Pool cleaner

Abstract

The utility model discloses a pool cleaner which comprises a cleaner body, a controller, a walking device, a filtering device, a wheel brush, a wall-climbing detection device and a wall-climbing horizontal detection device, wherein the controller, the walking device, the filtering device, the wheel brush, the wall-climbing detection device and the wall-climbing horizontal detection device are installed on the cleaner body. The walking device comprises a left walking motor, a right walking motor, a left walking wheel in transmission fit with the left walking motor and a right walking wheel in transmission fit with the right walking motor. The filtering device comprises a filter and a filtering water pump, the filtering water pump comprises a filtering motor and a filtering impeller driven by the filtering motor, and the filtering impeller is input into the filter; the controller is electrically connected with the left walking motor, the right walking motor, the filtering motor, the wall-climbing detection device and the wall-climbing horizontal detection device. The pool cleaner has a good cleaning effect on a pool.

Description

Technical Field

[0001] The utility model relates to the field of pool cleaning, in particular to a pool cleaner. Background Art

[0002] Since dirt will accumulate on the bottom and walls of a pool after long-term use, the pool needs to be cleaned regularly. Currently, many users use a pool cleaner that can move freely in the pool to clean the pool. The pool cleaner will clean the bottom and walls of the pool while moving in the pool. The pool cleaner is also equipped with a filter, which is provided with a filter pump. The filter pump allows water to flow through the filter so that the dirt in the pool is collected by the filter.

[0003] However, the existing pool cleaners do not clean the pool in a orderly manner, which results in poor cleaning effect on the pool and easily leads to the problem that many areas are not cleaned properly.

[0004] In view of the above problems, it is necessary to study a pool cleaner that can effectively improve the cleaning effect of the pool. Utility Model Content

[0005] The utility model aims to provide a pool cleaner which can effectively improve the cleaning effect of the pool.

[0006] In order to achieve the above purpose, the solution of the utility model is:

[0007] A pool cleaner comprises a cleaner body, and a controller, a travel device, a filtering device, a wheel brush, a wall climbing detection device and a wall climbing level detection device installed on the cleaner body; the travel device comprises a left travel motor, a right travel motor, a left travel wheel matched with the left travel motor, and a right travel wheel matched with the right travel motor; the controller is electrically connected to the left travel motor and the right travel motor respectively; the filtering device comprises a filter and a filtering water pump, the filtering water pump comprises a filtering motor and a filtering impeller driven by the filtering motor, and the filtering impeller is located in the filter; the controller is electrically connected to the filtering motor; the controller is electrically connected to the wall climbing detection device and the wall climbing level detection device respectively.

[0008] The wall-climbing detection device includes a wall-climbing detection body installed on the cleaner body, a detection arm rotatably installed on the wall-climbing detection body, and two wall-climbing sensors installed on the wall-climbing detection body and respectively located on both sides of the wall-climbing detection body, the detection arm is equipped with a wall-climbing sensing piece, and the wall-climbing sensing piece moves through the sensing areas of the two wall-climbing sensors; the controller is electrically connected to the two wall-climbing sensors of the wall-climbing detection device.

[0009] The wall-climbing induction element adopts a magnet, and the wall-climbing sensor adopts a Hall proximity switch.

[0010] The wall-climbing horizontal detection device includes a horizontal detection body, a horizontal detection ball, and two horizontal sensors; the horizontal detection body is installed on the cleaner body, and the horizontal detection body is provided with a horizontal detection cavity, the horizontal detection cavity has a buffer section and two offset sections respectively connected to the two ends of the buffer section, the aperture of the offset section is smaller than the aperture of the buffer section, and a step is formed at the connection between the buffer section and the offset section; the two horizontal sensors are installed on the horizontal detection body and are respectively arranged corresponding to the two offset sections, the horizontal detection ball is movably accommodated in the horizontal detection cavity, and the horizontal detection ball moves through the sensing areas of the two horizontal sensors.

[0011] The level detection ball is magnetic, and the level sensor adopts a Hall proximity switch.

[0012] The surface of the level detection ball is a reflective surface; the level sensor adopts a reflective photoelectric proximity switch.

[0013] The pool cleaner also includes a left speed detection device for detecting the speed of the left walking wheel and a right speed detection device for detecting the speed of the right walking wheel; the left speed detection device and the right speed detection device are electrically connected to the controller respectively, and the left speed detection device and the right speed detection device are installed on the cleaner body.

[0014] The pool cleaner also includes a position identification device installed on the cleaner body, and the position identification device is electrically connected to the controller.

[0015] The orientation recognition device includes an identification body installed on the cleaner body, an identification turntable rotatably matched with the identification body, and an orientation sensing device installed on the identification body. The identification turntable is equipped with a permanent magnet. The orientation sensing device is used to sense whether the identification turntable is located in a set orientation. The number of set orientations is at least three. The orientation sensing device is electrically connected to the controller.

[0016] The orientation sensing device comprises at least three Hall sensors which are arranged corresponding to the ends of the permanent magnet.

[0017] The orientation sensing device comprises at least three opposing beam photoelectric switches, and the identification turntable is provided with a shielding part which can movably shield the light-emitting part of the opposing beam photoelectric switches.

