Pool cleaning robot with distance detection function

Abstract

The utility model relates to the technical field of water surface cleaning, in particular to a pool cleaning robot with a distance detection function, which comprises a body, a detection module, cleaning modules, driving modules and a control unit, the body is provided with a storage mounting cavity, each cleaning module comprises a storage container and a cleaning device, and at least two groups of driving modules are arranged on two sides of the body. The detection module comprises a plurality of detectors, and the detectors are arranged in the advancing direction of the pool cleaning robot. The body is provided with the detection module used for detecting obstacles and the driving module used for controlling the motion trail of the pool cleaning robot, and the multiple detectors continuously detect the distance between the body and the surroundings. When the detector detects that the water area is close to the edge, the driving module can be controlled by the control unit to accelerate or reversely rotate to enable the pool cleaning robot to steer or retreat to leave the edge of the water area, so that normal operation and cleaning operation of the pool cleaning robot are guaranteed, the cleaning efficiency is improved, and the fault risk is reduced.

Description

Technical Field

[0001] The utility model relates to the technical field of water surface cleaning, in particular to a pool cleaning robot with a distance detection function. Background Art

[0002] A pool usually refers to a water storage facility used to store and collect water or for people to use for swimming, entertainment, irrigation, breeding and other activities. The water sources of common pools generally do not have natural circulation. After the water enters the pool, it is in a closed storage state for a long time, and requires regular manual water changes or gate opening for circulation. If the water source does not circulate for a long time, it will easily accumulate some floating objects or garbage from the outside world, such as leaves, petals, grass roots, wood chips, clothing tissues, food residues, paper towels, plastic debris, etc. The normal circulating water filtration system cannot effectively clean the pool garbage, so the pool needs to be cleaned regularly.

[0003] Pool cleaning robots can clean garbage or floating objects on the surface of the pool. After using the collection mechanism to collect the garbage or floating objects into the machine, they are usually picked up manually and sent to a trash can to clean the inside of the machine. However, the pool cleaning robots currently on the market have difficulty detecting the distance between the surrounding environment and themselves during the process of cleaning the pool, resulting in blind cruising. They are prone to falling into blind spots in the water area or approaching the edge of the water area, causing frequent collisions with obstacles at the edge of the water area or on the water surface, or even accidental running aground. In severe cases, the machine casing and internal components may be damaged, increasing the frequency of manual intervention and maintenance, and affecting the normal use of the machine.

[0004] In view of the above shortcomings, we need to develop a pool cleaning robot with distance detection function to meet the needs of the majority of users. Utility Model Content

[0005] In view of the above-mentioned problems that the existing pool cleaning robot has no structure to prevent garbage from overflowing, garbage easily falls off and falls on the ground, garbage overflows and flows back into the swimming pool, and it is easy to fall into the blind area of ​​the water area or near the edge of the water area, the technical solution adopted by the utility model to solve the technical problems is:

[0006] A pool cleaning robot with a distance detection function comprises a body, and a detection module, a cleaning module, a driving module for driving forward and backward movement, and a control unit for processing the motion logic of the pool cleaning robot respectively installed on the body, the body is provided with a storage installation cavity for accommodating the cleaning module, the cleaning module comprises a storage container for accommodating garbage and a cleaning device for facilitating garbage collection, and the driving modules are provided in at least two groups and are located on both sides of the body;

[0007] The detection module includes a plurality of detectors staggeredly arranged outside the body for detecting distance, and the detectors are arranged toward the forward direction of the pool cleaning robot.

[0008] Furthermore, in some embodiments, at least two groups of the detection modules are provided and are symmetrically arranged on both sides of the front end of the body, the control unit is respectively connected to the detectors and the driving modules, and the driving modules are located at the rear of the body.

[0009] Furthermore, in some embodiments, the main body is provided with a plurality of detection installation cavities for installing the corresponding detectors, and the detection ends of the detectors face the direction of the cavity openings of the detection installation cavities communicating with the outside.

[0010] Further, in some embodiments, each group of detectors includes a first detector and a second detector, the first detector is closer to the front end center of the body than the second detector, and the first detector is closer to the front end than the second detector.

[0011] Further, in some embodiments, the detection end of the detector is tilted downward so that the central axis of the detector forms an angle with the horizontal plane, and the angle is in the angle range of 0-60 degrees. The detection installation cavity is provided with an avoidance surface for avoiding the tilted setting of the detector.

[0012] Furthermore, in some embodiments, the first detector and the second detector are two different detection sensors.

[0013] Furthermore, in some embodiments, the detector is a sensor that detects distance using ultrasound and / or a sensor that detects distance using optical reflection.

[0014] Further, in some embodiments, the driving module includes a moving impeller hinged on the body and a motion driver for driving the moving impeller, the rotation axis of the moving impeller is perpendicular to the forward direction of the pool cleaning robot, and the motion driver can control the moving impeller to achieve forward or reverse rotation.

[0015] Furthermore, in some embodiments, the driving module includes an auxiliary floating member for providing buoyancy, the buoyancy generated by the auxiliary floating member prevents the detection module from falling into the water, and the height of the auxiliary floating member accounts for more than 30% of the height of the body.

