Swimming pool cleaning robot, control method, control device, medium and product

Abstract

Embodiments of the present application provide a pool cleaning robot, a control method, a control device, a medium and a product. The method includes responding to a water surface cleaning instruction. The inflation assembly is controlled to inflate at least one air bag to expand the air bag from a storage state to a working state; and the body is controlled to move to guide the garbage to the garbage inlet through the air bag in the working state. During the cleaning process, the air bag is not easy to generate a large water wave and is not easy to push the garbage far away, which is conducive to the garbage entering the garbage inlet, thereby improving the cleaning efficiency. When the air bag is in the storage state, the space occupied by the air bag can be reduced.

Description

Technical Field

[0001] This application relates to the field of swimming pool cleaning technology, and in particular to a swimming pool cleaning robot, control method, control device, medium and product. Background Technology

[0002] Pool cleaning robots, such as surface and underwater integrated robots or surface cleaning robots, are cleaning devices that are independent of the pool's main circulation system, have their own power and intelligent control, and can automatically clean the water surface.

[0003] In related technologies, a pool cleaning robot includes a body, a waste inlet, and two deflectors. The waste inlet is located on and connected to the body, and the two deflectors are located on both sides of the waste inlet. By controlling the rolling of the deflectors, the waste is gathered and thus enters the waste inlet.

[0004] However, the blades of the deflector tend to generate large ripples on the water surface, which can push smaller, lighter debris to the sides, resulting in low cleaning efficiency. Summary of the Invention

[0005] This application provides a swimming pool cleaning robot, control method, control device, medium, and product to improve water surface cleaning efficiency.

[0006] In a first aspect, embodiments of this application provide a control method for a swimming pool cleaning robot. The swimming pool cleaning robot includes a body, an inflation assembly, and at least one airbag. A waste inlet is provided on the front side of the body. The inflation assembly is connected to the external environment of the body and the airbag respectively. At least one airbag is located on at least one side of the waste inlet along the left and right axis of the body. The airbag has a retracted state and a working state.

[0007] The methods include:

[0008] Responding to instructions for surface cleaning;

[0009] The inflation assembly is controlled to inflate at least one airbag, so that the airbag is deployed from the retracted state to the working state; and the body is controlled to move so that the waste is guided to the waste inlet through the airbag in the working state.

[0010] In this embodiment, the flexible boundary formed by the airbags during operation reduces the lateral dispersion of debris. When the machine moves forward, the airbags on either side or one side effectively form a wide guiding edge on the water surface. Floating debris, upon contacting the outer surface of the airbags, is not subjected to high-frequency local disturbances similar to rigid water-repelling blades, but rather deflects along the airbag surface towards the debris inlet under relatively gentle water flow changes. Thus, during cleaning, compared to the control wheel rolling for debris guidance in related technologies, the airbags are less likely to generate large water waves, making it less likely to push debris away, which facilitates debris entering the debris inlet, thereby improving cleaning efficiency. When the airbags are in the retracted state, the space occupied by the airbags is reduced.

[0011] In one possible implementation, controlling the inflation assembly to inflate at least one airbag to deploy the airbag from a retracted state to a working state; and controlling the movement of the fuselage, including:

[0012] Control the body to move along the edge of the obstacle, and control the inflation assembly to inflate an airbag on the side away from the obstacle.

[0013] In this embodiment, when the robot moves along the edge of an obstacle, the airbags on the side furthest from the obstacle form a relatively outward-spreading guide surface, causing floating debris to gradually converge towards the debris inlet under the combined propulsive action of the robot's forward movement and the lateral pushing action of the airbags. Meanwhile, the airbags on the side closer to the obstacle remain contained, thereby reducing the probability of contact with the obstacle and lowering the risk of edge jamming. If both airbags are in operation, the robot cannot get close to the obstacle (such as the pool wall), and the airbags close to the obstacle are prone to causing suspended debris to accumulate near the wall, affecting the cleaning effect of the pool cleaning robot.

[0014] In one possible implementation, controlling the inflation assembly to inflate an airbag on the side furthest from the obstacle includes:

[0015] When there is only one airbag, control the movement of the machine body so that the airbag is located on the side away from the obstacle, and control the inflation component to inflate the airbag.

[0016] Alternatively, when there are two airbags, the inflation assembly is controlled to inflate one airbag on the side away from the obstacle, and the inflation assembly is controlled to de-inflate or deflate the other airbag on the side closer to the obstacle. The two airbags are located on both sides of the garbage inlet along the left and right axis of the machine body.

[0017] In this embodiment of the application, for robots equipped with different numbers of airbags, the waste on the side away from the obstacle is guided by differentiated inflation and deflation.

[0018] In one possible implementation, the pool cleaning robot includes a detection component configured to detect the distance between the robot body and an obstacle.

[0019] In response to the water surface cleaning order, the following also includes:

[0020] The control and detection components detect the distance between the aircraft body and obstacles;

[0021] If the distance between the fuselage and the obstacle is not less than the preset value, the inflation component is controlled to inflate the airbag so that the airbag is deployed from the retracted state to the working state.

[0022] If the distance between the robot body and the obstacle is less than a preset value, the robot body will be controlled to move so that the distance between the robot body and the obstacle is not less than the preset value.

[0023] In this embodiment, the robot can switch the state of the airbag while ensuring its safe deployment, thereby completing the water surface cleaning operation and reducing the risk of collision, jamming, and component damage caused by obstacles during the deployment of the airbag.

[0024] In one possible implementation, the pool cleaning robot includes a detection component configured to detect the distance between the robot body and an obstacle.

[0025] The system controls the inflation assembly to inflate at least one airbag, causing the airbag to deploy from a retracted state to a working state; and controls the movement of the machine body to guide waste through the working airbag to the waste inlet. The system further includes:

[0026] The control and detection components detect the distance between the aircraft body and obstacles;

[0027] If the distance between the device and the obstacle is less than a preset value, the inflation component is controlled to deflate the airbag so that the airbag retracts from the working state to the retracted state.

[0028] In this embodiment, the airbag remains operational when away from obstacles to form a stable waste flow path, and retracts promptly when approaching obstacles to prevent the outward expansion of the airbag from colliding, scratching, or getting stuck with the pool wall or boundary components. This improves operational safety in boundary environments while maintaining waste collection efficiency, reduces wear on the airbag and body components, and ultimately enhances the continuous operational stability and service life of the pool cleaning robot.

[0029] In one possible implementation, there are two airbags, located on either side of the waste inlet along the left-right axis of the machine body.

[0030] The detection component is configured to detect a first distance between an obstacle and a first side of the fuselage along the left-right axis of the fuselage, and a second distance between an obstacle and a second side of the fuselage along the left-right axis of the fuselage;

[0031] If the first distance is less than the preset value, the inflation component is controlled to deflate the airbag on the first side of the body along the left and right axis of the body, so that the airbag retracts from the working state to the storage state.

[0032] If the second distance is less than the preset value, the inflation component is controlled to deflate the airbag on the second side of the body along the left and right axis of the body, so that the airbag retracts from the working state to the stored state.

[0033] In this embodiment, when the robot approaches a pool wall, steps, or other obstacles, the corresponding airbags can be retracted on both sides according to the actual distance between the left and right sides, thereby preventing the outward expansion of the airbags from colliding with or being squeezed by the obstacles on the sides. At the same time, in some cases, the guiding function of the other airbag can be retained, so that the robot can still maintain its ability to collect floating debris in a confined space.

[0034] In one possible implementation, there are two airbags, located on either side of the waste inlet along the left-right axis of the machine body.

[0035] The detection component is configured to detect a third distance between the front of the machine body and an obstacle;

[0036] If the third distance is less than the preset value, the inflation component is controlled to deflate the two airbags.

[0037] In this embodiment, by detecting the distance to the front of the robot body and simultaneously venting air when the distance is too small, the robot can promptly reduce the protruding front structure when approaching the pool wall, steps, or other obstacles, thus maintaining higher mobility and safety.

[0038] In one possible implementation, the pool cleaning robot includes a detection component configured to detect the distance between the robot body and an obstacle.

[0039] The system controls the inflation assembly to inflate at least one airbag, causing the airbag to deploy from a retracted state to a working state; and controls the movement of the machine body to guide waste through the working airbag to the waste inlet. The system further includes:

[0040] The control and detection components detect the distance between the aircraft body and obstacles;

[0041] If the distance between the robot body and the obstacle is less than the braking distance of the pool cleaning robot, the airbag will remain in working condition.

