation in a narrow space, and the risk of blind spots caused by excessive turning radius can be reduced, thereby improving the cleaning coverage and operational flexibility of the pool cleaning robot 10.
[0045] In other embodiments, to enable the pool cleaning robot 10 to be in a stationary turning mode, the magnitude and / or direction of the first thrust F1 and the second thrust F2 are adjusted, including: adjusting the second thrust F2 to 0, and adjusting the magnitude of the first thrust F1 to be the same as the magnitude of the resistance f and the opposite direction.
[0046] It is understandable that the resultant force on the side of the body 1 located on the first power unit 31 is half the resistance f and is directed forward. The resultant force on the side of the body 1 located on the second power unit 32 is also half the resistance f, but directed backward. This causes the pool cleaning robot 10 to experience a clockwise force with the center of the body 1 as the fulcrum, a lever arm length of half the distance between the first power unit 31 and the second power unit 32, and a resultant force of f. Figure 2 The rotational torque in the direction of (a) can drive the pool cleaning robot 10 to rotate clockwise around the center of the body 1, thereby realizing the in-situ turning mode of the pool cleaning robot 10 on the bottom wall of the pool. By turning in place, the turning radius of the pool cleaning robot 10 can be reduced, so that the pool cleaning robot 10 can flexibly adjust its orientation in a narrow space, and the risk of blind spots caused by excessive turning radius can be reduced, thereby improving the cleaning coverage and operational flexibility of the pool cleaning robot 10.
[0047] In this embodiment, through the two adjustment methods described above, the pool cleaning robot 10 can flexibly choose a clockwise or counterclockwise turning direction in place according to actual cleaning needs. In practical applications, when the pool cleaning robot 10 detects an obstacle ahead or needs to change its cleaning path, it can activate the in-place turning mode to complete the orientation adjustment with almost no change in its own position. This reduces the risk of collisions with the pool wall or other objects that may occur due to an excessively large turning radius, thus improving the operational safety of the pool cleaning robot 10.
[0048] In embodiments of the present invention, multiple motorized cleaning modes include an offset axis steering mode on the pool bottom wall, which enables the pool cleaning robot 10 to be in the offset axis steering mode by adjusting the magnitude and / or direction of the first thrust F1 and the second thrust F2, including one of the following: Adjust the first thrust F1 to 0, and adjust the second thrust F2 to half the magnitude of the resistance f and in the opposite direction; Adjust the second thrust F2 to 0, and adjust the magnitude of the first thrust F1 to 1 / 2 of the magnitude of the resistance f and in the opposite direction.
[0049] In some embodiments, to enable the pool cleaning robot 10 to be in an offset axis steering mode, by adjusting the magnitude and / or direction of the first thrust F1 and the second thrust F2, the following is included: adjusting the first thrust F1 to 0, and adjusting the magnitude of the second thrust F2 to 1 / 2 of the magnitude of the resistance f and in the opposite direction.
[0050] It is understandable that the resultant force on the side of the body 1 located on the first power unit 31 is half of the resistance f and is directed backward. The body 1 located on the side of the second power unit 32 is in equilibrium and tends to be stationary. This allows the pool cleaning robot 10 to be subjected to a counterclockwise rotational torque with the side of the body 1 located on the second power unit 32 as the fulcrum, the lever arm length being the distance between the first power unit 31 and the second power unit 32, and the resultant force being f / 2. This can drive the pool cleaning robot 10 to make a counterclockwise turn with the side of the body 1 located on the second power unit 32 as the origin, with a radius equal to the distance between the first power unit 31 and the second power unit 32. This enables the pool cleaning robot 10 to achieve an offset axis turning mode on the bottom wall of the pool. It can complete the turning action while maintaining a certain movement trend and can achieve a small radius turn. It is suitable for scenarios where the cleaning direction needs to be adjusted during movement, such as when cleaning along the edge of the pool or avoiding obstacles in the middle. The offset axis turning mode can achieve smooth arc turning, reduce path interruption, and improve cleaning efficiency.
[0051] In other embodiments, to put the pool cleaning robot 10 in an offset axis steering mode, by adjusting the magnitude and / or direction of the first thrust F1 and the second thrust F2, the following is included: adjusting the second thrust F2 to 0, and adjusting the magnitude of the first thrust F1 to 1 / 2 of the magnitude of the resistance f and in the opposite direction.
