Pool cleaning robot and pool cleaning system with same

Abstract

The utility model provides a pool cleaning robot and a pool cleaning system with the pool cleaning robot, and the pool cleaning robot comprises a machine body which is provided with a water inlet and a water outlet; the filtering device is arranged on the machine body and communicated with the water inlet and the water outlet, liquid in the water pool flows into the filtering device from the water inlet, and the filtered liquid is discharged from the water outlet; and the garbage recognition device is arranged on the machine body and is used for recognizing garbage on the liquid level of the water tank. According to the pool cleaning robot, garbage at the pool bottom and the liquid level can be cleaned, the moving stroke on the liquid level is short, liquid level fluctuation is reduced, and the cleaning efficiency is high.

Description

Technical Field

[0001] The present application relates to the technical field of pool cleaning, and more particularly, to a pool cleaning robot and a pool cleaning system having the same. Background Art

[0002] When robots in related art clean a pool, they usually only clean the bottom of the pool, so there is no need to clean the garbage floating in the pool. Therefore, some robots can float in the pool to clean the garbage floating in the pool, but the movement of the robot in the liquid of the pool will cause the liquid to fluctuate, resulting in the displacement of the garbage, and the cleaning efficiency of the robot is low. Utility Model Content

[0003] The present application provides a pool cleaning robot, which can not only clean garbage on the pool bottom and the liquid surface, but also has a short moving distance on the liquid surface, reduces liquid level fluctuations, and has high cleaning efficiency.

[0004] In order to achieve the above-mentioned purpose, according to the first aspect embodiment of the present application, a pool cleaning robot is provided, which includes: a body, which is provided with a water inlet and a water outlet; a filtering device, which is arranged on the body and is connected with the water inlet and the water outlet respectively, and the liquid in the pool flows into the filtering device from the water inlet, and the filtered liquid is discharged from the water outlet; a garbage identification device, which is arranged on the body and is used to identify garbage on the liquid surface of the pool.

[0005] In some embodiments of the present application, the garbage identification device includes a camera device, which is used to obtain an image of the liquid surface of the water pool, and / or the camera device is used to obtain an image of the bottom wall of the water pool.

[0006] In some embodiments of the present application, the camera device is rotatable relative to the body between a first position and a second position. When the camera device is in the first position, it takes pictures to identify garbage on the liquid surface of the pool. When the camera device is in the second position, it is used to identify garbage on the bottom wall of the pool.

[0007] In some embodiments of the present application, the pool cleaning robot also includes: a walking device, rotatably provided on the body, for contacting the bottom wall and / or side wall of the pool; a snorkeling device, provided on the body and electrically connected to the camera device, the snorkeling device drives the pool cleaning robot to float upwards, so that the camera device can identify garbage on the liquid surface of the pool.

[0008] In some embodiments of the present application, the pool cleaning robot further includes: a cylinder brush rotatably disposed on the body and located on the same side of the body as the water inlet, for driving the liquid in the pool to flow toward the water inlet; wherein the camera device and the cylinder brush are disposed on the same side of the body, and the camera device is located above the cylinder brush.

[0009] In some embodiments of the present application, the walking device is disposed on opposite sides of the fuselage, the camera device and the walking device are disposed on the same side of the fuselage, and the camera device is located above the walking device.

[0010] In some embodiments of the present application, the camera device is rotatable in a vertical direction relative to the body; the camera device is rotatable in a horizontal direction relative to the body.

[0011] In some embodiments of the present application, the camera device is movable between an extended position and a retracted position relative to the body. When the camera device is in the retracted position, the camera device does not protrude beyond the outer surface of the body. When the camera device is in the extended position, at least a portion of the camera device protrudes beyond the outer surface of the body.

[0012] In some embodiments of the present application, the pool cleaning robot also includes: a base, which is detachably provided on the body, and the camera device is provided on the base; a signal transmission device, which is provided on the base and electrically connected to the camera device; and a functional device, which is provided on the base and electrically connected to the signal transmission device.

[0013] According to the second aspect embodiment of the present application, a pool cleaning system is proposed, including: a base station; the pool cleaning robot according to the first aspect embodiment of the present application, the pool cleaning robot having a return-to-pile mode, and when the pool cleaning robot is in the return-to-pile mode, it moves toward the base station according to the signal of the camera device.

[0014] In some embodiments of the present application, the garbage identification device includes a camera assembly, which is used to obtain images in the pool; the base station is provided with a display screen, which is electrically connected to the camera assembly, and the display screen is used to display the images obtained by the camera assembly, and / or the pool cleaning system also includes a mobile terminal, which is electrically connected to the camera assembly, and the mobile terminal is used to display the images obtained by the camera assembly.