[0042] In this embodiment, during the movement of the robot body, the control device continuously receives distance information fed back by the detection component. When the distance is less than the braking distance, the control device does not allow the inflation component to deflate, but maintains the working state of the airbag, causing the airbag to collide with the obstacle, reducing the robot's moving speed, thereby effectively avoiding the force of the robot body colliding with the obstacle and protecting the robot body.

[0043] In one possible implementation, if the distance between the fuselage and the obstacle is less than a preset value, the inflation assembly is controlled to deflate the airbag, causing the airbag to retract from its working state to its retracted state. Following this, the system further includes:

[0044] The control and detection components detect the distance between the aircraft body and obstacles;

[0045] If the distance between the fuselage and the obstacle is not less than a preset value, the inflation component is controlled to inflate the airbag so that the airbag is deployed from the retracted state to the working state.

[0046] In this embodiment, the airbag can contract promptly upon approaching an obstacle and re-deploy after the safe distance is restored. This ensures the robot's maneuverability in complex boundary environments while allowing the airbag to continuously perform its waste-gathering function at appropriate times. This reduces the probability of interference between the airbag and obstacles, minimizes the risk of component damage, and improves the robot's cleaning continuity and waste-guiding efficiency after moving along pool walls or around obstacles.

[0047] In one possible implementation, the inflation assembly is controlled to inflate at least one airbag, causing the airbag to deploy from a retracted state to a working state; and the machine body is controlled to move so that waste is guided through the working airbag to the waste inlet, prior to which the following steps are also included:

[0048] Control the pool cleaning robot to move from underwater to the surface.

[0049] In this embodiment, deploying the airbags after surfacing underwater ensures that the airbags are positioned correctly to match the floating debris, reducing ineffective inflation and attitude disturbances, and improving the efficiency of debris collection towards the inlet. Simultaneously, the robot's surfacing before entering the surface cleaning state avoids premature airbag deployment underwater, which could lead to water pressure interference, reducing the risk of uneven structural stress and increased energy consumption. This, in turn, improves the stability, continuity, and debris collection efficiency of the surface cleaning operation.

[0050] In one possible implementation, it includes:

[0051] Responding to the instruction that the water surface cleaning is complete;

[0052] Control the inflation component to deflate the airbag, so that the airbag retracts from the working state to the retracted state.

[0053] After receiving the cleaning completion signal, the robot sends an exhaust control command to the inflation component, causing the airbag to gradually return from the working state to the retracted state. After the airbag is retracted, its area occupied on the water surface is reduced, making the robot more suitable for leaving the working area or performing subsequent maintenance operations. At the same time, it also reduces the probability of the airbag being exposed to the outside and suffering from collisions, compression, or contamination.

[0054] Secondly, this application provides a control device for a pool cleaning robot. The pool cleaning robot includes a body, an inflation assembly, and at least one airbag. A waste inlet is provided on the front side of the body. The inflation assembly is connected to the external environment of the body and the airbag respectively. At least one airbag is located on at least one side of the waste inlet along the left and right axis of the body.

[0055] The control device includes:

[0056] The response module is used to respond to commands for water surface cleaning;

[0057] The control module is used to control the inflation assembly to inflate at least one airbag so that the airbag is deployed from the retracted state to the working state; and to control the movement of the machine body so that the waste is guided to the waste inlet through the airbag in the working state.

[0058] Thirdly, embodiments of this application provide a swimming pool cleaning robot device, comprising:

[0059] Memory;

[0060] processor;

[0061] The memory stores the instructions executed by the computer.

[0062] The processor executes computer-executable instructions stored in memory to implement the method provided in the first aspect.

[0063] Fourthly, embodiments of this application provide a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, are used to implement the method provided in the first aspect.

[0064] Fifthly, embodiments of this application provide a computer program product, including a computer program that, when executed by a processor, implements the method provided in the first aspect. Attached Figure Description

[0065] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0066] Figure 1 A top view of the airbags of the pool cleaning robot provided in this application when they are in working condition;

[0067] Figure 2 A front view of the pool cleaning robot provided in this application when its airbags are in operation;

[0068] Figure 3 A schematic diagram of the airbag of the pool cleaning robot provided in this application in a retracted state;

[0069] Figure 4 The control principle diagram of the pool cleaning robot provided in this application;

[0070] Figure 5 This is a schematic diagram of the control process of the pool cleaning robot provided in this application;

[0071] Figure 6 A schematic diagram of the control device provided in this application;

[0072] Figure 7 A schematic diagram of the memory and processor in the pool cleaning robot provided in this application.

[0073] Explanation of reference numerals in the attached figures:

[0074] 100 - Fuselage; 110 - Waste inlet; 120 - Reception cavity; 130 - Memory; 140 - Processor; 150 - Communication components;

[0075] 200-airbag;

[0076] 300-Limiting Structure;

[0077] 400 - Inflatable component;

[0078] 500-Detection Components;

[0079] 600 - Control device; 610 - Response module; 620 - Control module.

[0080] The accompanying drawings illustrate specific embodiments of this application, which will be described in more detail below. These drawings and descriptions are not intended to limit the scope of the concept in any way, but rather to illustrate the concept of this application to those skilled in the art through reference to particular embodiments. Detailed Implementation

[0081] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0082] It should be noted that the brief descriptions of terms in this application are only for the convenience of understanding the embodiments described below, and are not intended to limit the embodiments of this application. Unless otherwise stated, these terms should be understood in their ordinary and common meaning.

[0083] Furthermore, the terms “comprising” and “having”, and any variations thereof, are intended to cover but not exclusively include, for example, a product or device that includes a series of components is not necessarily limited to those that are explicitly listed, but may include other components that are not explicitly listed or that are inherent to such product or device.

[0084] In the description of this application, it should be understood that the terms "center", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0085] The terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, unless otherwise stated, "a plurality of" means two or more.

[0086] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection between two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0087] In related technologies, waste is gathered by controlling the rolling of a deflector. However, the deflector blades easily generate large water waves on the water surface, pushing smaller, lighter waste to the sides (along the left-right axis), causing it to move away from the feed hopper. This necessitates repositioning the pool cleaning machine along its left-right axis before cleaning again, thus reducing cleaning efficiency.

[0088] To address the aforementioned technical issues, the control method for the pool cleaning robot provided in this application involves inflating an airbag located on at least one side of the robot's left-right axis after receiving a water surface cleaning command. This inflates the airbag from a retracted state to a working state. During robot movement, the working airbag guides floating debris on the water surface, gradually gathering it towards the debris inlet at the front of the robot. By inflating the airbag and using it in a working state to gather the debris, the robot can effectively collect it into the debris inlet. Compared to the control wheel used in related technologies for debris guidance, the airbags are less likely to generate large water waves, thus preventing debris from being pushed away and facilitating its entry into the debris inlet, thereby improving cleaning efficiency. Furthermore, the retracted state of the airbags reduces their space occupancy.

[0089] The technical solution of this application and how the technical solution of this application solves the above-mentioned technical problems are described in detail below with specific embodiments. These specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments. The embodiments of this application will now be described with reference to the accompanying drawings.

[0090] The control method for a pool cleaning robot provided in this application embodiment is used for a pool cleaning robot, which can be an integrated surface and underwater robot or a surface cleaning robot.

[0091] Figure 1 This is a top view of the pool cleaning robot provided in this application when its airbags are in operation. Figure 2 The front view of the pool cleaning robot provided in this application when its airbags are in working condition. Figure 3 This is a schematic diagram of the airbag of the pool cleaning robot provided in this application in its retracted state.

[0092] See Figures 1 to 3 As shown, the pool cleaning robot includes a body 100, an inflation assembly 400, and at least one airbag 200.

[0093] A waste inlet 110 is provided on the front side of the fuselage 100. The waste inlet 110 is used to receive waste. For example, the waste inlet 110 faces the waste in front, and the fuselage 100 moves forward under the drive of its own drive device, and the floating waste enters the waste inlet 110. The drive device can be a propeller propulsion, water jet propulsion, paddle wheel propulsion, tracked floating, or other propulsion methods suitable for a floating platform.

[0094] The waste inlet can connect to the internal waste collection chamber, filter assembly, suction channel, or flow channel to guide leaves, hair, algae, insects, foam, and other lightweight floating objects into the machine body.