[0018] The orientation sensing device comprises at least three reflective photoelectric switches, which are accommodated in the identification turntable. The inner wall of the identification turntable is provided with at least one reflective member which is movably opposite to the reflective photoelectric switch.

[0019] The pool cleaner also includes a power supply battery and a BMS battery management module installed on the cleaner body; the power supply battery supplies power to the left travel motor, the right travel motor, the filter motor and the controller; the BMS battery management module is electrically connected to the power supply battery and the controller respectively.

[0020] The pool cleaner also includes a water immersion sensor installed on the cleaner body, and the water immersion sensor is electrically connected to the controller.

[0021] After adopting the above scheme, the utility model has the following characteristics:

[0022] The pool cleaner of the utility model has a wall climbing detection device and a wall climbing level detection device. The controller detects whether the pool cleaner of the utility model is in a wall climbing state through the wall climbing detection device, and then determines whether the pool cleaner of the utility model is moving on the pool bottom or on the pool wall, so as to facilitate the control of the movement trajectory of the pool cleaner of the utility model in the pool, so as to improve the cleaning effect of the pool. The controller can detect whether the pool cleaner of the utility model is horizontal when it is in the wall climbing state through the wall climbing detection device, so that the pool cleaner of the utility model can be controlled to move vertically on the pool wall to ensure the cleaning effect of the pool wall. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 The utility model is a schematic structural diagram of a pool cleaner.

[0024] Figure 2 A cross-sectional view of the pool cleaner of the utility model Figure 1 .

[0025] Figure 3 A cross-sectional view of the pool cleaner of the utility model Figure 2 .

[0026] Figure 4 The utility model is a circuit principle block diagram of the pool cleaner.

[0027] Figure 5 This is a structural exploded view of the wall climbing detection device of the present utility model.

[0028] Figure 6 It is a structural schematic diagram of the wall climbing detection device of the present utility model.

[0029] Figure 7 It is a schematic diagram of the partial structure of the wall climbing detection device of the present utility model.

[0030] Figure 8 The structure diagram of the wall climbing level detection device of the utility model is shown in FIG. Figure 1 .

[0031] Fig. 9The structure diagram of the wall climbing level detection device of the utility model is shown in FIG. Figure 2 .

[0032] Fig.10 The structure diagram of the wall climbing level detection device of the utility model is shown in FIG. Figure 3 .

[0033] Fig.11 It is a partial structural diagram of the first embodiment of the position recognition device of the utility model.

[0034] Fig.12 It is a partial structural diagram of a second embodiment of the position recognition device of the utility model.

[0035] Fig.13 It is a partial structural diagram of a third embodiment of the position recognition device of the utility model.

[0036] Fig.14 The utility model is a general flow chart of the cleaning control method of the pool cleaner.

[0037] Fig.15 This is a flow chart of the first pool cleaning mode of the utility model.

[0038] Fig.16 This is a flow chart of the second pool cleaning mode of the present invention.

[0039] Fig.17 This is a flow chart of the third pool cleaning mode of the present utility model.

[0040] Fig.18 This is a flow chart of the automatic pool cleaning mode of the utility model.

[0041] Fig.19 The utility model is a flow chart of the debugging method of the pool cleaner.

[0042] Description of labels:

[0043] Cleaner body A, electrical installation room A0,

[0044] Controller B,

[0045] Travel device C, left travel motor C1, right travel motor C2, left travel wheel C3, right travel wheel C4,

[0046] Filter device D, filter D1, filter water pump D2, filter motor D21, filter impeller D22,

[0047] Wheel brush E,

[0048] Wall climbing detection device F, wall climbing detection body F1, detection arm F2, wall climbing sensor F3, wall climbing sensor F4, wall climbing detection circuit board F5,

[0049] Wall climbing level detection device G, level detection body G1, level detection cavity G11, buffer section G111, offset section G112, level detection ball G2, level sensor G3,

[0050] Left speed detection device H,

[0051] Right speed detection device I,

[0052] Position recognition device J, recognition body J1, recognition turntable J2, shielding part J21, reflective member J22, position sensing device J3, Hall sensor J31, beam photoelectric switch J32, reflective photoelectric switch J33, permanent magnet J4,

[0053] Water sensor K,

[0054] Power supply battery L,

[0055] BMS battery management module M. DETAILED DESCRIPTION

[0056] In order to further explain the technical solution of the present utility model, the present utility model is described in detail below through specific embodiments.

[0057] like Figures 1 to 13 As shown, the utility model discloses a pool cleaner, which includes a cleaner body A, a controller B installed on the cleaner body A, a travel device C, a filter device D and a wheel brush E; the travel device C includes a left travel motor C1, a right travel motor C2, a left travel wheel C3 drivingly matched with the left travel motor C1, and a right travel wheel C4 drivingly matched with the right travel motor C2; the controller B is electrically connected to the left travel motor C1 and the right travel motor C2 respectively; the filter device D includes a filter D1 and a filter water pump D2, the filter water pump D2 includes a filter motor D21 and a filter impeller D22 driven by the filter motor D21, and the filter impeller D22 is input into the filter D1; the controller B is electrically connected to the filter motor D21. The controller B controls the movement of the pool cleaner of the present invention by driving the left travel motor C1 and the right travel motor C2 to enable the wheel brush E to clean the dirt on the bottom and wall of the pool; the controller B drives the filter motor D21 to enable the water flow in the pool to flow through the filter D1 to collect the dirt in the pool.