[0016] Furthermore, in some embodiments, the auxiliary floating member is made of one of polystyrene foam, polyurethane foam, polypropylene foam, nylon foam, ethylene-vinyl acetate copolymer, polyvinyl chloride foam, polyethylene foam, and silicone rubber foam, and the detection module is higher than the auxiliary floating member.

[0017] The beneficial effects of the utility model are as follows:

[0018] 1. The utility model is provided with a detection module for detecting obstacles and a driving module for controlling the motion trajectory of the pool cleaning robot on the main body. Multiple detectors continuously detect the distance between the main body and the surroundings. When the detector detects that it is close to the edge of the water area, the control unit can control the driving module to accelerate or reverse so that the pool cleaning robot turns or retreats to drive away from the edge of the water area, thereby ensuring the normal operation and cleaning operation of the pool cleaning robot, improving the cleaning efficiency and reducing the risk of failure.

[0019] 2. The detector of the utility model is installed in the detection installation cavity at the front end of the main body. The minimum detection distance of the detector is controlled by the installation depth of the detection installation cavity to avoid inaccurate detection results caused by too small detection distance due to too much front placement. The detector is tilted downward at a certain angle to the horizontal plane to more accurately detect the space in front of the pool cleaning robot. Multiple detectors detect the front range at different positions at the same time. The data detected at each position is judged to facilitate the control unit to analyze and decide the motion strategy, control the drive module to turn to a smoother cruising direction, reduce the chance of collision with obstacles at the edge of the water area or on the water surface, and help to smoothly execute the motion trajectory and cleaning tasks.

[0020] The utility model will be further described below in conjunction with the accompanying drawings and specific implementation methods. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a three-dimensional diagram of a pool cleaning robot with a distance detection function according to the utility model.

[0022] Figure 2 It is a front view of a pool cleaning robot with a distance detection function according to the utility model.

[0023] Figure 3 The utility model is a three-dimensional exploded view of a pool cleaning robot with a distance detection function.

[0024] Figure 4 The utility model is a three-dimensional exploded view of a pool cleaning robot with a distance detection function.

[0025] Figure 5 It is a three-dimensional cross-sectional view of a pool cleaning robot with a distance detection function according to the utility model.

[0026] Figure 6 The utility model is a top view of a pool cleaning robot with a distance detection function. DETAILED DESCRIPTION

[0027] The implementation modes of the present utility model are described in detail below in conjunction with the accompanying drawings.

[0028] like Figures 1 to 6 As shown, a pool cleaning robot with a distance detection function comprises a body 1 and a detection module 2, a cleaning module 5, a driving module 6 for driving forward and backward movement, and a control unit for processing the motion logic of the pool cleaning robot, respectively installed on the body 1. The body 1 is provided with a storage installation cavity 11 for accommodating the cleaning module 5. The cleaning module 5 comprises a storage container 51 for accommodating garbage and a cleaning device 52 for facilitating garbage collection. The driving module 6 is provided with at least two groups and is located on both sides of the body 1.

[0029] The detection module 2 includes a plurality of detectors 21 staggeredly arranged outside the body 1 for detecting distances, and the detectors 21 are arranged toward the forward direction of the pool cleaning robot.

[0030] Optionally, in some embodiments, the main body 1 can be made of metal, plastic, wood or other materials. Preferably, the main body 1 can be made of a material that is lightweight, strong and corrosion-resistant, which helps to reduce the overall weight and facilitate floating on the water. At the same time, it has a certain impact resistance, can also reduce the degree of water corrosion on the main body 1, improve the durability of the main body 1, reduce the possibility of damage to the main body 1, and facilitate user use.

[0031] Optionally, in some embodiments, the detector 21 may use different types of sensors such as optical sensors, electromagnetic wave sensors, ultrasonic sensors or photoelectric sensors to measure distance or detect obstacles.

[0032] Specifically, in some embodiments, the pool cleaning robot can be used to clean up surface garbage or floating objects in various water spaces such as pools and water tanks. The body 1 is a shell structure for stably installing the anti-collision module 3, the cleaning module 5, the driving module 6 and the control unit. A storage installation cavity 11 for installing a cleaning device is provided in the center of the body 1. The cleaning module 5 is a tool used by the pool cleaning robot to clean the pool water surface and collect and recycle surface garbage or floating objects. The cleaning module 5 includes a storage container 51 for accommodating and filtering garbage or floating objects and a cleaning device 52 for actively cleaning and collecting surface garbage. The storage container 51 can be detachably installed in the storage installation cavity 11 of the pool cleaning robot. The cavity wall of the storage installation cavity 11 is provided with a limiting structure for limiting the installation position of the storage container 51. The front and rear edges of the bottom of the storage container 51 are provided with an arc shape. The arc shape helps to reduce the forward resistance of the pool cleaning robot. When the water flow on the lower side of the pool cleaning robot passes through the arc shape, the arc shape structure can be combined with the power to promote the forward movement to generate a fluid force with a certain upward buoyancy on the water flow.