[0095] The airbag 200 is used to guide the garbage into the garbage inlet 110. In addition, the airbag 200 is used to increase buoyancy, so that the body 100 can float more stably on the water surface, and is less likely to sink due to a large amount of garbage inside the body 100, resulting in a large proportion of the body 100 entering the garbage inlet 110 underwater or completely entering the water, which would affect the garbage cleaning efficiency.

[0096] At least one airbag 200 is located on at least one side of the waste inlet 110 along the left-right axis of the fuselage 100. For example, there may be one airbag 200, located on the left or right side of the waste inlet 110. Alternatively, there may be two airbags 200, one located on the left side of the waste inlet 110 and the other located on the right side of the waste inlet 110.

[0097] The airbag 200 has a stowed state and a working state.

[0098] When the airbag 200 is in the retracted state, it saves space and improves the neatness and aesthetics of the airbag 200 when it is not needed. Furthermore, for a surface-to-underwater integrated robot, the retracted state of the airbag 200 does not affect underwater cleaning. Moreover, when there are two airbags 200, one airbag 200 can be retracted when the pool cleaning robot is cleaning along the edge, allowing the robot body 100 to approach the edge of obstacles, such as the pool edge.

[0099] In some embodiments, when the airbag 200 is in the retracted state, the airbag 200 is rolled up. In this way, when the airbag 200 is not needed, after deflating the airbag 200, the airbag 200 can be in a rolled-up state, improving the neatness and aesthetics of the airbag 200.

[0100] When the airbag 200 is in operation, it extends towards the front of the waste inlet 110 and outwards relative to the front-rear axis of the machine body 100. In other words, the airbag 200 is in an outward-expanding state, which can guide a larger area of ​​waste on the water surface into the waste inlet 110, thereby improving waste cleaning efficiency. Furthermore, during the cleaning process, compared to the rotary valves in related technologies, the airbag 200 is less likely to generate large water waves and push waste away, thus facilitating the entry of waste into the waste inlet 110 and improving cleaning efficiency.

[0101] In one possible implementation, the airbag 200 includes a flexible sleeve and an elastic skeleton.

[0102] The flexible sleeve can be made of silicone, latex, plastic, or fabric, all of which are airtight and waterproof. The flexible sleeve is used to contain the elastic framework and the gas, thus protecting the elastic framework.

[0103] The elastic skeleton is located inside the flexible sleeve and is connected to the inner wall of the flexible sleeve. For example, the elastic skeleton can be bonded or snapped to the inner wall of the flexible sleeve. Alternatively, the elastic skeleton can be connected to the outer wall of the flexible sleeve.

[0104] When the airbag 200 is in the retracted state, the elastic frame is curled up. When the airbag 200 is in the working state, the elastic frame extends towards the front of the waste inlet 110 and extends outward relative to the front-rear axis of the body 100.

[0105] The elastic skeleton can be a shape memory metal wire skeleton, such as a nickel-titanium alloy wire. Alternatively, the elastic skeleton can be a flexible plastic skeleton. Or, the elastic skeleton can be a flexible metal skeleton.

[0106] Understandably, by bending and unfolding the elastic skeleton, the flexible sleeve can be bent and unfolded, thus enabling the airbag 200 to switch between its working and retracted states. Moreover, by utilizing the elastic deformation of the elastic skeleton to achieve the shape change of the airbag 200 in different states, no additional power source is required for driving it except for the air source, resulting in a simpler structure and lower cost.

[0107] In another possible implementation, the airbag 200 includes a support plate, a flexible sleeve, a first connector, a second connector, and a drive structure. The support plate is connected to the fuselage. The first connector is disposed at the front of the flexible sleeve. The second connector and the drive structure are disposed on the support plate and connected to the drive structure. When the flexible sleeve is in the deployed state, the second connector is connected to the first connector. When the flexible sleeve is in the rolled-up state, the second connector is disconnected from the first connector.

[0108] The driving structure drives the first connecting member to move along a predetermined curved trajectory via the second connecting member, thereby causing the flexible sleeve to curl along the predetermined trajectory. It should be noted that the airbag 200 provided in this embodiment only causes the flexible sleeve to curl. The support plate remains extended. One of the first and second connecting members can be a metal component, and the other can be an electromagnet. The connection and disconnection between the second and first connecting members are achieved by switching on and off power. The driving structure achieves the curling trajectory through a combination of rotation and linear feed. The driving structure includes a rotary drive mechanism (which includes a disk and a motor, with the second connecting member connected to the disk) and a planar feed mechanism (which includes a first linear drive member and a second linear drive member, used to drive the rotary drive mechanism to move in the left-right and forward-backward directions, respectively).

[0109] In one possible implementation, when the airbag 200 is in the retracted state, the airbag 200 is curled up and disposed on the outer wall of the body 100, abutting against the outer wall of the body 100. In this way, the space occupied by the airbag 200 on the outside of the body 100 can be smaller, thereby helping to improve the overall compactness of the pool cleaning robot.

[0110] See Figure 3 As shown, in one possible implementation, when the airbag 200 is in the retracted state, the airbag 200 is curled up inside the body 100. In this way, the airbag 200 does not need to occupy the external space of the body 100, which helps to improve the overall compactness of the pool cleaning robot. Moreover, the body can protect the airbag, making it less likely to be scratched by external objects.

[0111] See Figure 3 As shown, in another possible implementation, the fuselage 100 is provided with a receiving cavity 120, and the airbag 200 is disposed in the receiving cavity 120, so that the airbag 200 can be located in the receiving cavity 120 when in the storage state, without occupying the space outside the fuselage 100.

[0112] Specifically, there are two airbags 200, located on both sides of the waste inlet 110 along the left-right axis of the body 100. The body 100 is provided with two receiving cavities 120, located on both sides of the waste inlet 110. The two airbags 200 are respectively disposed in the two receiving cavities 120, so that the airbags 200 can be located inside the receiving cavities 120 when in the storage state, without occupying the external space of the body 100.

[0113] When the airbag 200 is in the working state, at least one of the top wall and bottom wall of the airbag 200 abuts against the inner wall of the receiving cavity 120. In this way, the position of the airbag 200 in the height direction can be restricted, which is beneficial for the airbag 200 to extend horizontally during the process of switching from the storage state to the working state, and is less likely to sway or float too much in the height direction.

[0114] Specifically, the top and bottom walls of the airbag 200 abut against the inner wall of the receiving cavity 120, thereby improving the accuracy of limiting the position of the airbag 200 along the height direction.

[0115] In one possible implementation, the pool cleaning robot includes mounting columns (not shown in the figure), which are respectively disposed in the receiving cavity 120, and the airbag 200 is detachably connected to the mounting columns.

[0116] Specifically, the pool cleaning robot includes two mounting columns, which are respectively set in two receiving cavities 120, and the airbag 200 is detachably connected to the mounting columns.

[0117] When airbag 200 is needed to guide waste, it can be connected to the mounting post. When airbag 200 is not needed, it can be removed from the mounting post. This allows for the fulfillment of different usage requirements.

[0118] It should be noted that the mounting post can also be used to mount a dial. When the dial is needed, the airbag 200 can be detached from the mounting post, and the dial can be connected to the mounting post. This can meet different usage requirements.

[0119] Specifically, the mounting post may be equipped with a quick-connect plug (not shown in the figure), and the airbag 200 may be equipped with a matching quick-connect plug, allowing the mounting post and the airbag 200 to be detachably connected via the quick-connect plug. Alternatively, the airbag 200 may be equipped with a hook that matches the mounting post, allowing the airbag 200 to engage with the mounting post via the hook.

[0120] See Figure 1 As shown, in one possible implementation, when the airbag 200 is in operation, the angle α between the extension direction of the airbag 200 and the front-rear axis direction of the fuselage 100 is 30° to 60°.

[0121] Specifically, the angle α between the extension direction of the airbag 200 and the front-rear axis direction of the fuselage 100 is 30°, 35°, 40°, 45°, 50°, 55° or 60°.

[0122] When the angle α between the extension direction of the airbag 200 and the front-rear axis of the fuselage 100 is less than 30°, the range that the airbag 200 can guide is small, which does not contribute to the improvement of cleaning efficiency.

[0123] When the angle α between the extension direction of the airbag 200 and the front-rear axis of the body 100 is greater than 60°, the guiding angle of the airbag 200 is relatively flat, which does not allow garbage to enter the garbage inlet 110 along the wall of the airbag 200, and does not help improve cleaning efficiency.