[0015] The pool cleaning robot of the embodiment of the present application, when the pool cleaning robot is cleaning garbage at the bottom of the pool, the garbage identification device can identify whether there is garbage on the liquid surface. If there is garbage, the pool cleaning robot will move directly upwards to the garbage. The movement direction of the pool cleaning robot is mainly vertical, so the movement distance on the liquid surface is short, which avoids causing large fluctuations in the liquid surface and improves the garbage cleaning efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying any creative work.

[0017] Figure 1 This is one of the schematic diagrams of the coordination between the pool cleaning system and the pool according to the embodiment of the present application;

[0018] Figure 2 This is the second schematic diagram of the coordination between the pool cleaning system and the pool according to the embodiment of the present application;

[0019] Figure 3 This is the third schematic diagram of the coordination between the pool cleaning system and the pool according to the embodiment of the present application;

[0020] Figure 4 This is one of the structural schematic diagrams of the pool cleaning robot according to an embodiment of the present application;

[0021] Figure 5 This is the second structural schematic diagram of the pool cleaning robot according to the embodiment of the present application;

[0022] Figure 6 This is the third structural schematic diagram of the pool cleaning robot according to the embodiment of the present application;

[0023] Figure 7 This is the fourth structural schematic diagram of the pool cleaning robot according to the embodiment of the present application;

[0024] Figure 8 This is the fifth structural schematic diagram of the pool cleaning robot in the embodiment of the present application;.

[0025] Reference numerals

[0026] Pool cleaning robot 1; pool cleaning system 2; base station 3; pool 4; bottom wall 5; side wall 6; liquid surface 7;

[0027] Body 100; water inlet 110; water outlet 120;

[0028] Filter device 200; walking device 300; garbage identification device 400; cylinder brush 500;

[0029] First base 600; signal transmission device 610; signal receiving sensor 611; signal sending sensor 612; first functional device 620;

[0030] Second base 700 ; second functional device 710 . DETAILED DESCRIPTION

[0031] In order to make the objectives, technical solutions and advantages of the present application clearer, the following part will further describe the embodiments of the present application in detail in conjunction with the accompanying drawings.

[0032] When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. Instead, they are only examples of devices and methods consistent with some aspects of the present application as detailed in the attached claims.

[0033] In the description of the present application, it should be understood that the terms "first", "second", etc. are used for descriptive purposes only and should not be understood as indicating or implying relative importance. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to the specific circumstances. In addition, in the description of the present application, unless otherwise specified, "plurality" refers to two or more.

[0034] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used in this specification are only for the purpose of describing specific embodiments and are not intended to limit this application. The term "and / or" used herein includes any and all combinations of one or more of the related listed items.

[0035] The following describes a pool cleaning robot 1 according to an embodiment of the present application with reference to the accompanying drawings.

[0036] like Figure 1-Figure 6 As shown, the pool cleaning robot 1 according to the embodiment of the present application includes a body 100, a filtering device 200, a walking device 300 and a garbage identification device 400. The pool 4 may be a swimming pool.

[0037] The body 100 is provided with a water inlet 110 and a water outlet 120, and the filter device 200 is provided on the body 100, and the filter device 200 is respectively connected with the water inlet 110 and the water outlet 120, and the liquid in the pool 4 flows into the filter device 200 from the water inlet 110, and the filtered liquid is discharged from the water outlet 120. The water inlet 110 and the water outlet 120 can be provided on opposite sides of the body 100.

[0038] For example, Figure 7 and Figure 8 As shown, in the moving direction of the pool cleaning robot 1, the end of the body 100 facing forward is the front end, and the end of the body 100 facing backward is the rear end. The water inlet 110 is arranged on the end surface of the front end of the body 100, and the water outlet 120 is arranged on the end surface of the rear end of the body 100. The filter device 200 is located between the water inlet 110 and the water outlet 120. In this way, the liquid in the pool 4 is more likely to enter the filter device 200 from the water inlet 110, and it is also easier to flow out of the filter device 200 from the water outlet 120.

[0039] Alternatively, the water inlet 110 is arranged on the bottom surface of the fuselage 100, and the water outlet 120 is arranged on the end surface of the rear end of the fuselage 100. When the pool cleaning robot 1 cleans the bottom wall 5 of the pool 4, the garbage on the bottom wall of the pool 4 can enter the filter device 200 through the water inlet 110 on the bottom surface of the fuselage 100, and then flow out of the filter device 200 from the water outlet 120.