[0033] The detection module 2 is a detection tool used by the pool cleaning robot to detect the distance between the surrounding water environment and the body 1. The detection module 2 includes a plurality of detectors 21 staggeredly arranged outside the body 1 for detecting the distance. The detector 21 can use one or more different sensors or induction radars as a tool for measuring the distance. The detector 21 can be located on the left and right sides or the front and rear sides of the body 1. The detector 21 is arranged toward the forward direction of the pool cleaning robot, so as to facilitate high-frequency detection of the water area in front of the pool cleaning robot to continuously monitor obstacles at the edge of the water area or on the water surface, and transmit the detection data back to the control unit for processing in real time. The control unit compares the detection data of each detector 21, analyzes the position, direction and distance between the pool cleaning robot and the obstacle, and timely executes the corresponding cruising motion strategy, which can effectively avoid obstacles, reduce collision impact or leave the blind area of ​​the water area;

[0034] The cleaning device 52 includes a cleaning impeller hinged on the storage container 51 and an impeller driver for providing power. The impeller driver drives the cleaning impeller to rotate so that the water flow can flow toward the inside of the storage container 51. The cleaning impeller is a rotating stirring tool used by the cleaning device 52 to stir the water flow to stir the garbage or floating objects into the storage container 51. The impeller driver is a power source used by the cleaning device 52 to drive the cleaning impeller to rotate and achieve stirring. The cleaning impeller is provided with cleaning blades for stirring the water flow. The cleaning blades are in the shape of long strips and are arranged at intervals around the circumference of the axis of rotation of the cleaning impeller. After the impeller driver is powered on, it drives the cleaning impeller to rotate. The cleaning impeller uses the cleaning blades to stir the water flow to stir the garbage or floating objects into the storage container 51, thereby achieving the effect of collecting and cleaning the garbage or floating objects.

[0035] The cleaning device 52 passes through the storage container 51 and is connected to the storage installation cavity 11. The driving source on the cleaning device 52 responsible for driving the cleaning device 52 is installed inside the body 1. It can directly drive or drive the cleaning device 52 through a mechanical transmission structure to stir the water surface to generate a water flow toward the storage container 51. The water flow drives garbage or floating objects into the storage container 51 to complete the garbage collection step. The cleaning device 52 can also be used as a power device to assist in driving the pool cleaning robot forward, turning or backward. When stirring the water flow, it drives the pool cleaning robot to move in the direction of being stirred;

[0036] Specifically, in some embodiments, the storage container 51 is detachably connected to the body 1, and the storage container 51 is hinged with a storage flap 53 for preventing garbage from falling, and the storage container 51 and the storage flap 53 are both provided with a plurality of water discharge holes 54;

[0037] Optionally, in some embodiments, the water discharge hole 54 can be in various shapes such as circular, triangular, rectangular, pentagonal, hexagonal, etc. as the opening shape of the hole;

[0038] More specifically, a accommodating chamber 511 for accommodating garbage is provided in the middle of the storage container 51, and the accommodating chamber 511 is connected to the water discharge hole 54 to facilitate the discharge of excess water. The upper side of the accommodating chamber 511 is connected to the channel after the storage flap 53 is opened. After the storage flap 53 is opened, the garbage or floating objects fall out of the accommodating chamber 511 toward the upper side and fall into the garbage can. A container inlet 512 for garbage to enter is provided on the side of the accommodating chamber 511 facing the installation of the cleaning device 52. After the cleaning device 52 stirs the water flow, the garbage or floating objects enter the accommodating chamber 511 from the container inlet 512. A plurality of water discharge holes 54 are staggered and spaced at intervals on the cavity bottom 513 and the cavity back 514 of the accommodating chamber 511. The water discharge holes 54 are spaced at intervals using a hexagonal hole shape. The hexagonal design can be better evenly distributed and arranged compared to other shapes, and is convenient for controlling the hole size of the water discharge holes 54. 4 is the distance from the edge of both sides of the accommodating cavity 511, the storage flap 53 is hinged at the top position of the cavity back 514, the cleaning device 52 is placed at the front end of the storage container 51, and the container hinge part of the storage flap 53 is placed at the rear end of the storage container 51, so that the storage flap 53 does not affect the installation position and operation range of the cleaning device 52. After the storage container 51 is taken out, when the garbage or floating objects tilt in the direction away from the container inlet 512, they will not easily fall from the hinge of the storage flap 53. If the storage flap 53 is hinged on the side close to the cleaning device 52, the garbage or floating objects will easily fall out from the opening of the storage flap 53 when tilting. With such a position arrangement, on the basis of the storage container 51 and the storage flap 53 covering and limiting the position of the garbage or floating objects, the possibility of the garbage or floating objects falling out easily is further reduced, and the stability of the storage container 51 limiting the position of the garbage is improved;

[0039] The driving module 6 is an action device used by the pool cleaning robot to mainly provide power for water surface movement. The driving module 6 is installed at the end of the body 1, and two groups of driving modules 6 are symmetrically arranged and installed on both sides of the end of the body 1. Each driving module 6 has an independent power source for driving movement. The control unit controls the rotation speed of each group of driving modules 6 respectively to achieve differential operation between each group of driving modules 6, and the steering and U-turn of the pool cleaning robot are achieved by differential operation. The driving shaft rotation axis of the driving module 6 is perpendicular to the forward direction of the pool cleaning robot. Compared with other driving shafts whose rotation axis is in the same direction as the forward direction of the pool cleaning robot, the vertical driving shaft axis can give full play to the effect of stirring the water flow to push the pool cleaning robot, so as to facilitate the driving module 6 to control the pool cleaning robot to achieve forward, steering, U-turn or backward movements, thereby improving the flexibility and escape ability of the pool cleaning robot.