[0058] In the embodiment of the utility model, the pool cleaner of the utility model further comprises a wall climbing detection device F and a wall climbing level detection device G installed on the cleaner body A; the controller B is electrically connected to the wall climbing detection device F and the wall climbing level detection device G respectively; the controller B detects whether the pool cleaner of the utility model is in a wall climbing state through the wall climbing detection device F, and then determines whether the pool cleaner of the utility model is moving on the bottom of the pool or on the pool wall, so as to facilitate the control of the movement trajectory of the pool cleaner of the utility model in the pool, so as to improve the cleaning effect of the pool. The controller B can detect whether the pool cleaner of the utility model is horizontal when it is in a wall climbing state through the wall climbing detection device F, so that the pool cleaner of the utility model can be controlled to move vertically on the pool wall to ensure the cleaning effect of the pool wall.

[0059] In an embodiment of the utility model, the wall-climbing detection device F includes a wall-climbing detection body F1 installed on the cleaner body A, a detection arm F2 rotatably installed on the wall-climbing detection body F1, and two wall-climbing sensors F3 installed on the wall-climbing detection body F1 and respectively located on both sides of the wall-climbing detection body F1, the detection arm F2 is equipped with a wall-climbing sensing component F4, and the wall-climbing sensing component F4 moves through the sensing areas of the two wall-climbing sensors F3; the controller B is electrically connected to the two wall-climbing sensors F3 of the wall-climbing detection device F. When the pool cleaner of the utility model is at the bottom of the pool, the wall-climbing induction component F4 is in the sensing area of ​​the two wall-climbing sensors F3, and the two wall-climbing sensors F3 cannot sense the wall-climbing induction component F4; and when the pool cleaner of the utility model is at the pool wall, the wall-climbing induction component F4 is in the sensing area of ​​one of the two wall-climbing sensors F3, and the wall-climbing sensor F3 senses the wall-climbing induction component F4; therefore, the controller B can detect whether the pool cleaner of the utility model is in the wall-climbing state through the signals of the two wall-climbing sensors F3, and can also judge whether the pool cleaner of the utility model is in the forward wall-climbing state (i.e., the front end of the pool cleaner faces upward) or the reverse wall-climbing state (i.e., the rear end of the pool cleaner faces upward). Among them, the wall-climbing induction component F4 can be a magnet, and the wall-climbing sensor F3 can be a Hall proximity switch that can sense the magnetic field of the wall-climbing induction component F4. The two wall-climbing sensors F3 can be arranged on a wall-climbing detection circuit board F5, and the wall-climbing detection circuit is installed on the wall-climbing detection body F1.

[0060] In an embodiment of the utility model, the wall-climbing horizontal detection device G includes a horizontal detection body G1, a horizontal detection ball G2, and two horizontal sensors G3; the horizontal detection body G1 is installed on the cleaner body A, and the horizontal detection body G1 is provided with a horizontal detection cavity G11, the horizontal detection cavity G11 has a buffer section G111 and two offset sections G112 respectively connected to the two ends of the buffer section G111, the aperture of the offset section G112 is smaller than the aperture of the buffer section G111, and a step is formed at the connection between the buffer section G111 and the offset section G112; the two horizontal sensors G3 are installed on the horizontal detection body G1 and are respectively arranged corresponding to the two offset sections G112, the horizontal detection ball G2 is movably accommodated in the horizontal detection cavity G11, and the horizontal detection ball G2 moves through the sensing areas of the two horizontal sensors G3. When the pool cleaner of the present invention is in a wall climbing state, if the pool cleaner of the present invention is in a horizontal state, then the horizontal detection ball G2 is located in the buffer section G111, and the two horizontal sensors G3 cannot sense the horizontal detection ball G2; when the pool cleaner of the present invention is in a wall climbing state, if the pool cleaner of the present invention is not in a horizontal state, then the horizontal detection ball G2 is located in one of the two offset sections G112, so that one of the two horizontal sensors G3 senses the horizontal detection ball G2. Among them, the step formed at the connection between the buffer section G111 and the offset section G112 can play a certain stopping role, preventing the horizontal detection ball G2 from mistakenly entering the horizontal detection ball G2 when the pool cleaner turns at the bottom of the pool. The horizontal detection ball G2 can be magnetic, and the horizontal sensor G3 uses a Hall proximity switch that can sense the magnetic field of the horizontal detection ball G2. It should be noted that the level sensor G3 may also adopt a reflective photoelectric proximity switch, and the surface of the level detection ball G2 is a reflective surface. When the level detection ball G2 reflects the light emitted by the level sensor G3 back to the level sensor G3, the level sensor G3 senses the level detection ball G2.