[0040] Of course, the bottom surface of the fuselage 100 and the end surface of the front end of the fuselage 100 can be provided with a water inlet 110, that is, the fuselage 100 has at least two water inlets 110, and the two sides of the fuselage 100 are provided with water inlets 110.

[0041] The walking device 300 is provided on the fuselage 100, and is used to contact the bottom wall 5 and / or the side wall 6 of the pool 4. The walking device 300 may include a rotating wheel or a crawler. The walking device 300 contacts the bottom wall 5 of the pool 4 and has friction. When the walking device 300 rotates relative to the fuselage 100, the pool cleaning robot 1 moves on the bottom wall 5 of the pool 4, and the pool cleaning robot 1 can clean the garbage on the bottom wall 5 of the pool 4; the walking device 300 contacts the side wall 6 of the pool 4 and has friction. When the walking device 300 rotates relative to the fuselage 100, the pool cleaning robot 1 moves on the side wall 6 of the pool 4, and the pool cleaning robot 1 can clean the garbage on the side wall 6 of the pool 4.

[0042] The garbage identification device 400 is disposed on the body 100, for example, the garbage identification device 400 is disposed on the upper surface of the body 100, or the garbage identification device 400 is disposed on the front end of the body 100, or the garbage identification device 400 is disposed on the rear end of the body 100, or the garbage identification device 400 is disposed on the side of the body 100, or the garbage identification device 400 is disposed on the lower surface of the rear end of the body 100, and the garbage identification device 400 is used to identify garbage on the liquid surface 7 of the pool 4. The garbage identification device 400 may be a camera device having the ability to obtain images, such as a camera or a webcam, or the garbage identification device 400 may be a sensor having an object detection function, such as an ultrasonic sensor, an infrared sensor, or an optical sensor.

[0043] Specifically, the pool cleaning robot 1 can have a walking mode and a floating mode. When the pool cleaning robot 1 is in the walking mode, the walking device 300 is used to contact the bottom wall 5 or the side wall 6 of the pool 4, and at this time, the garbage at the bottom of the pool 4 is mainly cleaned; when the pool cleaning robot 1 is in the floating mode, the pool cleaning robot 1 floats in the liquid of the pool 4 or floats on the liquid surface 7, that is, the walking device 300 does not contact the bottom wall 5 and the side wall 6 of the pool 4. When the pool cleaning robot 1 is in the floating mode, the garbage floating in the pool 4 is mainly cleaned.

[0044] When the pool cleaning robot 1 is in walking mode and starts to clean the garbage at the bottom of the pool 4, the garbage identification device 400 is used to identify whether there is garbage on the liquid surface 7. If there is garbage, the pool cleaning robot 1 moves directly upward to the garbage. The movement direction of the pool cleaning robot 1 is mainly vertical, so the movement stroke on the liquid surface 7 is short, avoiding large fluctuations in the liquid surface 7 and improving the garbage cleaning efficiency.

[0045] In some embodiments of the present application, Figure 1-Figure 3 (The dotted lines in the attached figure indicate the field of view boundaries of the garbage identification device 400) The garbage identification device 400 can be fixedly connected to the pool cleaning robot 1. The garbage identification device 400 is arranged on the front end face, the rear end face or one of the side faces of the body 100, that is, the garbage identification device 400 is arranged on the surface of one side of the body 100 in the horizontal direction. The garbage identification device 400 can simultaneously illuminate the image of the bottom wall 5 of the pool 4 and the liquid surface 7 of the pool 4.

[0046] In this way, the garbage identification device 400 can simultaneously obtain images in a wider range. The garbage identification device 400 can see both the garbage on the liquid surface 7 and the garbage on the bottom wall 5 without switching positions, and the sealing effect is better.

[0047] For example, the pool cleaning robot 1 may be provided with a snorkeling device, which can switch the pool cleaning robot 1 between the walking mode and the floating mode by changing its own gravity, volume or output power. It should be noted that the snorkeling device changes the output power and can apply different driving forces to the pool cleaning robot 1 in the vertical direction.

[0048] When the pool cleaning robot 1 is in walking mode and starts to clean garbage at the bottom of the pool 4, since garbage is usually located at the bottom of the pool 4, the pool cleaning robot 1 walks completely along the bottom wall 5 of the pool 4, so the garbage identification device 400 does not need to obtain images, thereby reducing energy consumption.

[0049] After the pool cleaning robot 1 cleans the garbage at the bottom of the pool 4, the garbage identification device 400 can obtain an image of the bottom of the pool 4, for example, obtain an image near the side wall 6 of the pool 4 and the corners of the side, to determine whether there is any residual garbage at the bottom of the pool 4, and perform secondary cleaning on the residual garbage to optimize the cleaning effect.