[0040] The main body 1 is provided with a control unit for judging the actual situation and controlling the operation of the components. The control unit is respectively connected to the detection module 2 and the drive module 6. The detection module 2 and the drive module 6 are both arranged on the left and right sides of the main body 1. The control unit controls the drive modules 6 on both sides separately to realize the forward, steering, U-turn and reverse motion trajectories of the pool cleaning robot. The motion impeller 61 is a rotating paddle used by the drive module 6 to stir the water flow to provide the pool cleaning robot with water surface thrust. The motion driver 62 is a power device used by the drive module 6 to provide a power source to drive the motion impeller 61 to rotate forward or reverse. Under normal conditions, the motion drivers 62 on both sides rotate forward, so that the pool cleaning robot moves forward stably and straightly. When the detection module 2 on the corresponding side detects that it is close to the edge of the water area, the detection result will be transmitted to the control unit for comparison and analysis. The control unit will judge the actual situation and control the motion driver 62 on the corresponding side to accelerate, decelerate or reverse, and use the speed difference of the motion drivers 62 on the left and right sides to realize the turning or U-turn of the pool cleaning robot. When the pool cleaning robot is trapped in a small space and cannot turn or turn around, the motion drivers 62 on both sides reverse at the same time, so that the pool cleaning robot moves toward the tail direction of the body 1 until it exits the small space, so that the pool cleaning robot can judge, decide and execute automatically in response to various water conditions, and realize the effect of automatic navigation in water areas;

[0041] The body 1 also includes a floating module for providing buoyancy on the water surface. The floating module is a tool used by the pool cleaning robot to generate sufficient buoyancy to float on the water surface. The floating module can use a material with large buoyancy of its own or an inflatable structural component as a device to support buoyancy. The floating modules are symmetrically arranged on the buoyancy brackets inside the two sides of the body 1. The symmetrical arrangement can ensure the buoyancy balance on both sides of the pool cleaning robot, and it can also have a certain stability when facing the waves generated by the pool environment. The length of the floating module is greater than 60% of the length of the pool cleaning robot. The floating module is generally arranged in the middle of both sides of the body 1, which can ensure the front and rear balance of the pool cleaning robot on the water surface, improve the floating stability of the pool cleaning robot, and reduce the possibility of the pool cleaning robot rolling over.

[0042] like Figures 1 to 6 As shown, at least two groups of detection modules 2 are arranged and symmetrically arranged on both sides of the front end of the body 1 , and the control unit is respectively connected to the detector 21 and the driving module 6 , and the driving module 6 is located at the rear of the body 1 .

[0043] Specifically, in some embodiments, the detection modules 2 are symmetrically arranged on both sides of the front end of the body 1. The detection modules 2 arranged on both sides are conducive to ensuring that the distance between the two sides is as consistent as possible during detection. The detection modules 2 can be located on the left and right sides or the front and back sides of the body 1, so that it is easier to judge the situation on both sides when the control unit compares the distance between the two sides. In most cases, the pool cleaning robot will be affected by the irregular push of water flow and waves. It is not in a state of being perpendicular to the edge of the water area and approaching in a straight line, but is more likely to approach the edge of the water area with a certain tilt angle. Therefore, it is necessary to use the detectors 21 on both sides of the pool cleaning robot to independently detect. The distances between the two sides and the edge of the water area are respectively determined. When the detection module 2 detects that the detector 21 on the left is closer to the edge of the water area, the drive module 6 on the left is controlled to rotate faster, so that the pool cleaning robot moves toward the right front direction to avoid the left edge of the water area. Conversely, when the detection module 2 detects that the detector 21 on the right is closer to the edge of the water area, the drive module 6 on the right is controlled to rotate faster, so that the pool cleaning robot moves toward the left front direction to avoid the right edge of the water area, thereby reducing the possibility of the pool cleaning robot colliding with the edge of the water area, improving the timely response capability of the pool cleaning robot, and improving the flexibility of the pool cleaning robot.

[0044] like Figures 1 to 6 As shown, the body 1 is provided with a plurality of detection installation cavities 19 for installing the corresponding detectors 21 , and the detection ends of the detectors 21 face the direction of the cavity opening of the detection installation cavity 19 communicating with the outside.

[0045] Specifically, in some embodiments, the detection installation cavity 19 is a accommodating cavity opened on the main body 1 for installing and stabilizing the corresponding detector 21. The cavity opening of the detection installation cavity 19 communicating with the outside is facing the forward direction of the pool cleaning robot. The detector 21 is located deep in the detection installation cavity 19 close to the center of the main body 1. Without affecting the position of other components and the overall appearance, a sufficiently long distance is reserved for the detector 21 as a detection distance. The existing ranging sensors have a large measurement error for short distances. Therefore, the detector 21 is installed deep in the detection installation cavity 19 to increase the detection stroke of the detector 21, which can effectively improve the detection accuracy and control the steering timing more timely.