[0124] Specifically, when the airbag 200 is in working condition, along the left and right axis of the machine body 100, the airbag 200 is located on the outside of the machine body 100. In this way, the airbag 200 acts as a barrier that is larger than the width of the machine, guiding and collecting the garbage on the surface of the pool water, thereby improving the cleaning efficiency.

[0125] See Figure 3 As shown, in one possible implementation, the pool cleaning robot includes a limiting structure 300 connected to the body 100. The limiting structure 300 is located outside the airbag 200 along the left-right axis of the body 100. The limiting structure 300 is configured to limit the angle at which the airbag 200 extends outward relative to the front-rear axis of the body 100 when the airbag 200 is in operation.

[0126] Specifically, the limiting structure 300 can be located within the receiving cavity 120. The limiting structure 300 can be a limiting rib or a limiting block, etc. One airbag 200 corresponds to at least one limiting structure 300.

[0127] It is understandable that by setting the limiting structure 300, the outward expansion angle of the airbag 200 when it is in working state can be limited, effectively preventing the angle between the extension direction of the airbag 200 and the front and rear axis direction of the fuselage 100 from being too large.

[0128] In one possible implementation, the pool cleaning robot includes a limiting structure 300 connected to the body 100. The limiting structure 300 is located outside the airbag 200 along the left-right axis of the body 100. The limiting structure 300 is configured to limit the angle at which the airbag 200 extends outward relative to the front-rear axis of the body 100 when the airbag 200 is in operation.

[0129] Specifically, the limiting structure 300 can be located within the receiving cavity 120. The limiting structure 300 can be a limiting rib or a limiting block, etc. One airbag 200 corresponds to at least one limiting structure 300.

[0130] See Figure 1 As shown, in one possible implementation, there are two airbags 200, located on opposite sides of the waste inlet 110. The two airbags 200 are symmetrically arranged relative to the waste inlet 110.

[0131] Airbags 200 are used to increase buoyancy. The buoyancy provided by the two airbags 200 can be greater, so that the body 100 can float more stably on the water surface. It is less likely that the body 100 will sink due to a large amount of garbage inside, resulting in a large proportion or complete entry of the garbage into the garbage inlet 110 into the water, which would affect the garbage cleaning efficiency.

[0132] Specifically, the two airbags 200 are symmetrically arranged along the front and rear axes of the body 100, thereby providing a more balanced buoyancy to the body 100, which helps to keep the body 100 stable and not tilt to the left or right. Moreover, the symmetrical structure guides the garbage, and the body 100 moves forward, so that the water flow velocity and flow rate distribution at the garbage inlet 110 is more uniform, which helps to avoid unilateral flow deviation.

[0133] See Figure 2 As shown, in one possible implementation, the top of the waste inlet 110 is not lower than the top of the airbag 200 along the height direction.

[0134] Understandably, under the action of buoyancy, the airbag 200 floats on the water surface, and the top of the garbage inlet 110 is not lower than the top of the airbag 200, so that the garbage inlet 110 will not be completely submerged underwater, thus affecting the garbage cleaning efficiency.

[0135] The inflation component 400 is disposed on the body 100, and the inflation component 400 is connected to the external environment of the body 100 and is connected to the airbag 200. The inflation component 400 is configured to switch the airbag 200 between a retracted state and a working state.

[0136] Specifically, the inflation component 400 is located inside the body 100, thereby allowing the body 100 to protect the inflation component 400.

[0137] When the airbag 200 switches from the retracted state to the operational state, the inflation component 400 inflates the airbag 200, allowing external air to enter and deploy. When the airbag 200 switches from the operational state to the retracted state, the inflation component 400 deflates the airbag 200, releasing the air and causing it to curl up. By configuring the inflation component 400, the automatic switching between the retracted and operational states of the airbag 200 can be achieved.

[0138] In one possible implementation, the inflation assembly 400 includes an inflation module, which includes an air pump, a first inflation line, and a second inflation line.

[0139] The air pump is located on the body 100.

[0140] The first inflation line is connected to the external environment of the body 100, and the first inflation line is connected to the inflation pump.

[0141] The second inflation line is connected to both the inflation pump and the airbag 200.

[0142] When the airbag 200 switches from the retracted state to the operational state, the inflation pump draws in external air through the first inflation line and then inflates the airbag 200 through the second inflation line, causing the airbag 200 to deploy. When the airbag 200 switches from the operational state to the retracted state, the inflation assembly 400 draws in air through the second inflation line and releases the air to the outside through the first inflation line, causing the airbag 200 to curl up. The inflation module provided in this embodiment has a simple structure and low cost.

[0143] In one possible implementation, there are two inflatable modules, with each of the two inflatable modules corresponding to one of the two airbags 200.

[0144] By setting up two inflation modules, the states of the two airbags 200 can be controlled separately, thus meeting the needs of different cleaning scenarios. For example, when the pool cleaning robot needs to clean along the edge of the pool, the airbag 200 on the side closer to the edge can be switched to the retracted state. Or, when the pool cleaning robot encounters an obstacle during cleaning, the airbag 200 on the side closer to the obstacle can be switched to the retracted state.

[0145] In other embodiments, the second inflation line is provided with a first control valve and a second control valve. The first control valve is configured to control the connection or disconnection between the inflation pump and one of the two airbags 200. The first control valve is also configured to control the connection or disconnection between the inflation pump and the other airbag 200.

[0146] Specifically, the second inflation line may include two pipes, both of which are connected to the inflation pump. One pipe is connected to one airbag, and the other pipe is connected to another airbag. A first control valve is installed on one pipe, and a second control valve is installed on the other pipe.

[0147] Understandably, by setting a first control valve and a second control valve, the states of the two airbags 200 can be controlled separately, thereby meeting the needs of different cleaning scenarios. Furthermore, using a single inflation pump helps reduce costs and save space.

[0148] Figure 4 This is the control principle diagram of the pool cleaning robot provided in this application. Figure 5 This is a schematic diagram of the control process for the pool cleaning robot provided in this application.

[0149] See Figure 4 and Figure 5 As shown, the control method for the pool cleaning robot includes:

[0150] S101, Responding to the command to clean the water surface.

[0151] The main body executing this control method can be a main control board, controller, processor, or integrated control module located inside the pool cleaning robot.

[0152] The command to clean the water surface refers to the control command that instructs the robot to collect and gather floating debris on the water surface. This command can be issued by the user or automatically triggered by the device according to a preset task. For example, the user can send a cleaning mode activation message to the controller via remote control, mobile terminal application, button panel on the robot body, base station control module, or wireless communication interface.

[0153] In another possible embodiment, the robot can also automatically generate water surface cleaning instructions based on timed tasks, historical work plans, standby wake-up strategies, or task scheduling logic, when preset time conditions, environmental conditions, or power conditions are met.

[0154] S102, Control the inflation component to inflate at least one airbag so that the airbag is deployed from the retracted state to the working state; and control the body to move so that the waste is guided to the waste inlet through the airbag in the working state.

[0155] After the robot enters the water surface cleaning mode, the control device 600 outputs a start command to the inflation component 400. The inflation component 400 draws in air from the external environment of the robot body 100 and delivers it to the target airbag 200. Since the inflation component 400 is connected to both the external environment and the airbag 200, it can establish a gas flow path from the outside to the cavity of the airbag 200, causing the airbag 200, which was originally in a retracted state, to gradually inflate and unfold into a working state.

[0156] The "folded state" refers to the compact form of the airbag 200 when it is not involved in waste guidance operations. This form helps reduce the overall width of the robot, decreases the space occupied for parking and transportation, and reduces the probability of contact with obstacles in non-water surface cleaning scenarios. The "working state" refers to the state in which the airbag 200 has obtained sufficient internal pressure and external support capabilities, enabling it to stably form a waste guiding surface, flexible barrier, or flow channel during the movement of the robot body 100. Specifically, the airbag 200 is located on at least one side of the waste inlet 110 along the left-right axis of the robot body 100. Therefore, when it is deployed, it can form an extended structure on one or both sides of the waste inlet 110, allowing floating waste dispersed over a wider water surface area to gradually converge towards the waste inlet 110 as the robot body 100 moves forward.