[0050] After the pool cleaning robot 1 finishes cleaning the garbage at the bottom of the pool 4, the garbage identification device 400 can obtain an image of the liquid surface 7 to determine whether there is garbage on the liquid surface 7. If there is no garbage on the liquid surface 7, the pool cleaning robot 1 does not need to clean the liquid surface 7. If there is garbage on the liquid surface 7, the location of the garbage can be obtained to enable the pool cleaning robot 1 to directly approach the garbage in the vertical direction, thereby reducing the moving distance of the pool cleaning robot 1 on the liquid surface 7, thereby reducing the fluctuation of the liquid surface 7, avoiding the garbage on the liquid surface 7 from being affected by the fluctuation of the liquid surface 7 and moving drastically, thereby improving the cleaning efficiency.

[0051] When the pool cleaning robot 1 floats in the pool 4, the garbage identification device 400 can obtain images of the pool cleaning robot 1 in the horizontal direction around it, for example, obtain images near the side wall 6 of the pool 4 and the corners of the side, determine whether there is any residual garbage in the pool 4, perform secondary cleaning on the residual garbage, and optimize the cleaning effect. In addition, the moving distance of the pool cleaning robot 1 in the liquid in the pool 4 is short, which reduces the fluctuation of the liquid in the pool 4 and improves the cleaning efficiency.

[0052] In some other embodiments of the present application, the garbage identification device 400 is rotatable relative to the body 100 between a first position and a second position. When the garbage identification device 400 is in the first position, the liquid surface 7 of the pool 4 is photographed. When the garbage identification device 400 is in the second position, the side wall 6 of the pool 4 is photographed.

[0053] For example, the pool cleaning robot 1 may be provided with a snorkeling device, which can switch the pool cleaning robot 1 between the walking mode and the floating mode by changing its own gravity, volume or output power. It should be noted that the snorkeling device changes the output power and can apply different driving forces to the pool cleaning robot 1 in the vertical direction.

[0054] When the pool cleaning robot 1 is in walking mode and starts to clean garbage at the bottom of the pool 4, since garbage is usually located at the bottom of the pool 4, the pool cleaning robot 1 walks completely along the bottom wall 5 of the pool 4, so the garbage identification device 400 does not need to obtain images, thereby reducing energy consumption.

[0055] After the pool cleaning robot 1 cleans the garbage at the bottom of the pool 4, the garbage identification device 400 can be in the second position, used to obtain the bottom image of the pool 4, for example, to obtain the image near the side wall 6 of the pool 4 and the corner of the side, to determine whether there is any residual garbage at the bottom of the pool 4, and to perform secondary cleaning on the residual garbage to optimize the cleaning effect.

[0056] After the pool cleaning robot 1 finishes cleaning the garbage at the bottom of the pool 4, the garbage identification device 400 can be in the first position, for obtaining an image of the liquid surface 7 to determine whether there is garbage on the liquid surface 7. If there is no garbage on the liquid surface 7, the pool cleaning robot 1 does not need to clean the liquid surface 7. If there is garbage on the liquid surface 7, the position of the garbage can be obtained so that the pool cleaning robot 1 can directly approach the garbage in the vertical direction, reducing the moving distance of the pool cleaning robot 1 on the liquid surface 7, thereby reducing the fluctuation of the liquid surface 7, avoiding the garbage on the liquid surface 7 from being greatly moved due to the fluctuation of the liquid surface 7, and improving the cleaning efficiency.

[0057] When the pool cleaning robot 1 floats in the pool 4, the garbage identification device 400 can be in the second position, and is used to obtain images of the pool cleaning robot 1 in the horizontal direction around it, for example, obtaining images near the side wall 6 of the pool 4 and the corners of the side, to determine whether there is any residual garbage in the pool 4, and perform secondary cleaning on the residual garbage to optimize the cleaning effect. The pool cleaning robot 1 has a short moving distance in the liquid of the pool 4, which reduces the fluctuation of the liquid in the pool 4 and improves the cleaning efficiency.

[0058] In some specific embodiments of the present application, such as Figure 1-Figure 3 as well as Figure 6 As shown, there are multiple garbage identification devices 400, and the multiple garbage identification devices 400 are at least arranged on two different sides of the body 100. The body 100 also has a lateral surface, which is located on one side of the horizontal direction of the body 100, and is connected to the front end and the rear end of the body 100 respectively, and is located between the front end and the rear end of the body 100 in the moving direction of the pool cleaning robot 1.