[0052] It is understandable that the body 1, located on one side of the first power unit 31, is in equilibrium and tends to be stationary. The resultant force on the body 1, located on the side of the second power unit 32, is half the resistance f and is directed backward. This causes the pool cleaning robot 10 to be subjected to a clockwise rotational torque with the body 1 located on the side of the first power unit 31 as the fulcrum, the lever arm length being the distance between the first power unit 31 and the second power unit 32, and the resultant force being f / 2. This can drive the pool cleaning robot 10 to make a clockwise turn with the body 1 located on the side of the first power unit 31 as the origin, with a radius equal to the distance between the first power unit 31 and the second power unit 32. This enables the pool cleaning robot 10 to achieve an offset axis steering mode on the bottom wall of the pool. It can complete the turning action while maintaining a certain movement trend and can achieve a small radius turn. It is suitable for scenarios where the cleaning direction needs to be adjusted during movement, such as when cleaning along the edge of the pool or avoiding obstacles in the middle. The offset axis steering mode can achieve smooth arc turning, reduce path interruption, and improve cleaning efficiency.
[0053] In this embodiment, through the two adjustment methods described above, the pool cleaning robot 10 can flexibly select the clockwise or counterclockwise offset axis turning direction according to the actual cleaning needs, and can switch the turning direction in complex pool environments, which is conducive to accurately adapting to the cleaning path planning of different areas.
[0054] Please see Figure 3 In embodiments of the present invention, multiple motorized cleaning modes include a cleaning mode for the sidewalls of the pool, which enables the pool cleaning robot 10 to be in the cleaning mode. By adjusting the magnitude and / or direction of the first thrust F1 and the second thrust F2, the following steps are taken: by adjusting the magnitude of the first thrust F1 and the second thrust F2, the body 1 is tilted to a preset angle, and the resultant force of the first thrust F1, the second thrust F2 and the resistance f is decomposed into a constraint force component Fy in the vertical direction and a driving force component Fx in the horizontal direction; the constraint force component Fy is used to adjust the height position of the pool cleaning robot 10 in the vertical direction, and the driving force component Fx is used to drive the pool cleaning robot 10 to move in the horizontal direction.
[0055] Understandably, when the pool cleaning robot 10 is working close to the pool sidewall, the body 1 can be tilted to a preset angle by adjusting the magnitudes of the first thrust F1 and the second thrust F2. At this time, the resultant force of the first thrust F1, the second thrust F2, and the resistance f is decomposed into a constraint force component Fy in the vertical direction and a driving force component Fx in the horizontal direction. When the resultant force of the constraint force component Fy and the buoyancy F_buoyancy acting on the pool cleaning robot 10 balances the gravity G, the pool cleaning robot 10 can be suspended at a specified height on the pool sidewall, and the driving force component Fx drives the robot. The pool cleaning robot 10 moves horizontally along the side wall of the pool, enabling lateral cleaning of the pool side wall. When the resultant force of the constraint force component Fy and the buoyancy force Fbuoyancy acting on the pool cleaning robot 10 is upward and less than the gravity G, the pool cleaning robot 10 will sink. When the resultant force of the constraint force component Fy and the buoyancy force Fbuoyancy acting on the pool cleaning robot 10 is upward and greater than the gravity G, the pool cleaning robot 10 will float. This allows adjustment of the vertical position of the pool cleaning robot 10 on the side wall, enabling comprehensive cleaning of different height areas of the pool side wall.
[0056] The first power unit 31 and the second power unit 32 can both be water pumps. The magnitude of the first thrust F1 and the second thrust F2 can be adjusted by adjusting the rotation speed of the first power unit 31 and the second power unit 32. This allows for precise adjustment of the constraint force component Fy and the driving force component Fx. Through differential speed control, the body 1 can be tilted to a preset angle. The first power unit 31 and the second power unit 32 can be located on the left and right sides of the body 1, respectively. When the first thrust F1 is greater than the second thrust F2, the body 1 tilts to the right, and the driving force component Fx is directed to the right, which can drive the pool cleaning robot 10 to move laterally to the right along the pool sidewall. When the first thrust F1 is less than the second thrust F2, the body 1 tilts to the left, and the driving force component Fx is directed to the left, which can drive the pool cleaning robot 10 to move laterally to the left along the pool sidewall, thereby achieving bidirectional cleaning of the pool sidewall.