[0157] In this embodiment, the inflation process can employ either open-loop or closed-loop control. In open-loop control, the control device 600 determines the inflation duration based on pre-calibrated air pump flow rate, airbag 200 volume, and target deployment shape, and stops the inflation assembly 400 or switches to a pressure-holding state after the target time is reached. In closed-loop control, the control device 600 can determine whether the airbag 200 has reached the target working state based on pressure sensors, deformation sensors, displacement switches, limit component feedback, visual recognition results, or fuselage attitude change information. For example, a pressure detection branch can be provided inside the airbag 200; when the detected value reaches a preset pressure threshold, the control device 600 shuts down the inflation assembly 400 or reduces its power. In another possible embodiment, the determination of whether the airbag 200 has formed an effective guiding surface can also be made by detecting the deployment distance from the outer edge of the airbag 200 to the side wall of the fuselage 100 or by detecting the contact height between the bottom of the airbag 200 and the water surface. If the airbag 200 is detected to have insufficient pressure, incomplete deployment, or a tendency to leak, the control device 600 may continue to replenish the air or issue a fault warning to prevent large-scale cleaning operations from being performed before the airbag 200 has reached its effective guiding capacity.

[0158] Furthermore, after completing the inflation process, the inflation component 400 can enter a pressure-holding mode. In this mode, a one-way valve prevents air backflow, and a brief inflation is provided when a pressure drop is detected to maintain the working state of the airbag 200. If the robot approaches a pool wall, step, escalator, or other obstacle, the control device 600 can also perform decompression, partial deflation, or retraction actions on the airbag on the side closest to the obstacle based on the obstacle detection results, thereby avoiding collisions while preserving the guiding function of the other airbag 200.

[0159] After at least one airbag 200 is activated, the control device 600 activates the drive mechanism of the robot body 100, causing the robot to move on the surface of the pool water according to a preset path or a real-time planned path. The robot body movement can include straight-line forward movement, curved turning, following along the pool wall, reciprocating sweeping, area coverage cruise, or path recovery after obstacle avoidance. The drive mechanism can employ propeller propulsion, water jet propulsion, paddle wheel propulsion, tracked floating, or other propulsion methods suitable for a floating platform. Since the waste inlet 110 is located at the front of the robot body 100, and the airbag 200 is located at least on one side of the waste inlet 110 along the left-right axis of the robot body 100, when the robot body 100 moves forward, the deployed airbag 200, together with the front of the robot body 100, forms a channel converging towards the waste inlet 110. Floating waste gradually gathers towards the center of the front side under the influence of relative displacement in the water, the flexible guidance of the airbag 200, and the forward movement of the robot body 100, and eventually enters the waste inlet 110.

[0160] In this embodiment, the guidance of waste does not rely on the airbags 200 to strongly push or slap the waste. Instead, it utilizes the flexible boundary formed by the airbags 200 in the working state to reduce the lateral dispersion of waste. When the robot body 100 moves in the forward direction, the airbags 200 located on both sides or one side are equivalent to forming a wide guiding edge on the water surface. After floating waste comes into contact with the outer surface of the airbags 200, it will not be subjected to high-frequency local disturbances like rigid water-repelling blades. Instead, it will be deflected along the airbag surface towards the waste inlet 110 under relatively gentle water flow changes. For sheet-like or filamentous floating objects such as leaves, hair, and algae, the guiding surface formed by the airbags 200 can reduce the probability of them being pushed away from the inlet area by local swells. For foam and other lightweight floating objects, the gentle constraint of the airbags 200 on the surrounding water surface can maintain a relatively stable convergence trend. If double-sided airbags 200 are used, a semi-enclosed guiding area is formed on the left and right sides, making it easier for the robot to collect scattered waste outside the width of the robot body 100 into the inlet coverage area when moving forward. If a single-sided airbag 200 is used, the machine body 100 can be controlled to cut in at an angle or advance along the edge of the accumulated waste, allowing the single-sided airbag 200 to guide the waste from the open area to the waste inlet of the machine body 100. In this way, compared to the control wheel used in related technologies for guiding waste during cleaning, the airbag 200 is less likely to generate large water waves, making it less likely to push the waste away, thus facilitating the waste to enter the waste inlet and improving cleaning efficiency. When the airbag 200 is in the retracted state, its space occupancy can be reduced.

[0161] In one possible implementation, controlling the inflation assembly to inflate at least one airbag to deploy the airbag from a retracted state to a working state; and controlling the movement of the fuselage, including:

[0162] Control the body to move along the edge of the obstacle, and control the inflation assembly to inflate an airbag on the side away from the obstacle.

[0163] The obstacle can be a pool wall, pool edge, step, ladder sidewall, or other boundary components located within the swimming pool's surface operating area. Moving along the edge of the obstacle refers to the aircraft, guided by environmental detection results, cruising at a predetermined safe distance from the obstacle's edge, or making edge-hugging turns along the obstacle's contour, ensuring continuous movement even when approaching the boundary area. An airbag 200 on the side furthest from the obstacle refers to a single airbag 200 located on the fuselage 100 in the direction furthest from the obstacle.

[0164] During operation, as the robot body 100 moves along the edge of an obstacle, the airbags 200 on the side furthest from the obstacle form a relatively outward-spreading guide surface. This allows floating debris to gradually converge towards the debris inlet 110 under the combined effect of the robot body 100's forward movement and the lateral pushing action of the airbags 200. Meanwhile, the airbags 200 on the side closer to the obstacle remain contained, thus reducing the probability of contact with the obstacle and mitigating the risk of edge jamming. If both airbags 200 are in operation, the robot body 100 cannot get close to the obstacle (such as the pool wall). Airbags 200 close to the obstacle are more likely to cause suspended debris to accumulate near the wall, affecting the cleaning effect of the pool cleaning robot.

[0165] In one possible implementation, controlling the inflation assembly to inflate an airbag on the side furthest from the obstacle includes:

[0166] When there is only one airbag, control the movement of the machine body so that the airbag is located on the side away from the obstacle, and control the inflation component to inflate the airbag.

[0167] Alternatively, when there are two airbags, the inflation assembly is controlled to inflate one airbag on the side away from the obstacle, and the inflation assembly is controlled to de-inflate or deflate the other airbag on the side closer to the obstacle. The two airbags are located on both sides of the garbage inlet along the left and right axis of the machine body.

[0168] This control method targets robots equipped with varying numbers of airbags 200, using differentiated inflation and deflation to guide debris away from obstacles. During operation, as the robot body 100 moves along the edge of an obstacle, the airbags 200 on the side furthest from the obstacle form a relatively outward-spreading guide surface, causing floating debris to gradually converge towards the debris inlet 110 under the combined forward movement of the robot body 100 and the lateral pushing action of the airbags 200. Meanwhile, the airbags 200 closer to the obstacle remain retracted, reducing the probability of contact with the obstacle and mitigating the risk of edge jamming. If both airbags 200 are active, the robot body 100 cannot get close to the obstacle (e.g., the pool wall), and the airbags 200 closer to the obstacle may cause suspended debris to accumulate near the wall, affecting the cleaning effect of the pool cleaning robot.

[0169] In one possible implementation, the pool cleaning robot includes a detection component configured to detect the distance between the robot body and an obstacle.

[0170] In response to the water surface cleaning order, the following also includes:

[0171] The control and detection components detect the distance between the aircraft body and obstacles.

[0172] If the distance between the fuselage and the obstacle is not less than a preset value, the inflation component is controlled to inflate the airbag so that the airbag is deployed from the retracted state to the working state.

[0173] If the distance between the robot body and the obstacle is less than a preset value, the robot body will be controlled to move so that the distance between the robot body and the obstacle is not less than the preset value.

[0174] In this embodiment, the detection component 500 is used to acquire distance information of obstacles in the front or circumferential space of the fuselage 100 and send the corresponding detection signal to the control device. The control device then determines whether there is space for the airbag 200 to deploy. The detection component can be composed of an ultrasonic ranging sensor, an infrared ranging sensor, a laser ranging sensor, or an image recognition module. It is electrically connected to the inflation component 400 through control lines or bus communication to transmit the distance detection results to the execution control terminal of the inflation component 400 in real time.

[0175] The preset value can be set according to the outer dimensions of the airbag 200 after unfolding, the width of the body 100, and the environmental safety margin. When the detection distance reaches or exceeds this threshold, the inflation component 400 is controlled to inflate the airbag 200, causing the airbag 200 to gradually inflate from a folded or compressed storage state to a working state for guiding waste. When the detection distance is less than the threshold, the control device 600 drives the pool cleaning robot to decelerate, turn, reverse, or adjust its position along an obstacle avoidance path to restore the distance between the body 100 and the obstacle to a safe range before continuing inflation. The detection component 500 can be installed on the front or side of the body 100.