[0059] For example, at least one garbage identification device 400 is disposed at the front end of the fuselage 100, and at least another garbage identification device 400 is disposed at the rear end of the fuselage 100; or at least one garbage identification device 400 is disposed at the front end of the fuselage 100, and at least another garbage identification device 400 is disposed at the side surface of the fuselage 100; or at least one garbage identification device 400 is disposed at the rear end of the fuselage 100, and at least another garbage identification device 400 is disposed at the side surface of the fuselage 100; or still further, at least one garbage identification device 400 is disposed at the front end of the fuselage 100, at least one garbage identification device 400 is disposed at the rear end of the fuselage 100, and at least another one is disposed at the side surface of the fuselage 100.

[0060] Of course, the garbage identification device 400 may be disposed on the four horizontal side surfaces of the fuselage 100 , and the front end, the rear end and the two side surfaces of the fuselage 100 may be disposed with the garbage identification device 400 .

[0061] By arranging garbage identification devices 400 on different sides of the body 100, the shooting range of the pool cleaning robot 1 can be increased, so as to more efficiently obtain images on the liquid surface 7 and the pool edge, and determine whether there is garbage on the liquid surface 7 and the pool edge, thereby completing the cleaning of the pool 4 in a shorter time and improving the cleaning efficiency.

[0062] Furthermore, a plurality of garbage identification devices 400 are disposed at least on two adjacent side surfaces of the fuselage 100. For example, at least one garbage identification device 400 is disposed at the front end of the fuselage 100, and at least another garbage identification device 400 is disposed at the side surface of the fuselage 100; or at least one garbage identification device 400 is disposed at the rear end of the fuselage 100, and at least another garbage identification device 400 is disposed at the side surface of the fuselage 100.

[0063] Since the two adjacent side surfaces of the fuselage 100 are located in two different directions, for example, the fuselage 100 has a first direction and a second direction, the fuselage 100 has a front end and a rear end relatively arranged in the first direction, and the fuselage 100 has a lateral surface in the second direction, and the first direction and the second direction are perpendicular to each other, multiple garbage identification devices 400 can capture images of the first direction and the second direction of the fuselage 100, so that the garbage identification device 400 can obtain images in different directions, more efficiently obtain images on the liquid surface 7 and the pool edge, and judge whether there is garbage on the liquid surface 7 and the pool edge, so as to complete the cleaning of the pool 4 in a shorter time and improve the cleaning efficiency.

[0064] In some specific embodiments of the present application, such as Figure 1-Figure 4 as well as Figure 6As shown, the pool cleaning robot 1 further includes a cylinder brush 500, which is rotatably disposed on the body 100, and the cylinder brush 500 and the water inlet 110 are located on the same side of the body 100, and the cylinder brush 500 is used to drive the liquid in the pool 4 to flow toward the water inlet 110. In this way, the efficiency of the liquid in the pool 4 flowing into the filter device 200 can be improved, so that the pool 4 can be cleaned quickly.

[0065] In addition, the garbage identification device 400 and the cylinder brush 500 are arranged on the same side of the body 100, and the cylinder brush 500 can exceed the side of the front end of the body 100, and the cylinder brush 500 can first contact the liquid in the forward direction of the pool cleaning robot 1 to mainly guide the uncleaned liquid to the filter device 200. In addition, the garbage identification device 400 is located above the cylinder brush 500, so that the cylinder brush 500 can avoid blocking the camera range of the garbage identification device 400, ensuring that the garbage identification device 400 can obtain images of a larger range of liquid surface 7.

[0066] In some specific embodiments of the present application, such as Figure 3-Figure 6 As shown, the walking device 300 is arranged on opposite sides of the fuselage 100, and the walking device 300 exceeds the side of the fuselage 100 to increase the surface area of ​​the walking device 300 and the contact area between the walking device 300 and the bottom wall 5 of the pool 4. The friction between the walking device 300 and the bottom wall 5 of the pool 4 is greater, and the movement of the pool cleaning robot 1 is smoother.

[0067] In addition, the garbage identification device 400 and the walking device 300 are arranged on the same side of the fuselage 100, and the garbage identification device 400 is located above the walking device 300. In this way, it is possible to avoid the walking device 300 blocking the camera range of the garbage identification device 400, ensuring that the garbage identification device 400 can obtain images of the liquid surface 7 in a larger range.