[0061] In an embodiment of the utility model, the pool cleaner of the utility model may further include a left speed detection device H for detecting the speed of the left walking wheel C3 and a right speed detection device I for detecting the speed of the right walking wheel C4; the left speed detection device H and the right speed detection device I are electrically connected to the controller B respectively, and the left speed detection device H and the right speed detection device I are installed on the cleaner body A, and the left speed detection device H and the right speed detection device I may use a magnetic encoder. The controller B can detect the speed of the left walking wheel C3 and the speed of the right walking wheel C4 respectively through the left speed detection device H and the right speed detection device I, so that the controller B can adjust the speed of the left walking motor C1 and the right walking motor C2 of the walking device C to the same speed of the left walking wheel C3 and the right walking wheel C4, so that the pool cleaner of the utility model can maintain a straight-moving state.

[0062] In an embodiment of the utility model, the pool cleaner of the utility model may further include a position identification device J installed on the cleaner body A, and the position identification device J is electrically connected to the controller B. The utility model can determine whether the straight direction of the pool cleaner of the utility model is in a set position through the position identification device J, and the number of set positions is at least three, so as to facilitate the control of the straight direction of the pool cleaner.

[0063] In an embodiment of the present utility model, the orientation recognition device J comprises an identification body J1 mounted on a cleaner body A, an identification turntable J2 rotatably matched with the identification body J1, and an orientation sensing device J3 mounted on the identification body J1, the identification turntable J2 is matched with a permanent magnet J4, the orientation sensing device J3 is used to sense whether the identification turntable J2 is located at a set orientation, and the orientation sensing device J3 is electrically connected to the controller B; when the orientation sensing device J3 senses that the identification turntable J2 is located at a set orientation, then the straight-ahead direction of the pool cleaner of the present utility model is at the set orientation.

[0064] Cooperate Fig.11 As shown, in the first embodiment of the orientation sensing device J3 of the utility model, the orientation sensing device J3 includes at least three Hall sensors J31 arranged corresponding to the ends of the permanent magnet J4; when a Hall sensor J31 senses the end magnetic field of the permanent magnet J4, the Hall sensor J31 is sent to the controller B to determine that the pool cleaner of the utility model is in a set orientation.

[0065] Cooperate Fig.12 As shown, in the second embodiment of the position sensing device J3 of the utility model, the position sensing device J3 includes at least three opposing photoelectric switches J32, and the identification turntable J2 is provided with a shielding part J21 that can movably shield the light-emitting part of the opposing photoelectric switch J32. When the light-emitting part of a certain opposing photoelectric switch J32 is shielded by the shielding part J21, the opposing photoelectric switch J32 sends a signal to the controller B to determine that the pool cleaner of the utility model is in a set position.

[0066] Cooperate Fig.13 As shown, in the third embodiment of the position sensing device J3 of the present utility model, the position sensing device J3 includes at least three reflective photoelectric switches J33, which are accommodated in the identification turntable J2, and the inner wall of the identification turntable J2 is provided with at least one reflective member J22 that is movable opposite to the reflective photoelectric switch J33. When the light emitted by a certain reflective photoelectric switch J33 is reflected back to the reflective photoelectric switch J33 by the reflective member J22, the reflective photoelectric switch J33 sends a signal to the controller B to determine that the pool cleaner of the present utility model is in a set position.

[0067] In an embodiment of the utility model, the pool cleaner of the utility model also includes a power supply battery L and a BMS battery management module M installed on the cleaner body A; the power supply battery L supplies power to the left travel motor C1, the right travel motor C2, the filter motor D21 and the controller B; the BMS battery management module M is electrically connected to the power supply battery L and the controller B respectively; the controller B detects the status of the power supply battery L through the BMS battery management module M.

[0068] In an embodiment of the present invention, the pool cleaner of the present invention further comprises a water immersion sensor K installed on the cleaner body A, and the water immersion sensor K is electrically connected to the controller B; the controller B detects whether the pool cleaner of the present invention is in water through the water immersion sensor K.

[0069] In an embodiment of the utility model, a cleaner body A of a pool cleaner of the utility model is provided with a closed electrical installation room A0, a controller B, a left travel motor C1, a right travel motor C2, a filter motor D21, a wall climbing detection device F, a wall climbing level detection device G, a left speed detection device H, a right speed detection device I, an orientation identification device J, a water immersion sensor K, a power supply battery L and a BMS battery management module M are installed in the electrical installation room A0 to ensure the safety of the device, and the output shaft of the left travel motor C1, the output shaft of the right travel motor C2, the output shaft of the filter motor D21 and the detection electrode of the water immersion sensor K extend out of the electrical installation room A0.

[0070] Cooperate Figures 14 to 19 As shown, the utility model also discloses a control method of the pool cleaner of the utility model, which includes a cleaning control method; the cleaning control method includes the following steps in sequence:

[0071] Initial step: The pool cleaner performs system initialization and inputs cleaning instructions to controller B;

[0072] Span detection step: the pool cleaner performs span detection to obtain spans of the pool in at least two different directions;

[0073] Cleaning step: The pool cleaner executes a corresponding pool cleaning mode according to the cleaning instruction, and the pool cleaning mode includes a first pool cleaning mode, a second pool cleaning mode and a third pool cleaning mode.