[0176] This control method, upon receiving a water surface cleaning command, first checks the distance to surrounding obstacles and then decides whether to deploy the airbag 200 based on the detection results. This prevents the airbag 200 from colliding with pool walls, steps, or other floating objects when space is insufficient. The inflation component 400 outputs an inflation action when the safe distance condition is met, putting the airbag 200 into working mode and participating in debris guidance. When the distance is insufficient, the robot body 100 is adjusted first to ensure the reliability of the deployment process. By linking distance detection with inflation control, the robot can balance obstacle avoidance safety and debris collection capabilities in complex pool boundary environments. In this way, the robot can complete water surface cleaning operations while ensuring the safe deployment of the airbag 200, reducing the risk of collisions, jamming, and component damage to the airbag 200 due to obstacle interference during deployment.

[0177] In one possible implementation, the pool cleaning robot includes a detection component configured to detect the distance between the robot body and an obstacle.

[0178] The system controls the inflation assembly to inflate at least one airbag, causing the airbag to deploy from a retracted state to a working state; and controls the movement of the machine body to guide waste through the working airbag to the waste inlet. The system further includes:

[0179] The control and detection components detect the distance between the aircraft body and obstacles.

[0180] If the distance between the device and the obstacle is less than a preset value, the inflation component is controlled to deflate the airbag so that the airbag retracts from the working state to the retracted state.

[0181] In this embodiment, the detection component 500 may be composed of an ultrasonic ranging module, an infrared ranging module, a laser ranging module or a millimeter-wave radar, and is installed on the front or side of the fuselage 100 to obtain the distance between the fuselage 100 and the pool wall, steps, escalators or other obstacles in real time.

[0182] After the control unit 100 moves and the airbag 200 guides the waste into the waste inlet 110, the control device 600 continues to receive the distance signal output by the detection component 500 and compares it with a preset value. This preset value can be pre-set based on the maximum outward extension length of the airbag 200 after deployment and the width of the control unit 100. When the detection distance is less than the preset value, the control device 600 outputs an exhaust control signal, the inflation component 400 expels air from the airbag 200, and the airbag 200 gradually retracts to its retracted state.

[0183] Understandably, the airbag 200 remains operational when away from obstacles to create a stable waste flow path, and retracts promptly when approaching obstacles to prevent the outward-expanding portion of the airbag 200 from colliding, scratching, or getting stuck with the pool wall or boundary components. This improves operational safety in boundary environments while maintaining waste collection efficiency, reduces wear on the airbag and body components, and ultimately enhances the continuous operational stability and lifespan of the pool cleaning robot.

[0184] In one possible implementation, based on the foregoing embodiments, the number of airbags is further increased to two, with the two airbags located on both sides of the waste inlet along the left-right axis of the machine body.

[0185] The detection component is configured to detect a first distance between an obstacle and a first side of the fuselage along the left-right axis of the fuselage, and a second distance between an obstacle and a second side of the fuselage along the left-right axis of the fuselage.

[0186] If the first distance is less than the preset value, the inflation component is controlled to deflate the airbag on the first side of the body along the left and right axis of the body, so that the airbag retracts from the working state to the stored state.

[0187] If the second distance is less than the preset value, the inflation component is controlled to deflate the airbag on the second side of the body along the left and right axis of the body, so that the airbag retracts from the working state to the stored state.

[0188] In practical implementation, after receiving the first and second distances output by the detection component 500, the control device 600 compares them with preset values. These preset values ​​can be set based on the maximum outer dimensions of the deployed airbag 200, the width of the fuselage 100, and the allowable safety clearance. When the distance is less than the threshold, airbag 200 on that side is deflated, while airbag 200 on the other side remains operational to maintain waste guiding capability. If both distances meet safety requirements, both airbags can remain operational.

[0189] When the robot approaches pool walls, steps, or other obstacles, it can control the retraction of the corresponding airbags 200 on both sides according to the actual distance on the left and right sides, thereby avoiding collisions or compression of the airbags 200 by obstacles on the sides. At the same time, in some cases, the guiding function of the other airbag can be retained, so that the robot can still maintain its ability to collect floating debris in confined spaces.

[0190] In one possible implementation, there are two airbags, located on either side of the waste inlet along the left-right axis of the machine body.

[0191] The detection component is configured to detect a third distance between the front of the machine body and an obstacle.

[0192] If the third distance is less than the preset value, the inflation component is controlled to deflate the two airbags.

[0193] In actual operation, the control device 600 continuously receives the third distance output by the detection component and compares this distance with a preset value. When the third distance is less than the preset value, the control device 600 outputs a deflation command, causing the inflation component 400 to deflate the airbags 200. Both airbags 200 simultaneously depressurize until they retract to their retracted state, thereby reducing the overall dimensions of the front of the fuselage 100 and preventing the airbags 200 from colliding with obstacles when moving forward. The preset value can be pre-set based on the width of the fuselage 100 and the unfolded width of the airbags 200.

[0194] By detecting distance and simultaneously deflating the two airbags 200 when the distance is too small, the robot can promptly reduce the front protruding structure when approaching the pool wall, steps, or other obstacles, thus maintaining higher passability and safety for the body 100.

[0195] In one possible implementation, the pool cleaning robot includes a detection component configured to detect the distance between the robot body and an obstacle.

[0196] The system controls the inflation assembly to inflate at least one airbag, causing the airbag to deploy from a retracted state to a working state; and controls the movement of the machine body to guide waste through the working airbag to the waste inlet. The system further includes:

[0197] The control and detection components detect the distance between the aircraft body and obstacles;

[0198] If the distance between the robot body and the obstacle is less than the braking distance of the pool cleaning robot, the airbag will remain in working condition.

[0199] The detection component 500 may include an ultrasonic ranging module, an infrared ranging module, or a millimeter-wave ranging module. The detection component 500 is installed on the front or left / right sides of the robot body 100 to collect real-time distance signals between the robot body 100 and pool walls, steps, or other obstacles, and outputs these signals to the control device. The control device controls the inflator component 400 to start and stop based on the detection results, maintaining the airbag 200 within the target pressure range. The braking distance can be preset based on the robot's travel speed, braking response time, and water surface inertia parameters, corresponding to the safe distance required for the robot to decelerate or stop.

[0200] During the movement of the fuselage 100, the control device continuously receives distance information fed back by the detection component 500. When the distance is less than the braking distance, the airbag 200 is kept in working state, causing the airbag 200 to collide with the obstacle, reducing the moving speed of the fuselage 100, thereby effectively avoiding the impact force of the fuselage 100 on the obstacle and protecting the fuselage 100.

[0201] In one possible implementation, if the distance between the fuselage and the obstacle is less than a preset value, the inflation assembly is controlled to deflate the airbag, causing the airbag to retract from its working state to its retracted state. Following this, the system further includes:

[0202] The control and detection components detect the distance between the aircraft body and obstacles;

[0203] If the distance between the fuselage and the obstacle is not less than a preset value, the inflation component is controlled to inflate the airbag so that the airbag is deployed from the retracted state to the working state.

[0204] During operation, when the detection component 500 detects that the distance between the body 100 and an obstacle is less than a preset value, the inflation component 400 deflates the airbag 200, reducing its volume and retracting it to a retracted state. This reduces the lateral outward expansion of the body 100, preventing collisions or friction with pool walls, steps, or other obstacles. After the body 100 completes obstacle avoidance movement, the detection component 500 monitors the current distance in real time. When the distance returns to a value not less than the preset value, the inflation component 400 inflates the airbag 200 again, restoring it to its working state and allowing it to once again guide floating debris on the water surface.

[0205] Through the aforementioned control method, the airbag 200 can retract promptly when approaching obstacles and re-deploy after the safe distance is restored. This ensures the robot's maneuverability in complex boundary environments and allows the airbag 200 to continuously perform its waste-gathering function at appropriate times. This reduces the probability of interference between the airbag 200 and obstacles, minimizes the risk of component damage, and improves the robot's cleaning continuity and waste-guiding efficiency after moving along pool walls or around obstacles.