[0068] In some specific embodiments of the present application, the garbage identification device 400 is rotatable in the vertical direction relative to the body 100; the garbage identification device 400 is rotatable in the horizontal direction relative to the body 100. Specifically, when the garbage identification device 400 is located below the liquid surface 7 of the pool 4, the garbage identification device 400 mainly rotates in the vertical direction, and the garbage identification device 400 faces the liquid surface 7 to capture an image of the liquid surface 7 and identify whether there is garbage on the liquid surface 7 and the location of the garbage; when the garbage identification device 400 floats on the liquid surface 7 of the pool 4, the garbage identification device 400 mainly rotates in the horizontal direction, and the garbage identification device 400 faces the side wall 6 of the pool 4 to capture an image of the pool side and identify whether there is garbage on the pool side and the location of the garbage.

[0069] In this way, the garbage identification device 400 has a larger rotation range and is more flexible in rotation. When the garbage identification device 400 is below the liquid surface 7 and floating on the liquid surface 7, the garbage identification device 400 can be used to obtain images of different areas, so as to more effectively grasp the garbage situation in the pool 4 and improve the cleaning effect of the pool 4.

[0070] In some specific embodiments of the present application, the garbage identification device 400 is movable between an extended position and a retracted position relative to the body 100. When the garbage identification device 400 is in the retracted position, the garbage identification device 400 does not extend beyond the outer surface of the body 100. When the garbage identification device 400 is in the extended position, at least a portion of the garbage identification device 400 extends beyond the outer surface of the body 100.

[0071] When the user manually cleans the liquid surface 7 and the garbage around the pool, or when the garbage identification device 400 cleans the bottom of the pool 4, the garbage identification device 400 does not need to obtain an image of the liquid surface 7. At this time, the garbage identification device 400 can be in a retracted position, which can reduce energy consumption and extend the battery life of the pool cleaning robot 1. On the other hand, it can prevent the garbage identification device 400 from colliding with objects in the pool 4, thereby reducing the probability of damage to the garbage identification device 400.

[0072] When the user requires the pool cleaning robot 1 to clean the liquid surface 7 and the garbage around the pool, or when the garbage identification device 400 has finished cleaning the bottom of the pool 4, the garbage identification device 400 needs to obtain an image of the liquid surface 7. At this time, the garbage identification device 400 can be in an extended position and extend beyond the outer surface of the body 100 to more accurately obtain the image of the liquid surface 7.

[0073] In some specific embodiments of the present application, such as Figure 3 As shown, the pool cleaning robot 1 further includes a base, a signal transmission device 610 and a functional device. The base is detachably arranged on the body 100. The garbage identification device 400, the signal transmission device 610 and the functional device are all arranged on the base, wherein the signal transmission device 610 can be connected to the garbage identification device 400 and the functional device respectively to feed back signal data of the garbage identification device 400 and the first functional device 620 to the control device.

[0074] Specifically, Figure 3As shown, the pool cleaning robot 1 also includes a first base 600, a signal transmission device 610 and a first functional device 620. The signal transmission device 610 may include a signal receiving sensor 611 and a signal sending sensor 612. The signal receiving device is used to receive a signal sent by a control device (such as a base station 3, a mobile phone, a tablet computer, or a remote controller); the signal sending device is used to transmit a signal to the control device (such as a base station 3, a mobile phone, a tablet computer, or a remote controller) to achieve communication between the pool cleaning robot 1 and the control device. The signal transmission device 610 can assist the pool cleaning robot 1 to return to the base station 3.

[0075] The first functional device 620 may include at least one of a distance sensor, a pressure sensor, and a depth sensor. The distance sensor is used to detect the distance between the pool cleaning robot 1 and obstacles in the forward direction to avoid collisions between the pool cleaning robot 1 and the forward direction, thereby reducing the probability of damage to the pool cleaning robot 1. The pressure sensor is used to detect whether the pool cleaning robot 1 is below the liquid level 7. The depth sensor is used to detect the depth of the pool cleaning robot 1 in the liquid in the pool 4.

[0076] The first base 600 is detachably disposed on the body 100 and is located on the same side of the body 100 as the water inlet 110, that is, the first base 600 is detachably disposed at the front end of the body 100. The garbage identification device 400, the signal transmission device 610 and the first functional device 620 are all disposed on the first base 600, wherein the signal transmission device 610 can be connected to the garbage identification device 400 and the first functional device 620 respectively to feed back the signal data of the garbage identification device 400 and the first functional device 620 to the control device.

[0077] By integrating the garbage identification device 400 , the signal transmission device 610 and the first functional device 620 into the first base 600 , the connection among the garbage identification device 400 , the signal transmission device 610 and the first functional device 620 is more reliable.