[0057] In an embodiment of the present invention, the working interface of the pool cleaning robot 10 is the pool water level line, and the resultant force of the constraint force component Fy and the buoyancy Fbuoyancy acting on the pool cleaning robot 10 balances the gravity G of the pool cleaning robot 10.
[0058] Understandably, in the vertical direction, the pool cleaning robot 10 is in force balance, allowing it to suspend at the waterline height. In the horizontal direction, the driving force component Fx propels the robot 10 to move along the pool waterline, enabling continuous cleaning of the waterline area and precise removal of dirt. This allows the robot to clean the waterline on the pool sidewall in a single pass, avoiding the need for repeated up-and-down movements to clean the waterline area. This significantly improves cleaning efficiency and extends the robot's battery life.
[0059] Please see Figure 3 In an embodiment of the present invention, the resistance f generated by the resistance unit 2 is in the same direction as the first thrust F1 and the second thrust F2.
[0060] It is understandable that the vertical component of the resistance f generated by the resistance unit 2 is opposite to the direction of the gravity G of the pool cleaning robot 10, and is used to partially offset the gravity G. This reduces the demand on the first thrust F1 output by the first power unit 31 and the second thrust F2 output by the second power unit 32, thereby reducing the power of the first power unit 31 and the second power unit 32, and thus reducing the overall energy consumption of the pool cleaning robot 10, which is beneficial to improving the battery life of the pool cleaning robot 10.
[0061] The present invention also proposes a swimming pool cleaning robot 10, comprising: a body 1, a resistance unit 2, a power component 3, and a control module; the resistance unit 2 is disposed at one end of the body 1 in the forward direction; the power component 3 is disposed at the other end of the body 1 in the forward direction, and the power component 3 includes a first power unit 31 and a second power unit 32 disposed on both sides of the body 1 in the transverse direction; the control module includes: a memory, a processor, and a control program for the swimming pool cleaning robot 10 stored in the memory and executable on the processor, the control program for the swimming pool cleaning robot 10 being configured to implement the control method of the swimming pool cleaning robot 10 described in the above embodiments.
[0062] It is understandable that by placing the resistance unit 2 at one end of the body 1 in the forward direction, and the first power unit 31 and the second power unit 32 laterally positioned on both sides of the other end of the body 1, a power and resistance system f can be formed, providing a hardware foundation for realizing various mobile cleaning modes. The control module can precisely regulate the output of the first power unit 31 and the second power unit 32 by running a control program, based on preset logic or real-time detection data, thereby coordinating the resistance f generated by the resistance unit 2. This enables the switching and execution of various modes such as stationary holding, in-situ turning, offset axis turning, and sidewall cleaning, ensuring that the pool cleaning robot 10 can efficiently and flexibly complete the cleaning tasks of various areas of the pool. The first power unit 31 and the second power unit 32 can be located at the rear end of the body 1, or at the upper rear end of the body 1, or at the lower rear end of the body 1; no limitation is made here.
[0063] In the technical solution of this invention, the pool cleaning robot 10 is based on a dual-pump propulsion architecture, which has the advantages of simple transmission structure, high motor efficiency, and strong obstacle-crossing ability. It eliminates the need for additional gearboxes or complex transmission components, effectively reducing the mechanical failure rate and improving the stability and reliability of equipment operation. Simultaneously, the independent control design of the dual pumps allows the first power unit 31 and the second power unit 32 to quickly respond and output differentiated thrust according to the needs of different cleaning modes. This enables precise control of the pool cleaning robot 10's posture and movement trajectory, allowing it to smoothly enter narrow areas such as pool corners and steps for cleaning, reducing blind spots and improving the cleaning effect on the pool.
[0064] The above description is merely an exemplary embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structural transformations made using the contents of the present invention specification and drawings under the technical concept of the present invention, or direct / indirect applications in other related technical fields, are included within the patent protection scope of the present invention.