[0074] Specific, cooperate Fig.15 As shown, the first pool cleaning mode includes the following steps:

[0075] Step S11: Controller B controls the filter water pump to work, and enters step S12;

[0076] Step S12: the controller B controls the left travel motor C1 and the right travel motor C2 of the travel device to drive the pool cleaner to move forward and straight, and at the same time, the controller B detects whether the pool cleaner enters the forward wall climbing state through the wall climbing detection device F; if the pool cleaner enters the forward wall climbing state, the process proceeds to step S13;

[0077] Step S13: the controller B adjusts the rotation speed of the left travel motor C1 and the right travel motor C2 of the travel device until the controller B detects that the pool cleaner is in a horizontal state through the wall-climbing level detection device G, and at the same time, the controller B counts whether the time when the pool cleaner is in the forward wall-climbing state reaches the forward wall-climbing cleaning time; when the time when the pool cleaner is in the forward wall-climbing state reaches the forward wall-climbing cleaning time, the process proceeds to step S14;

[0078] Step S14: the controller B controls the left travel motor C1 and the right travel motor C2 of the travel device to drive the pool cleaner to move straight in the reverse direction, and at the same time, the controller B detects whether the pool cleaner is out of the forward wall climbing state through the wall climbing detection device F; when the pool cleaner is out of the forward wall climbing state, the process proceeds to step S15;

[0079] Step S15: Controller B determines whether the pool cleaner meets the turning condition; if the pool cleaner meets the turning condition, controller B controls the left travel motor C1 and the right travel motor C2 of the travel device to drive the pool cleaner to turn, and then enters step S16; if the pool cleaner does not meet the turning condition, controller B controls the left travel motor C1 and the right travel motor C2 of the travel device to drive the pool cleaner to move in the opposite direction, and then enters step S16;

[0080] Step S16: the controller B controls the left travel motor C1 and the right travel motor C2 of the travel device to drive the pool cleaner to move in the reverse direction, and at the same time, the controller B detects whether the pool cleaner enters the reverse wall climbing state through the wall climbing detection device F; if the pool cleaner enters the reverse wall climbing state, the process proceeds to step S17;

[0081] Step S17: the controller B adjusts the rotation speed of the left travel motor C1 and the right travel motor C2 of the travel device until the controller B detects that the pool cleaner is in a horizontal state through the wall-climbing level detection device G, and at the same time, the controller B counts whether the time when the pool cleaner is in the reverse wall-climbing state reaches the reverse wall-climbing cleaning time; when the time when the pool cleaner is in the reverse wall-climbing state reaches the reverse wall-climbing cleaning time, the process proceeds to step S18;

[0082] Step S18: the controller B controls the left travel motor C1 and the right travel motor C2 of the travel device to drive the pool cleaner to move forward and straight, and at the same time, the controller B detects whether the pool cleaner is out of the reverse wall climbing state through the wall climbing detection device F; when the pool cleaner is out of the reverse wall climbing state, the process proceeds to step S19;

[0083] Step S19: Controller B determines whether the number of turns of the pool cleaner reaches a first turning number threshold, which is greater than or equal to 4 times; if the number of turns of the pool cleaner does not reach the first turning number threshold, controller B first controls the left travel motor C1 and the right travel motor C2 of the travel device to drive the pool cleaner to translate forward, and then repeats steps S12 to S18; if the number of turns of the pool cleaner reaches the first turning number threshold, the process ends.

[0084] The first pool cleaning mode is suitable for cleaning a pool with a circular structure, an elliptical structure or a rectangular structure. The first pool cleaning mode enables the pool cleaner of the utility model to cross-clean various areas of the entire pool at least twice (two cleanings are performed when the first turning number threshold is 4 times), thereby ensuring comprehensive cleaning of the pool.

[0085] In the first pool cleaning mode, the first turning number threshold is an integer obtained by rounding up the result obtained by dividing 360° by the turning angle of the pool cleaner. Preferably, the first turning number threshold is 4 times; the turning angle of the pool cleaner is 90°, which has the highest cleaning efficiency.

[0086] In the first pool cleaning mode, the controller B determines whether the pool cleaner meets the turning condition in the following manner: the controller B detects whether the pool cleaner is on the flat ground through the wall climbing detection device F and the wall climbing level detection device F; if the pool cleaner is on the flat ground, the pool cleaner does not meet the turning condition; if the pool cleaner is not on the flat ground (i.e., the pool cleaner hits the wall), the pool cleaner meets the turning condition. Among them, when the pool cleaner is in a flat ground state, that is, the pool cleaner is at the bottom of the pool, the two wall climbing sensors F3 of the wall climbing detection device F cannot sense the wall climbing sensing part F4, and the two horizontal sensors G3 of the wall climbing horizontal detection device F cannot sense the horizontal detection ball G2. Therefore, when the controller B determines whether the pool cleaner meets the turning condition, the controller B only needs to determine that the wall climbing detection device F and the wall climbing horizontal detection device F are not in the state of "the two wall climbing sensors F3 of the wall climbing detection device F cannot sense the wall climbing sensing part F4, and the two horizontal sensors G3 of the wall climbing horizontal detection device F cannot sense the horizontal detection ball G2". In this case, it can be considered that the pool cleaner is not in a flat ground state, otherwise it is considered that the pool cleaner is in a flat ground state.