[0078] When the first base 600 is installed on the fuselage 100, the installation and positioning of the garbage identification device 400, the signal transmission device 610 and the first functional device 620 with respect to the fuselage 100 can be completed; when the first base 600 is disassembled from the fuselage 100, the separation of the garbage identification device 400, the signal transmission device 610 and the first functional device 620 with respect to the fuselage 100 can be completed. In this way, the pool cleaning robot 1 realizes modular connection, which is convenient for disassembly and assembly, and subsequent inspection and maintenance do not need to disassemble each part separately, which is more convenient.

[0079] like Figure 4As shown, the pool cleaning robot 1 also includes a second base 700, a signal transmission device 610 and a second functional device 710. The signal transmission device 610 may include a signal receiving sensor 611 and a signal sending sensor 612. The signal receiving device is used to receive a signal sent by a control device (such as a base station 3, a mobile phone, a tablet computer, or a remote controller); the signal sending device is used to transmit a signal to the control device (such as a base station 3, a mobile phone, a tablet computer, or a remote controller) to achieve communication between the pool cleaning robot 1 and the control device.

[0080] The second base 700 is detachably disposed on the body 100 and is located on the same side of the body 100 as the water outlet 120, that is, the second base 700 is detachably disposed at the rear end of the body 100. The garbage identification device 400, the signal transmission device 610 and the second functional device 710 are disposed on the second base 700. The signal transmission device 610 can be connected to the garbage identification device 400 and the second functional device 710 respectively to feed back the signal data of the garbage identification device 400 and the second functional device 710 to the control device.

[0081] The second functional device 710 may include at least one of a distance sensor, a pressure sensor, and a depth sensor. The distance sensor is used to detect the distance between the pool cleaning robot 1 and obstacles behind it to avoid collisions during the turning process of the pool cleaning robot 1 and reduce the probability of damage to the pool cleaning robot 1; the pressure sensor is used to detect whether the pool cleaning robot 1 is below the liquid level 7; the depth sensor is used to detect the depth of the pool cleaning robot 1 in the liquid of the pool 4.

[0082] By integrating the garbage identification device 400 , the signal transmission device 610 and the second functional device 710 into the second base 700 , the connection among the garbage identification device 400 , the signal transmission device 610 and the second functional device 710 is more reliable.

[0083] When the second base 700 is installed on the fuselage 100, the installation and positioning of the garbage identification device 400, the signal transmission device 610 and the second functional device 710 with the fuselage 100 can be completed; when the second base 700 is disassembled from the fuselage 100, the separation of the garbage identification device 400, the signal transmission device 610 and the second functional device 710 with the fuselage 100 can be completed. In this way, the pool cleaning robot 1 realizes modular connection, which is convenient for disassembly and assembly, and subsequent inspection and maintenance do not need to disassemble each part separately, which is more convenient.

[0084] In some embodiments of the present application, there may be multiple garbage identification devices 400, one garbage identification device 400 is arranged on the first base 600, another garbage identification device 400 is arranged on the second base 700, and one of the first base 600 and the second base 700 is provided with a signal transmission device 610.

[0085] The following describes a pool cleaning system 2 according to an embodiment of the present application with reference to the accompanying drawings. Figure 1-Figure 3 As shown, the pool cleaning system 2 includes a base station 3 and a pool cleaning robot 1 according to the above embodiment of the present application. The pool cleaning robot 1 has a return-to-pile mode. When the pool cleaning robot 1 is in the return-to-pile mode, it moves toward the base station 3 according to the signal of the garbage identification device 400.

[0086] According to the pool cleaning system 2 of the embodiment of the present application, by utilizing the above-mentioned pool cleaning robot 1, not only can the garbage on the pool bottom and the liquid surface 7 be cleaned, but also the moving distance on the liquid surface 7 is shorter, thereby reducing the fluctuation of the liquid surface 7 and improving the cleaning efficiency.

[0087] In addition, by setting up the garbage identification device 400, the image of the side wall 6 of the pool 4 lateral to the pool cleaning robot 1 can be obtained to control the pool cleaning robot 1 to move along the side wall 6 of the pool 4, thereby increasing the probability of the pool cleaning robot 1 moving to the base station 3.

[0088] In some embodiments of the present application, the garbage identification device 400 includes a camera device, which is used to obtain images inside the pool 4, for example, the camera device is used to obtain an image of the liquid surface of the pool 4, or the camera device is used to obtain an image of the bottom wall of the pool 4, or the camera device is used to obtain an image of the side wall of the pool 4.