Claims
1. A control method for a swimming pool cleaning robot, characterized in that, The pool cleaning robot includes a body, a resistance unit, and a power component. The resistance unit and the power component are respectively located at both ends of the body in the forward direction. The power component includes a first power unit and a second power unit that can independently adjust their output power. The first power unit and the second power unit are respectively located on both sides of the body in the transverse direction. The control method includes the following steps: The resistance unit is controlled to generate resistance in a preset direction and magnitude; The first power unit and the second power unit are controlled to output a first thrust and a second thrust applied to the body, respectively. By adjusting the magnitude and / or direction of the first thrust and the second thrust, different resultant force and / or resultant torque distribution characteristics are constructed to drive the pool cleaning robot to perform multiple motorized cleaning modes.
2. The control method for the pool cleaning robot as described in claim 1, characterized in that, The drag unit is located at the front end of the fuselage, and the first power unit and the second power unit are symmetrically arranged at the rear end of the fuselage.
3. The control method for the pool cleaning robot as described in claim 2, characterized in that, The resistance unit is a roller brush, and / or the first power unit and the second power unit are both water pumps.
4. The control method for the pool cleaning robot as described in claim 2, characterized in that, The multiple motorized cleaning modes include a stationary holding mode on the pool bottom wall, which allows the pool cleaning robot to be in the stationary holding mode by adjusting the magnitude and / or direction of the first thrust and the second thrust, including: The resultant force of the first thrust and the second thrust is adjusted to be the same in magnitude and opposite in direction to the resistance.
5. The control method for the pool cleaning robot as described in claim 2, characterized in that, The multiple motorized cleaning modes include a stationary turning mode on the pool bottom wall, which allows the pool cleaning robot to be in the stationary turning mode by adjusting the magnitude and / or direction of the first and second thrusts, including one of the following: Adjust the first thrust to 0, and adjust the magnitude of the second thrust to be the same as the magnitude of the resistance but opposite in direction; Adjust the second thrust to 0, and adjust the magnitude of the first thrust to be the same as the magnitude of the resistance but opposite in direction.
6. The control method for the pool cleaning robot as described in claim 2, characterized in that, The multiple motorized cleaning modes include an offset axis steering mode on the pool bottom wall, which allows the pool cleaning robot to operate in this mode by adjusting the magnitude and / or direction of the first and second thrusts, including one of the following: Adjust the first thrust to 0, and adjust the second thrust to half the magnitude of the resistance and in the opposite direction; Adjust the second thrust to 0, and adjust the magnitude of the first thrust to 1 / 2 of the magnitude of the resistance and in the opposite direction.
7. The control method for the pool cleaning robot as described in claim 1, characterized in that, The multiple motorized cleaning modes include a cleaning mode for the pool sidewalls, used to position the pool cleaning robot in this cleaning mode, by adjusting the magnitude and / or direction of the first and second thrusts, including: By adjusting the magnitudes of the first thrust and the second thrust, the fuselage is tilted to a preset angle, and the resultant force of the first thrust, the second thrust, and the resistance is decomposed into a constraint force component in the vertical direction and a driving force component in the horizontal direction. The constraint force component is used to adjust the vertical position of the pool cleaning robot, and the driving force component is used to drive the pool cleaning robot to move along the horizontal direction.
8. The control method for the pool cleaning robot as described in claim 7, characterized in that, The working interface of the pool cleaning robot is the pool water level line; The resultant force of the constraint force component and the buoyancy force acting on the pool cleaning robot balances the weight of the pool cleaning robot.
9. The control method for the pool cleaning robot as described in claim 7, characterized in that, The resistance generated by the resistance unit is in the same direction as the first thrust and the second thrust.
10. A swimming pool cleaning robot, characterized in that, include: body; A drag unit is located at one end of the fuselage in the forward direction. The power assembly, located at the other end of the fuselage in the forward direction, includes a first power unit and a second power unit disposed on both sides in the transverse direction of the fuselage; A control module, comprising: a memory, a processor, and a control program for a pool cleaning robot stored in the memory and executable on the processor, the control program for the pool cleaning robot being configured to implement the control method for the pool cleaning robot as described in any one of claims 1 to 9.