[0046] like Figure 1 , Figure 5 and Figure 6 As shown, each group of the detectors 21 includes a first detector 211 and a second detector 212 , wherein the first detector 211 is closer to the front center of the body 1 than the second detector 212 , and the first detector 211 is closer to the front end than the second detector 212 .

[0047] Specifically, in some embodiments, the first detector 211 is a detection sensor relatively close to the center of the front end, and the second detector 212 is a detection sensor relatively close to the edges on both sides. The first detector 211 and the second detector 212 are both on the same horizontal plane, and the first detector 211 and the second detector 212 are offset in the front and rear distance. The first detector 211 can detect obstacles earlier than the second detector 212. The control unit can determine the situation of the obstacle ahead by comparing the detection data of the first detector 211 and the second detector 212, thereby executing the corresponding forward and reverse strategies to achieve turning and drive away from the obstacle.

[0048] like Figures 1 to 6 As shown, the detection end of the detector 21 is tilted downward so that the central axis of the detector 21 forms an angle with the horizontal plane, and the angle is in the range of 0-60 degrees. The detection installation cavity 19 is provided with an avoidance surface for avoiding the tilted setting of the detector 21.

[0049] Specifically, in some embodiments, in most cases, the pool cleaning robot will be affected by the irregular push of water flow and waves, causing the body 1 to flip or deflect to varying degrees and in different directions. When the front and rear ends of the body 1 swing up and down, the detection direction of the detector 21 will be affected, especially when the detector 21 is set parallel to the horizontal plane. This type of impact will be more serious. The detection end of the detector 21 is tilted downward so that the central axis of the detector 21 forms an angle with the horizontal plane, and the angle is in the range of 0-60 degrees. The detection range can be controlled within a certain range in front of the pool cleaning robot. The avoidance surface of the detection installation cavity 19 can avoid the detection range of the detector 21 when it is tilted, so as to avoid blocking the detection of the detector 21 when it is tilted. Even if it is affected by the irregular push of water flow and waves, the detection range is still controlled at the detection height of the ideal area in front, effectively reducing the adverse effects of the up and down swings of the front and rear ends of the body 1 on the detection. It can also be used to check the distance of garbage or floating objects in the water surface area in front during daily cruising, so as to facilitate approaching and collecting garbage or floating objects.

[0050] like Figure 1 , Figure 5 and Figure 6 As shown, the first detector 211 and the second detector 212 are two different detection sensors.

[0051] Optionally, in some embodiments, the first detector 211 and the second detector 212 may respectively use different types of sensors such as optical sensors, electromagnetic wave sensors, ultrasonic sensors or photoelectric sensors to measure distance or detect obstacles.

[0052] Specifically, in some embodiments, the first detector 211 and the second detector 212 can respectively use two different detection sensors as detection tools. Preferably, one of the first detector 211 and the second detector 212 can use an ultrasonic sensor, and the other of the first detector 211 and the second detector 212 can use an optical sensor. The advantages of ultrasonic sensors in underwater environments are good penetration ability and accuracy. Ultrasonic waves can propagate over long distances in water and can accurately reflect various underwater obstacles and terrains. Whether on the water surface or underwater, the ranging accuracy of ultrasonic sensors is relatively stable, and the power consumption of ultrasonic sensors is also relatively low among sensor types. It is suitable for pool cleaning robots that perform independent cleaning operations on the water surface for a long time. In addition, the detection light emitted by the optical sensor is underwater. The environment is easily absorbed and affected by the pool water, but the light sensor is still a good choice in terms of power consumption and short-distance detection. During daily cruising cleaning, the first detector 211 and the second detector 212 are generally located on the upper side of the water surface, and may be submerged in water in rare cases. Therefore, the first detector 211 and the second detector 212 can preferably use sensors with low power consumption and suitable for short-distance ranging as applicable detectors, which helps to improve the battery life of the pool cleaning robot. Different types of sensors are adapted to different environments. The first detector 211 and the second detector 212 use different sensors respectively, and can also cope with ranging operations in different environments. The detection data is also more accurate, and it can adapt to more operating environments, which helps to improve the adaptability of the pool cleaning robot and expand the scope and usage scenarios of the pool cleaning robot.

[0053] like Figures 1 to 6 As shown, the detector 21 is a sensor that detects distance using ultrasonic waves and / or a sensor that detects distance using optical reflection.

[0054] Specifically, in some embodiments, the detector 21 is a sensor or radar that uses ultrasound to detect distance, and generally includes an ultrasonic transmitter and an ultrasonic receiver. The transmitter transmits ultrasonic pulses. When these waves encounter the target object and are reflected back, the receiver receives the reflected ultrasonic waves. By measuring the time delay between the emission and reception of the ultrasonic waves, the distance between the target object and the sensor can be calculated in combination with the speed of sound. This sensor or radar can achieve non-contact distance measurement without physical contact with the target, avoiding the risk of possible damage or contamination, and can also provide accurate distance measurement with high resolution and accuracy, accurately detecting the distance between the obstacle and the robot to avoid collision or maintain an appropriate cleaning distance; the sensor or radar that uses ultrasound to detect distance is more applicable in a pool environment because water has no obvious effect on the propagation of ultrasound. In contrast, other sensor technologies may be affected by water absorption, reflection or refraction, resulting in inaccurate or failed measurements. It generally has good stability and reliability, and is less affected by changes in environmental conditions. Compared with other ranging sensors, the sensor or radar that uses ultrasound to detect distance has lower power consumption and low manufacturing or procurement costs, and is an economical and reliable preferred detector type for a pool cleaning robot.