[0089] The base station 3 is provided with a display screen, which is electrically or optically connected to the camera device, and the display screen is used to display the image acquired by the camera assembly; or the pool cleaning system 2 also includes a mobile terminal, which is electrically or optically connected to the camera assembly, and the mobile terminal is used to display the image acquired by the camera assembly, wherein the mobile terminal can be a mobile phone, a laptop computer, a tablet computer, etc.

[0090] In this way, the user can see the image acquired by the camera assembly through the display or mobile terminal, and can clearly know whether there is still garbage on the bottom wall, side wall and liquid surface of the pool 4, and understand the current cleanliness level of the pool 4 to decide whether the cleaning of the pool 4 can be ended, thereby ensuring that the cleaning of the pool 4 meets the user's requirements, and promptly feeding back the results to the user with a high degree of visualization to optimize the user experience.

[0091] The same or similar numbers in the drawings of this embodiment correspond to the same or similar parts; in the description of this application, it should be understood that if the terms "up", "down", "left", "right", etc. indicate directions or positional relationships based on the directions or positional relationships shown in the drawings, it is only for the convenience of describing this application and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction. Therefore, the terms describing the positional relationship in the drawings are only used for illustrative purposes and cannot be understood as limitations on this application. For ordinary technicians in this field, the specific meanings of the above terms can be understood according to specific circumstances.

[0092] The above are only preferred embodiments of the present application and are not intended to limit the present application. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present application should be included in the protection scope of the present application.

Claims

1. A pool cleaning robot, characterized in that: include: The fuselage is provided with a water inlet and a water outlet; A filtering device is provided on the body and is connected to the water inlet and the water outlet respectively, the liquid in the pool flows into the filtering device from the water inlet, and the filtered liquid is discharged from the water outlet; The garbage identification device is arranged on the body and is used for identifying the garbage on the liquid surface of the pool.

2. The pool cleaning robot according to claim 1, characterized in that: The garbage identification device includes a camera device, which is used to obtain an image of the liquid surface of the pool and / or the camera device is used to obtain an image of the bottom wall of the pool.

3. The pool cleaning robot according to claim 2, characterized in that: The camera device is rotatable relative to the body between a first position and a second position. The camera device is used to identify garbage on the liquid surface of the pool when it is in the first position, and is used to identify garbage on the bottom wall of the pool when it is in the second position.

4. The pool cleaning robot according to claim 2, characterized in that: Also includes: A walking device, rotatably arranged on the body, for contacting the bottom wall and / or side wall of the pool; A snorkeling device is arranged on the body and is electrically connected to the camera device. The snorkeling device drives the pool cleaning robot to float upward so that the camera device can identify garbage on the liquid surface of the pool.

5. The pool cleaning robot according to claim 2, characterized in that: Also includes: a cylindrical brush, rotatably disposed on the body and located on the same side of the body as the water inlet, for driving the liquid in the pool to flow toward the water inlet; Wherein, the camera device and the barrel brush are arranged on the same side of the machine body, and the camera is located above the barrel brush.

6. The pool cleaning robot according to claim 4, characterized in that: The running device is arranged on two opposite sides of the fuselage, the camera device and the running device are arranged on the same side of the fuselage, and the camera device is located above the running device.

7. The pool cleaning robot according to claim 2, characterized in that: The camera device is rotatable in a vertical direction relative to the body; The camera device is rotatable in a horizontal direction relative to the body.

8. The pool cleaning robot according to claim 2, characterized in that: The camera device is movable between an extended position and a retracted position relative to the body. When the camera device is in the retracted position, the camera device does not protrude beyond the outer surface of the body. When the camera device is in the extended position, at least a portion of the camera device protrudes beyond the outer surface of the body.

9. The pool cleaning robot according to any one of claims 2 to 8, characterized in that: Also includes: A base, detachably mounted on the body, wherein the camera device is mounted on the base; A signal transmission device, disposed on the base and electrically connected to the camera device; The functional device is arranged on the base and is electrically connected to the signal transmission device.

10. A pool cleaning system, characterized in that: include: Base station; According to any one of claims 1-9, the pool cleaning robot has a return-to-pile mode, and when the pool cleaning robot is in the return-to-pile mode, it moves toward the base station according to the signal of the garbage identification device.

11. The pool cleaning system of claim 10, wherein: The base station is provided with a display screen, which is electrically or optically connected to the garbage identification device, and the display screen is used to display the image acquired by the garbage identification device; and / or the pool cleaning system also includes a mobile terminal, which is electrically or optically connected to the garbage identification device, and the mobile terminal is used to display the image acquired by the garbage identification device.

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