[0087] Cooperate Fig.16As shown, the second pool cleaning mode includes the following steps:

[0088] Step S21: Controller B controls the filter water pump to work, and enters step S22;

[0089] Step S22: the controller B controls the left travel motor C1 and the right travel motor C2 of the travel device to drive the pool cleaner to move forward and straight along the first side length direction or the second side length direction, and at the same time, the controller B detects whether the pool cleaner enters the forward wall climbing state through the wall climbing detection device F; if the pool cleaner enters the forward wall climbing state, the process proceeds to step S23;

[0090] Step S23: the controller B adjusts the rotation speed of the left travel motor C1 and the right travel motor C2 of the travel device until the controller B detects that the pool cleaner is in a horizontal state through the wall-climbing level detection device G, and at the same time, the controller B counts whether the time when the pool cleaner is in the forward wall-climbing state reaches the forward wall-climbing cleaning time; when the time when the pool cleaner is in the forward wall-climbing state reaches the forward wall-climbing cleaning time, the process proceeds to step S24;

[0091] Step S24: Controller B controls the left travel motor C1 and the right travel motor C2 of the travel device to drive the pool cleaner to move in the reverse direction, and at the same time, controller B detects whether the pool cleaner is out of the forward wall climbing state through the wall climbing detection device F; when the pool cleaner is out of the forward wall climbing state, step S25 is entered:

[0092] Step S25: Controller B determines whether the pool cleaner meets the turning condition; if the pool cleaner meets the turning condition, controller B first controls the left travel motor C1 and the right travel motor C2 of the travel device to drive the pool cleaner to continue walking along the current straight direction to half of the span of the current straight direction, and then drives the pool cleaner to turn 90 degrees so that the straight direction of the pool cleaner changes from the first side length direction to the second side length direction or the straight direction of the pool cleaner changes from the second side length direction to the first side length direction, and finally enters step S26; if the pool cleaner does not meet the turning condition, controller B controls the left travel motor C1 and the right travel motor C2 of the travel device to drive the pool cleaner to translate in the opposite direction, and then enters step S26;

[0093] Step S26: the controller B controls the left travel motor C1 and the right travel motor C2 of the travel device to drive the pool cleaner to move in the reverse direction; at the same time, the controller B detects whether the pool cleaner enters the reverse wall climbing state through the wall climbing detection device F; if the pool cleaner enters the reverse wall climbing state, the process proceeds to step S27;

[0094] Step S27: the controller B adjusts the rotation speed of the left travel motor C1 and the right travel motor C2 of the travel device until the controller B detects that the pool cleaner is in a horizontal state through the wall-climbing level detection device G, and at the same time, the controller B counts whether the time when the pool cleaner is in the reverse wall-climbing state reaches the reverse wall-climbing cleaning time; when the time when the pool cleaner is in the reverse wall-climbing state reaches the reverse wall-climbing cleaning time, the process proceeds to step S28;

[0095] Step S28: the controller B controls the left travel motor C1 and the right travel motor C2 of the travel device to drive the pool cleaner to move forward and straight, and at the same time, the controller B detects whether the pool cleaner is out of the reverse wall climbing state through the wall climbing detection device F; when the pool cleaner is out of the reverse wall climbing state, the process proceeds to step S29;

[0096] Step S29: Controller B determines whether the number of turns of the pool cleaner reaches a second turning number threshold, which is greater than or equal to 4 times; if the number of turns of the pool cleaner does not reach the turning number threshold, controller B first controls the left travel motor C1 and the right travel motor C2 of the travel device to drive the pool cleaner to translate forward, and then repeats steps S22 to S28; if the number of turns of the pool cleaner reaches the turning number threshold, the process ends.

[0097] The second pool cleaning mode is suitable for cleaning a pool with a rectangular structure. The second pool cleaning mode can also perform two cross-cleaning operations on the pool, and the cleaning is also very comprehensive. Corresponding to the second pool cleaning mode, in the span detection step, the pool cleaner will obtain the span of the first side length direction and the span of the second side length direction of the pool when performing span detection. The first side length direction and the second side length direction are perpendicular. The first side length direction and the second side length direction are two mutually perpendicular side length directions of the pool with a rectangular structure.

[0098] In the second pool cleaning mode, the way in which controller B determines whether the pool cleaner meets the turning condition is as follows: controller B determines whether the count value of the current number of translations of the pool cleaner reaches the current number of translations threshold; if it reaches the current number of translations threshold, the pool cleaner meets the turning condition; if it does not reach the current number of translations threshold, the pool cleaner does not meet the turning condition; when the pool cleaner meets the turning condition, controller B resets the count of the number of translations of the pool cleaner to zero; and the current number of translations threshold is an integer obtained by rounding down the result of dividing half of the span in the direction perpendicular to the current straight direction of the pool cleaner by the step distance of the pool cleaner's translation.