[0055] Specifically, in some embodiments, the detector 21 is a sensor or radar that detects distance using optical reflection. Such sensors generally use a light source to emit a light beam in a specified direction, and use the characteristics of light, such as reflection, absorption, and refraction, to measure the distance. When this light beam contacts the target object, part of the light will be reflected back to the sensor by the target object. By measuring the time required for the light beam to be emitted from the sensor and reflected back to the sensor by the target object, or measuring the intensity of the reflected light, the distance between the target object and the sensor can be calculated. This sensor or radar can achieve non-contact distance measurement without physical contact with the target, avoiding the risk of damage or contamination. It can also provide precise distance measurement with high resolution and accuracy, accurately detecting the distance between obstacles and the robot to avoid collisions or maintain an appropriate cleaning distance. Optical reflection sensors or radars usually have high precision and sensitivity, and can accurately measure the distance between obstacles or edges in the pool and the robot, ensuring that the robot can avoid obstacles or pool edges during cleaning, thereby improving cleaning efficiency. By accurately measuring the distance, the pool cleaning robot can more effectively plan the cleaning path, avoid repeated cleaning or missed areas, thereby improving cleaning efficiency and saving energy and time.

[0056] like Figure 3 and Figure 4As shown, the driving module 6 includes a moving impeller 61 hinged on the main body 1 and a motion driver 62 for driving the moving impeller 61. The rotation axis of the moving impeller 61 is perpendicular to the forward direction of the pool cleaning robot, and the motion driver 62 can control the moving impeller 61 to achieve forward or reverse rotation.

[0057] Specifically, in some embodiments, the driving module 6 is an action device used by the pool cleaning robot to mainly provide power for water surface movement. The driving module 6 is installed at the end of the body 1 and is installed on both sides of the end of the body 1 in a symmetrical structure. Each driving module 6 has an independent power source for driving movement. The driving shaft rotation axis of the driving module 6 is perpendicular to the forward direction of the pool cleaning robot. Compared with other driving shafts whose rotation axes are in the same direction as the forward direction of the pool cleaning robot, the vertical driving shaft axis arrangement can give greater play to the effect of stirring the water flow to push the pool cleaning robot, so as to facilitate the driving module 6 to control the pool cleaning robot to realize the action of moving forward, turning, turning around or retreating, thereby improving the flexibility and escape ability of the pool cleaning robot;

[0058] Specifically, in some embodiments, the main body 1 is provided with a control unit for judging the actual situation and controlling the operation of components and an inductive radar for ranging. The control unit is connected to the driving module 6 and the inductive radar. The driving module 6 is arranged on the left and right sides of the main body 1. The driving modules 6 on both sides are independently controlled by the control unit to realize the forward, steering, U-turn and reverse motion trajectories of the pool cleaning robot. The motion impeller 61 is a rotating paddle used by the driving module 6 to stir the water flow to provide surface thrust for the pool cleaning robot. The motion driver 62 is a power device used by the driving module 6 to provide a power source to drive the motion impeller 61 to rotate forward or reverse. In a normal state, the motion drivers 62 on both sides are in forward rotation, so that the pool cleaning robot can move stably and straight. The pool cleaning robot moves forward in a straight line. When the induction radar on the corresponding side approaches the edge of the water area, the induction radar transmits the detection result to the control unit for comparison and analysis. The control unit will judge the actual situation and control the motion driver 62 on the corresponding side to accelerate, decelerate or reverse. The speed difference between the motion drivers 62 on the left and right sides is used to realize the turning or U-turn of the pool cleaning robot. When the pool cleaning robot is trapped in a small space and cannot turn around or leave, the motion drivers 62 on both sides are reversed at the same time, so that the pool cleaning robot moves toward the tail direction of the body 1 until it exits the small space. The pool cleaning robot can judge, decide and execute automatically in response to various water conditions, thereby realizing the effect of automatic navigation in water areas.

[0059] like Figure 4 and Figure 5As shown, the driving module 6 includes an auxiliary floating member 41 for providing buoyancy. The buoyancy generated by the auxiliary floating member 41 prevents the detection module 2 from falling into the water. The height of the auxiliary floating member 41 accounts for more than 30% of the height of the body 1.

[0060] Specifically, in some embodiments, the auxiliary floating member 41 is used to provide the pool cleaning robot with buoyancy to float on the water surface. Water may weaken the detection effect of common detection sensors. The auxiliary floating member 41 is arranged on the lower side of the detection module 2, which helps the pool cleaning robot to float the detection module 2 above the water surface when floating, so as to prevent the detection module 2 from falling into the water and affecting the detection range and detection quality.