[0206] In one possible implementation, the inflation assembly is controlled to inflate at least one airbag, causing the airbag to deploy from a retracted state to a working state; and the machine body is controlled to move so that waste is guided through the working airbag to the waste inlet, prior to which the following steps are also included:

[0207] Control the pool cleaning robot to move from underwater to the surface.

[0208] In practice, after receiving the water surface cleaning command, the control device 600 first determines whether the robot is in an underwater working position based on feedback from the current depth sensor. If it is underwater, it controls the thrusters to output upward thrust, and coordinates with the drainage chamber to drain water or the ballast mechanism to reduce weight, causing the robot body to gradually float to the vicinity of the water surface. When the relative position of the robot body 100 and the water surface meets a preset threshold, the control device 600 sends an inflation command to the inflation assembly, causing at least one airbag 200 to unfold from its retracted state to its working state. After unfolding, the airbag 200 is used to guide floating debris. As the robot body 100 continues to move, the floating debris gradually gathers under the guidance of the airbag 200 and approaches the debris inlet 110, then enters the debris collection structure inside the robot body 100 for temporary storage. Since the attitude change from underwater to water surface is completed before the airbag 200 is inflated, the airbag 200 can unfold stably in a suitable water surface environment, avoiding increased resistance or attitude imbalance caused by underwater inflation.

[0209] Deploying the airbag 200 after surfacing underwater allows it to be positioned correctly to match the floating debris, reducing ineffective inflation and attitude disturbances, and improving the efficiency of debris collection towards the debris inlet 110. Simultaneously, the robot's surfacing before entering surface cleaning mode prevents premature deployment of the airbag 200 underwater, which could cause water pressure interference, reducing the risk of uneven structural stress and increased energy consumption. This improves the stability, continuity, and debris collection efficiency of the surface cleaning operation.

[0210] In one possible implementation, it includes:

[0211] Responding to the instruction that the water surface cleaning is complete;

[0212] Control the inflation component to deflate the airbag, so that the airbag retracts from the working state to the retracted state.

[0213] The instruction that the water surface cleaning is completed is used to indicate that the current pool cleaning task has been completed. This instruction can be generated by the robot based on the preset cleaning time, the area that has been covered, the amount of garbage collected reaching a threshold, or after receiving an external control signal.

[0214] The inflation component 400 and the airbag 200 are connected via an air passage. In deflation mode, the inflation component 400 can expel the gas inside the airbag 200, causing the airbag, which was originally deployed on the left and right sides of the robot body 100, to gradually lose support and retract into the robot body shape, thus returning to its retracted state. After the airbag 200 retracts, the outer contour of the robot body 100 can be reduced, making it easier for the robot to return to the parking area, switch to other working states, or be handled and stored manually. In practical applications, the inflation component can also be a miniature air pump with solenoid valve control or an air pump with forward and reverse rotation functions; this embodiment does not limit the choice of which type.

[0215] In some embodiments, in order to prevent the airbag 200 from suddenly collapsing in a short period of time and causing the fuselage attitude to change too quickly, the control device 600 may also limit the exhaust speed so that the airbag 200 retracts in a smooth manner, thereby improving the attitude stability and storage reliability after the mission is completed.

[0216] Understandably, after receiving the cleaning completion signal, the robot gradually restores the airbags 200 from their working state to their retracted state. With the airbags retracted, their footprint on the water surface is reduced, making the robot more suitable for leaving the work area or performing subsequent maintenance. This also reduces the probability of the airbags 200 being exposed and subjected to collisions, compression, or contamination. Because this control method is directly designed around the reset requirements after the task is completed, it enables rapid organization and structural reset after the task is finished without affecting the cleaning effect, thereby improving the ease of use, operational safety, and overall adaptability of the pool cleaning robot.

[0217] Figure 6 A schematic diagram of the control device provided in this application.

[0218] See Figure 6 As shown, this application embodiment provides a control device for a pool cleaning robot. The pool cleaning robot includes a body 100, an inflation assembly 400, and at least one airbag 200. A waste inlet 110 is provided on the front side of the body 100. The inflation assembly 400 is connected to the external environment of the body 100 and the airbag 200 respectively. At least one airbag 200 is located on at least one side of the waste inlet 110 along the left and right axis of the body 100.

[0219] The control device 600 includes:

[0220] Response module 610 is used to respond to instructions for water surface cleaning;

[0221] The control module 620 is used to control the inflation assembly 400 to inflate at least one airbag 200 so that the airbag 200 is deployed from the storage state to the working state; and to control the body 100 to move so that the garbage is guided to the garbage inlet 110 through the airbag 200 in the working state.

[0222] During operation, upon receiving a water surface cleaning command, the response module 610 triggers the control module to enter the water surface operation process, controlling the inflation component 400 to inflate the airbag 200, switching the airbag 200 from its retracted state to its working state. Since the airbag 200 is located on at least one side of the waste inlet 110 along the left-right axis of the robot body 100, its deployment creates a flexible waste guiding area on the front of the robot body 100. This allows for the collection and restraint of floating waste during the movement of the robot body 100, making it easier for the waste to move towards the waste inlet. Compared to a rigid water-repelling structure, the airbag 200's guidance causes less disturbance to the water surface, thus reducing the likelihood of lightweight waste being dispersed by water waves, thereby improving the continuity and stability of waste collection. Simultaneously, the airbag 200 can be retracted when not in operation, improving the robot's maneuverability near complex boundaries, thus balancing water surface cleaning efficiency with adaptability to complex pool environments.

[0223] Figure 7 A schematic diagram of the memory and processor in the pool cleaning robot provided in this application.

[0224] See Figure 7 As shown in the figure, this application provides a pool cleaning robot, including a memory 130 and a processor 140.

[0225] The memory 130 stores computer-executable instructions. The processor 140 executes the computer-executable instructions stored in the memory 130 to implement the method provided in the above embodiments.

[0226] Specifically, there is at least one processor 140. Optionally, the pool cleaning robot also includes a communication component 150. The processor 140, memory 130, and communication component 150 are connected via a bus.

[0227] In a specific implementation, at least one processor 140 executes computer execution instructions stored in memory 130, causing at least one processor 140 to perform the above-described method.

[0228] The specific implementation process of processor 140 can be found in the above method embodiments, and its implementation principle and technical effect are similar. It will not be repeated here.

[0229] In the above embodiments, it should be understood that the processor 140 can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), etc. The general-purpose processor can be a microprocessor or any conventional processor. The steps of the method disclosed in this invention can be directly implemented by a hardware processor, or implemented by a combination of hardware and software modules within the processor.

[0230] The memory 130 may include random access memory (RAM) and may also include non-volatile memory (NVM), such as at least one disk storage device.

[0231] The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. Buses can be categorized as address buses, data buses, control buses, etc. For ease of illustration, the buses shown in the accompanying drawings are not limited to a single bus or a single type of bus.

[0232] In this embodiment, the memory 130 is used to store the pool cleaning control program, the inflation component control program, and the motion control program. After the processor 140 calls the corresponding computer execution instructions, it can control the inflation component 400 to inflate the airbag 200 located on at least one side of the left and right axis of the body 100 when the robot receives the water surface cleaning instruction. This causes the airbag 200 to unfold from the stored state to the working state. In conjunction with the garbage inlet 110 at the front of the body 100 and the robot's movement, it forms a flexible guide for floating garbage on the water surface, thereby reducing the violent disturbance of the surrounding water body by the traditional water-spreading components. This makes it less likely for lightweight garbage to be pushed away from the inlet area by waves, thereby improving the continuity and stability of garbage gathering towards the garbage inlet 110 and improving the overall cleaning efficiency of the pool cleaning robot.

[0233] This application provides a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, are used to implement the method provided in the above embodiments.

[0234] In this embodiment, the aforementioned computer-readable storage medium can be installed in the control system of the pool cleaning robot. The processor calls the stored computer execution instructions to execute the aforementioned water surface cleaning control method. By embedding the method flow in the storage medium as instructions, the robot can stably complete operations such as controlling the inflation component, deploying the airbags, and guiding and collecting debris after receiving the water surface cleaning instruction, thereby achieving continuous collection of floating debris. Since this method can be repeatedly and accurately executed by the processor, it helps to reduce human intervention and control deviations, thereby improving the consistency and adaptability of operations in complex pool environments, making the guidance and coordination of the debris inlet more stable, and ultimately improving the water surface cleaning efficiency and continuous working reliability.

[0235] This application provides a computer program product, including a computer program that, when executed by a processor, implements the method provided in the above embodiments.