[0099] Cooperate Fig.17 As shown, the third pool cleaning mode includes the following steps:

[0100] Step S31: Controller B controls the filter water pump to work, and enters step S32;

[0101] Step S32: Controller B sets the straight-moving direction of the pool cleaner in the first direction, the second direction, ... to the Nth direction in sequence, and executes steps S330 to S340 after each setting; the process ends after the last setting and the execution of steps S330 to S339; N is an integer greater than or equal to 3;

[0102] Step S330: Controller B detects whether the straight direction of the pool cleaner is in the currently set direction through the direction recognition device J; if so, directly enters step S331; if not, controller B controls the left travel motor C1 and the right travel motor C2 of the travel device to drive the pool cleaner to rotate to the currently set direction and then enters step S331;

[0103] Step S331: Controller B controls the left travel motor C1 and the right travel motor C2 of the travel device to drive the pool cleaner to move forward and straight, and at the same time, controller B detects whether the pool cleaner enters the forward wall climbing state through the wall climbing detection device F; if the pool cleaner enters the forward wall climbing state, step S332 is entered;

[0104] Step S332: the controller B adjusts the rotation speed of the left travel motor C1 and the right travel motor C2 of the travel device until the controller B detects that the pool cleaner is in a horizontal state through the wall-climbing level detection device G, and at the same time, the controller B counts whether the time when the pool cleaner is in the forward wall-climbing state reaches the forward wall-climbing cleaning time; when the time when the pool cleaner is in the forward wall-climbing state reaches the forward wall-climbing cleaning time, the process proceeds to step S333;

[0105] Step S333: Controller B controls the left travel motor C1 and the right travel motor C2 of the travel device to drive the pool cleaner to move in the reverse direction, and at the same time, controller B detects whether the pool cleaner is out of the forward wall climbing state through the wall climbing detection device F; when the pool cleaner is out of the forward wall climbing state, step S334 is entered:

[0106] Step S334: Controller B determines whether the pool cleaner meets the turning condition; if the pool cleaner meets the turning condition, the process re-enters step S32 to allow controller B to reset the straight-ahead direction of the pool cleaner; if the pool cleaner does not meet the turning condition, controller B controls the left travel motor C1 and the right travel motor C2 of the travel device to drive the pool cleaner to move in the reverse direction, and then the process re-enters step S335;

[0107] Step S335: Controller B detects whether the straight direction of the pool cleaner is in the currently set direction through the direction recognition device J; if so, directly enters step S336; if not, controller B controls the left travel motor C1 and the right travel motor C2 of the travel device to drive the pool cleaner to rotate to the currently set direction and then enters step S336;

[0108] Step S336: Controller B controls the left travel motor C1 and the right travel motor C2 of the travel device to drive the pool cleaner to move in the reverse direction; at the same time, controller B detects whether the pool cleaner enters the reverse wall climbing state through the wall climbing detection device F; if the pool cleaner enters the reverse wall climbing state, the process proceeds to step S337;

[0109] Step S337: the controller B adjusts the rotation speed of the left travel motor C1 and the right travel motor C2 of the travel device until the controller B detects that the pool cleaner is in a horizontal state through the wall-climbing level detection device G, and at the same time, the controller B counts whether the time when the pool cleaner is in the reverse wall-climbing state reaches the reverse wall-climbing cleaning time; when the time when the pool cleaner is in the reverse wall-climbing state reaches the reverse wall-climbing cleaning time, the process proceeds to step S338;

[0110] Step S338: the controller B controls the left travel motor C1 and the right travel motor C2 of the travel device to drive the pool cleaner to move forward and straight, and at the same time, the controller B detects whether the pool cleaner is out of the reverse wall climbing state through the wall climbing detection device F; when the pool cleaner is out of the reverse wall climbing state, the process proceeds to step S339;

[0111] Step S339: Controller B controls the left travel motor C1 and the right travel motor C2 of the travel device to drive the pool cleaner to move forward, and then enters step S330.

[0112] The third pool cleaning mode is a universal mode and can be applied to a variety of pools with different structures. The third pool cleaning mode ensures comprehensive cleaning by resetting the straight direction of the pool cleaner multiple times.

[0113] In the third pool cleaning mode, the way in which controller B determines whether the pool cleaner meets the turning condition is: controller B detects whether the pool cleaner is in a flat ground state through the wall climbing detection device F and the wall climbing level detection device F; if the pool cleaner is in a flat ground state, the pool cleaner does not meet the turning condition; if the pool cleaner is not in a flat ground state, the pool cleaner meets the turning condition.

[0114] It should be noted that the above-mentioned pool cleaning mode may include at least one of the above-mentioned first pool cleaning mode, second pool cleaning mode and third pool cleaning mode, which can be specifically set according to actual usage requirements.

[0115] In an embodiment of the utility model, the pool cleaning mode may further include an automatic pool cleaning mode, which may automatically select one of the first pool cleaning mode, the second pool cleaning mode and the third pool cleaning mode to clean the pool; corresponding to the automatic pool cleaning mode, the span detection step is: the pool cleaner performs span detection to obtain the spans of the pool in six directions, and the angles between two adjacent directions differ by 30°; the six directions are respectively the first direction, the second direction, the third direction, the fourth direction, the fifth direction and the sixth direction in a clockwise direction; the span of the first direction, the span of the second direction, the span of the third direction, the span of the fourth direction, the span of the fifth direction and the span of the sixth direction are respectively recorded as L1, L2, L3, L4, L5 and L6.