[0061] More specifically, the buoyancy generated by the auxiliary floating member 41 can also make the storage container 51 on the water surface, making it easier for garbage or floating objects to enter the storage container 51 and for the cleaning device 52 to collect garbage or floating objects on the water surface;

[0062] More specifically, in order to provide sufficient buoyancy, the height of the auxiliary floating member 41 is more than 30% of the height of the main body 1. When the volume of the auxiliary floating member 41 is a fixed value, if the height of the auxiliary floating member 41 is higher, the horizontal cross-sectional area of ​​the auxiliary floating member 41 is smaller, the less space of the main body 1 is occupied, and the more spacious the space inside the main body 1 is; if the height of the auxiliary floating member 41 is lower, the horizontal cross-sectional area of ​​the auxiliary floating member 41 is larger, the more space of the main body 1 is occupied, and the space inside the main body 1 is more compact.

[0063] like Figure 4 and Figure 5 As shown, the auxiliary floating member 41 is made of one of polystyrene foam, polypropylene foam, polyurethane foam, polypropylene foam, nylon foam, ethylene-vinyl acetate copolymer, polyvinyl chloride foam, polyethylene foam, and silicone rubber foam, and the detection module 2 is higher than the auxiliary floating member 41.

[0064] Specifically, in some embodiments, the auxiliary floating member 41 uses one of polystyrene foam, polypropylene foam, polyurethane foam, polypropylene foam, nylon foam, ethylene-vinyl acetate copolymer, polyvinyl chloride foam, polyethylene foam, and silicone rubber foam as the main material to improve the buoyancy of the pool cleaning robot. These materials are light, low-density, and have good shock absorption effects. They are also easy to process and shape, and are easy to obtain the required installation shape. They also have certain chemical resistance and corrosion resistance, are not easily corroded and damaged in water, and can be immersed in water for a long time. Water may weaken the detection effect of common detection sensors. The detection module 2 is higher than the auxiliary floating member 41, which helps the pool cleaning robot to float the detection module 2 above the water surface when floating, so as to avoid the detection module 2 falling into the water and affecting the detection range and detection quality;

[0065] Preferably, the auxiliary floating member 41 can use foamed polystyrene as the material for generating buoyancy. Foamed polystyrene has the characteristics of low density, low water absorption, good shock absorption and recyclability. It can reduce the overall mass and increase the floating water surface height, reduce the performance impact of water quality on the material, improve the anti-collision performance and anti-impact performance of the pool cleaning robot, and recycle the foamed polystyrene for secondary use to achieve environmental protection effects. The foamed polystyrene material is easy to obtain and easy to process into the required shape, which is convenient to adapt to the special internal space of the main body 1, easy to replace and maintain, reducing material costs and maintenance costs, reducing production and procurement costs, and convenient for users to use.

[0066] like Figures 1 to 6 As shown, the specific implementation of Example 1 of the utility model is as follows:

[0067] When in use, the pool cleaning robot is started by turning the start switch at the rear end of the pool cleaning robot, and then the pool cleaning robot is placed on the water surface of the pool. The pool cleaning robot floats on the water surface through the auxiliary floating member 41 and the horizontal plane is slightly floating at the height of the container inlet 512. The motion driver 62 drives the motion impeller 61 to rotate forward, so that the water-moving blades 63 move the water flow to push the pool cleaning robot forward in a straight line. The impeller driver drives the cleaning impeller to rotate, so that the cleaning impeller moves the water flow to guide the garbage or floating objects on the water surface to flow toward the storage container 51. The garbage or floating objects enter the accommodating chamber 511 from the container inlet 512, and the excess water is discharged from the water unloading holes 54 at the bottom 513 of the cavity and the back 514 of the cavity. The water unloading holes 54 are smaller than the volume of the garbage or floating objects, so that the garbage or floating objects are retained in the accommodating chamber 511, completing the cleaning and collection effect of the garbage or floating objects on the water surface.

[0068] When the pool cleaning robot moves forward, multiple detectors 21 located at the front end of the pool cleaning robot continuously detect the distance in front of the pool cleaning robot. When the detector 21 detects that the pool cleaning robot is close to the edge of the water area, the detector 21 controls the output end of the motion driver 62 to reverse through the control unit, so that the water-pumping blades 63 pry the water flow to drive the pool cleaning robot backward. After the detector 21 detects that the pool cleaning robot leaves the edge of the water area, the control unit controls the motion driver 62 to resume forward rotation to drive the pool cleaning robot to move forward in a straight line.

[0069] When it is found that the accommodating chamber 511 is loaded with a lot of garbage or floating objects, the pool cleaning robot can be picked up from the water surface of the pool, and the water in the accommodating chamber 511 flows out from multiple water unloading holes 54. The water unloading holes 54 are smaller than the volume of the garbage or floating objects, so the garbage or floating objects are retained in the accommodating chamber 511, and the water and garbage are separated. The pool cleaning robot is shut down by toggling the start switch at the rear end of the pool cleaning robot. The user takes the storage container 51 to the garbage cleaning scene, opens the storage flap 53, and pours the garbage or floating objects in the accommodating chamber 511 into a trash can or other garbage container. After cleaning the storage container 51, the storage container 51 can be installed back into the storage installation chamber 11, so that the storage container 51 is firmly installed in the storage installation chamber 11, and the garbage cleaning step is completed.