[0236] The aforementioned readable storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk. The readable storage medium can be any available medium accessible to a general-purpose or special-purpose computer.

[0237] An exemplary readable storage medium is coupled to a processor, enabling the processor to read information from and write information to the readable storage medium. Of course, the readable storage medium can also be a component of the processor. The processor and the readable storage medium can reside in an Application Specific Integrated Circuit (ASIC). Alternatively, the processor and the readable storage medium can exist as discrete components in the device.

[0238] The division of units is merely a logical functional division; in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be indirect coupling or communication connection through some interfaces, devices, or units, and may be electrical, mechanical, or other forms.

[0239] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0240] In addition, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0241] If a function is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this invention, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of this invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0242] Those skilled in the art will understand that all or part of the steps of the above-described method embodiments can be implemented by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When executed, the program performs the steps of the above-described method embodiments; and the aforementioned storage medium includes various media capable of storing program code, such as ROM, RAM, magnetic disks, or optical disks.

[0243] The computer program can be stored in the onboard memory, external storage medium, or downloaded to the control system of the pool cleaning robot via a network. The processor then calls and executes the control logic described above. After executing the computer program, upon receiving a surface cleaning command, the processor controls the inflation component to inflate at least one airbag along the left or right axis of the robot body, switching the airbag from a retracted state to an active state. This creates a flexible guiding effect on floating debris during robot movement, allowing debris such as hair, leaves, algae, insects, and foam to gradually converge towards the debris inlet at the front of the robot. Because the programmed implementation facilitates the coordinated configuration of inflation control, motion control, and debris guidance logic, it reduces mechanical disturbance to the water body and improves the continuity and stability of debris collection at the inlet, thus enhancing surface cleaning efficiency.

[0244] Finally, it should be noted that other embodiments of the invention will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This invention is intended to cover any variations, uses, or adaptations of the invention that follow the general principles of the invention and include common knowledge or customary techniques in the art not disclosed herein, and is not limited to the precise structures described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of the invention is limited only by the appended claims.

Claims

1. A control method for a swimming pool cleaning robot, characterized in that, The pool cleaning robot includes a body, an inflation assembly, and at least one airbag. A waste inlet is provided on the front side of the body. The inflation assembly is connected to the external environment of the body and the airbag. At least one airbag is located on at least one side of the waste inlet along the left-right axis of the body. The airbag has a retracted state and a working state. The methods include: Responding to instructions for surface cleaning; The inflation assembly is controlled to inflate at least one of the airbags, so that the airbags are deployed from the stored state to the working state; and the body is controlled to move so that the waste is guided to the waste inlet via the airbags in the working state.

2. The control method for the pool cleaning robot according to claim 1, characterized in that, Controlling the inflation assembly to inflate at least one of the airbags, so that the airbags deploy from the retracted state to the operational state; and controlling the movement of the body, including: The control unit moves along the edge of the obstacle and controls the inflation assembly to inflate one of the airbags on the side away from the obstacle.

3. The control method for the pool cleaning robot according to claim 2, characterized in that, Controlling the inflation assembly to inflate one of the airbags on the side furthest from the obstacle includes: When there is only one airbag, control the body to move so that the airbag is located on the side away from the obstacle, and control the inflation component to inflate the airbag. Alternatively, when there are two airbags, the inflation assembly is controlled to inflate one airbag on the side away from the obstacle, and the inflation assembly is controlled to de-inflate or deflate the other airbag on the side closer to the obstacle, wherein the two airbags are located on both sides of the waste inlet along the left-right axis of the machine body.

4. The control method for the pool cleaning robot according to any one of claims 1 to 3, characterized in that, The pool cleaning robot includes a detection component configured to detect the distance between the robot body and an obstacle; In response to the water surface cleaning order, the following also includes: The control and detection components detect the distance between the fuselage and the obstacle; If the distance between the fuselage and the obstacle is not less than a preset value, the inflation component is controlled to inflate the airbag so that the airbag is deployed from the retracted state to the working state. If the distance between the robot body and the obstacle is less than a preset value, the robot body is controlled to move so that the distance between the robot body and the obstacle is not less than the preset value.

5. The control method for the pool cleaning robot according to claim 1 or 2, characterized in that, The pool cleaning robot includes a detection component configured to detect the distance between the robot body and an obstacle; The inflation assembly is controlled to inflate at least one of the airbags, so that the airbags are deployed from the retracted state to the working state. And control the movement of the machine body so that the waste is guided to the waste inlet through the airbag in the working state, and then includes: The control and detection components detect the distance between the fuselage and the obstacle; If the distance between the machine body and the obstacle is less than a preset value, the inflation component is controlled to deflate the airbag so that the airbag retracts from the working state to the retracted state.

6. The control method for the pool cleaning robot according to claim 5, characterized in that, The number of airbags is two, and the two airbags are located on both sides of the garbage inlet along the left and right axis of the machine body; The detection component is configured to detect a first distance between an obstacle and a first side of the fuselage along the left-right axis of the fuselage, and a second distance between an obstacle and a second side of the fuselage along the left-right axis of the fuselage. If the first distance is less than a preset value, the inflation component is controlled to deflate the airbag on the first side of the body along the left and right axis of the body, so that the airbag retracts from the working state to the storage state. If the second distance is less than a preset value, the inflation component is controlled to deflate the airbag on the second side of the body along the left and right axis of the body, so that the airbag retracts from the working state to the storage state.

7. The control method for the pool cleaning robot according to claim 5, characterized in that, The number of airbags is two, and the two airbags are located on both sides of the garbage inlet along the left and right axis of the machine body; The detection component is configured to detect a third distance between the front of the fuselage and an obstacle; If the third distance is less than a preset value, the inflation assembly is controlled to deflate the two airbags.

8. The control method for the pool cleaning robot according to any one of claims 1 to 3, characterized in that, The pool cleaning robot includes a detection component configured to detect the distance between the robot body and an obstacle; The inflation assembly is controlled to inflate at least one of the airbags, so that the airbags are deployed from the retracted state to the working state. And control the movement of the machine body so that the waste is guided to the waste inlet through the airbag in the working state, and then includes: The control and detection components detect the distance between the fuselage and the obstacle; If the distance between the robot body and the obstacle is less than the braking distance of the pool cleaning robot, the airbag will remain in working condition.

9. The control method for the pool cleaning robot according to claim 5, characterized in that, If the distance between the fuselage and the obstacle is less than a preset value, the inflation assembly is controlled to deflate the airbag, causing the airbag to retract from the working state to the retracted state. Afterwards, the system further includes: The control and detection components detect the distance between the fuselage and the obstacle; If the distance between the fuselage and the obstacle is not less than a preset value, the inflation component is controlled to inflate the airbag so that the airbag is deployed from the retracted state to the working state.

10. The control method for the pool cleaning robot according to any one of claims 1 to 3, characterized in that, The inflation assembly is controlled to inflate at least one of the airbags, so that the airbags are deployed from the retracted state to the working state. And control the movement of the machine body so that the waste is guided to the waste inlet through the airbag in the working state. Before that, it also includes: Control the pool cleaning robot to move from underwater to the surface.

11. The control method for the pool cleaning robot according to any one of claims 1 to 3, characterized in that, include: Responding to the instruction that the water surface cleaning is complete; The inflation assembly is controlled to deflate the airbag, so that the airbag retracts from the working state to the retracted state.

12. A control device, characterized in that, A pool cleaning robot includes a body, an inflation assembly, and at least one airbag. The front side of the body has a waste inlet. The inflation assembly is connected to the external environment of the body and the airbag. At least one airbag is located on at least one side of the waste inlet along the left-right axis of the body. The airbag has a retracted state and a working state. The control device includes: The response module is used to respond to commands for water surface cleaning; The control module is used to control the inflation assembly to inflate at least one of the airbags so that the airbags are deployed from the stored state to the working state; and to control the movement of the machine body so that the waste is guided to the waste inlet through the airbags in the working state.

13. A swimming pool cleaning robot, characterized in that, include: Memory; processor; The memory stores computer-executed instructions; The processor executes computer execution instructions stored in the memory to implement the method as described in any one of claims 1 to 11.

14. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer-executable instructions, which, when executed by a processor, are used to implement the method as described in any one of claims 1 to 11.

15. A computer program product, characterized in that, Includes a computer program that, when executed by a processor, implements the method described in any one of claims 1 to 11.

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