[0070] like Figures 1 to 6 As shown, the specific implementation of Example 2 of the utility model is as follows:

[0071] Different from the first embodiment, the detection module 2 of this embodiment can independently control the driving module 6 on the same side.

[0072] When the pool cleaning robot moves forward, multiple detectors 21 located at the front end of the pool cleaning robot continuously detect the distance in front of the pool cleaning robot. When the pool cleaning robot approaches the edge of the water area, the detectors 21 on both sides respectively send the distances detected on both sides to the control unit for comparison. The detector 21 on the side with a closer distance controls the motion driver 62 on the same side to speed up the rotation output end through the control unit, so that the motion impeller 61 rotates faster, and the water-pumping blades 63 pry the water flow to provide the pool cleaning robot with greater forward power, so that the pool cleaning robot generates a power difference and turns to the other side, thereby realizing the motion steering function of the pool cleaning robot.

[0073] When the detector 21 detects that the pool cleaning robot is at the corner of the edge of the water area, the control unit controls one of the drive modules on both sides to rotate forward and the other drive module on both sides to rotate reversely, so that the pool cleaning robot generates a larger power difference and turns around on the spot, until the detector 21 detects that the front range of the pool cleaning robot is facing the open water space, the drive modules on both sides resume and rotate forward at the same time to push the pool cleaning robot forward in a straight line.

[0074] The specific implementation of Example 3 of the utility model is as follows:

[0075] Different from the first and second embodiments, the floating module of the present embodiment is an inflatable structural component that acts as a device for supporting buoyancy, such as an airbag structure, an air box structure or a hollow shell structure.

[0076] The above examples are only used to further illustrate the technical content of the utility model, so that readers can understand it more easily, but it does not mean that the implementation methods of the utility model are limited to this. Any technical extension or re-creation made based on the utility model is protected by the utility model. The protection scope of the utility model shall be based on the claims.

Claims

1. A pool cleaning robot with a distance detection function, characterized in that: The robot comprises a body (1), a detection module (2), a cleaning module (5), a driving module (6) for driving forward and backward movement, and a control unit for processing the motion logic of a pool cleaning robot, each of which is respectively mounted on the body (1); the body (1) is provided with a storage and installation cavity (11) for accommodating the cleaning module (5); the cleaning module (5) comprises a storage container (51) for accommodating garbage and a cleaning device (52) for facilitating garbage collection; and at least two groups of the driving modules (6) are provided and are located on both sides of the body (1); The detection module (2) comprises a plurality of detectors (21) arranged outside the body (1) for detecting distances, and the detectors (21) are arranged towards the forward direction of the pool cleaning robot.

2. The pool cleaning robot with distance detection function according to claim 1, characterized in that: At least two groups of the detection modules (2) are arranged symmetrically on both sides of the front end of the body (1); the control unit is respectively connected to the detectors (21) and the drive module (6); and the drive module (6) is located at the rear of the body (1).

3. The pool cleaning robot with distance detection function according to claim 1, characterized in that: The body (1) is provided with a plurality of detection installation cavities (19) for installing corresponding detectors (21), and the detection ends of the detectors (21) face the direction of the cavity opening of the detection installation cavity (19) communicating with the outside.

4. The pool cleaning robot with distance detection function according to claim 2, characterized in that: Each group of detectors (21) comprises a first detector (211) and a second detector (212) which are arranged in a staggered manner, wherein the first detector (211) is closer to the front center of the body (1) than the second detector (212), and the first detector (211) is closer to the front end than the second detector (212).

5. The pool cleaning robot with distance detection function according to claim 3, characterized in that: The detection end of the detector (21) is tilted downward so that the central axis of the detector (21) forms an angle with the horizontal plane, the angle being in the range of 0-60 degrees, and the detection installation cavity (19) is provided with an avoidance surface for avoiding the tilted setting of the detector (21).

6. The pool cleaning robot with distance detection function according to claim 4, characterized in that: The first detector (211) and the second detector (212) are two different detection sensors.

7. The pool cleaning robot with distance detection function according to claim 1, characterized in that: The detector (21) is a sensor that detects distance using ultrasonic waves and / or a sensor that detects distance using optical reflection.

8. The pool cleaning robot with distance detection function according to claim 1, characterized in that: The driving module (6) comprises a moving impeller (61) hinged on the body (1) and a moving driver (62) for driving the moving impeller (61); the rotation axis of the moving impeller (61) is perpendicular to the forward direction of the pool cleaning robot; and the moving driver (62) can control the moving impeller (61) to achieve forward or reverse rotation.

9. The pool cleaning robot with distance detection function according to claim 8, characterized in that: The driving module (6) comprises an auxiliary floating member (41) for providing buoyancy, the buoyancy generated by the auxiliary floating member (41) prevents the detection module (2) from falling into the water, and the height of the auxiliary floating member (41) is more than 30% of the height of the body (1).

10. The pool cleaning robot with distance detection function according to claim 9, characterized in that: The auxiliary floating member (41) is made of one of polystyrene foam, polyurethane foam, polypropylene foam, nylon foam, ethylene-vinyl acetate copolymer, polyvinyl chloride foam, polyethylene foam, and silicone rubber foam. The detection module (2) is higher than the auxiliary floating member (41).

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