[0116] Cooperate Fig.18 As shown, the automatic pool cleaning mode is: determine whether the relationship between L1, L2, L3, L4, L5 and L6 is the first relationship and the second relationship; if the relationship between L1, L2, L3, L4, L5 and L6 is the first relationship, then execute the first pool cleaning mode; if the relationship between L1, L2, L3, L4, L5 and L6 is the second relationship, then execute the second pool cleaning mode or the first pool cleaning mode; if the relationship between L1, L2, L3, L4, L5 and L6 is not the first relationship and the second relationship, then execute the third pool cleaning mode; wherein, the first relationship is: L1, L2, L3, L4, L5 and L6 are equal; the second relationship is: L2 is equal to L6, L3 is equal to L5, L2 and L3 are not equal to L1, and L2 and L3 are not equal to L4. When executing the second pool cleaning mode, L1 and L4 are the span in the first side length direction and the span in the second side length direction respectively.

[0117] In an embodiment of the present invention, the control method further comprises a debugging method, which is used to debug the direction recognition device, so as to facilitate controlling the pool cleaner to go straight in the desired direction. Fig.19 As shown, the debugging method is: first, the pool cleaner is placed so that the straight direction of the pool cleaner is parallel to an axial direction of the pool to be cleaned, and a debugging instruction is input to the controller B; then, the identification body J1 of the direction identification device is rotated, and the controller B senses and identifies whether the turntable J2 is located at the initial set position through the orientation sensing device J3 of the direction identification device; when the controller B senses and identifies that the turntable J2 is located at the initial set position through the orientation sensing device J3 of the direction identification device, the controller B sends a debugging completion signal (the debugging completion signal can be a light signal or a sound signal) to confirm that the debugging is completed.

[0118] In the control method of the present invention, when the controller B controls the left travel motor C1 and the right travel motor C2 of the travel device C to drive the pool cleaner to move forward or backward, the controller B detects the rotation speed of the left travel wheel C3 and the rotation speed of the right travel wheel C4 through the left speed detection device H and the right speed detection device I respectively, and at the same time, the controller B adjusts the rotation speed of the left travel motor C1 and the right travel motor C2 of the travel device C to make the rotation speed of the left travel wheel C3 and the rotation speed of the right travel wheel C4 the same, so that the pool cleaner of the present invention can keep moving straight.

[0119] In the initial step of the control method of the utility model, after the pool cleaner performs system initialization and inputs a cleaning instruction to the controller B, the controller B detects whether the power supply battery L is charged through the BMS battery management module M; when it is detected that the power supply battery L is being charged, the controller B detects whether the power supply battery L is fully charged through the BMS battery management module M; when it is detected that the power supply battery L is fully charged, the charging of the power supply battery L is stopped; when it is detected that the power supply battery L is not being charged, the cleaning step is entered. This arrangement can prevent the pool cleaner from cleaning the pool while charging, thereby ensuring the safe use of the pool cleaner.

[0120] In the initial step of the control method of the present invention, when it is detected that the power supply battery L is not charged, the controller B first detects whether the pool cleaner is in water through the water immersion sensor K; if the pool cleaner is in water, the cleaning step is entered. This arrangement can ensure that the pool cleaner is cleaned only when it is in water, ensuring safety in use.

[0121] In the cleaning step of the control method of the utility model, while the pool cleaner executes the corresponding pool cleaning mode according to the cleaning instruction, the controller B detects whether the power of the power supply battery L is lower than the set power through the BMS battery management module M; when the power of the power supply battery L is lower than the set power, the current pool cleaning mode is terminated, and the controller B controls the left travel motor C1 and the right travel motor C2 of the travel device C to drive the pool cleaner to move to the wall climbing detection device F to detect that the pool cleaner is in the forward wall climbing state or the reverse wall climbing state, and then enters the standby state. This setting can make the pool cleaner of the utility model automatically move to the pool wall when the power of the power supply battery L is lower than the set power, so that the user can salvage the pool cleaner conveniently.

[0122] In the cleaning step of the control method of the utility model, while the pool cleaner executes the corresponding pool cleaning mode according to the cleaning instruction, the controller B counts whether the time for executing the corresponding pool cleaning mode exceeds the set maximum cleaning time; when the set maximum cleaning time is exceeded, the pool cleaner stops executing the corresponding pool cleaning mode and enters the standby state. This setting can prevent the pool cleaner from working after cleaning the pool, thereby reducing ineffective power consumption.

[0123] In the cleaning step of the control method of the utility model, while the pool cleaner executes the corresponding pool cleaning mode according to the cleaning instruction, the controller B detects whether the working current of the left travel motor C1, the right travel motor C2, and the filter motor D21 is abnormal; if the working current of at least one of the left travel motor C1, the right travel motor C2, and the filter motor D21 is abnormal, the pool cleaner stops executing the corresponding pool cleaning mode and enters the standby state. This setting can make the pool cleaner stop in time when an abnormality occurs, effectively protecting the pool cleaner.

[0124] The specific method of span detection of the pool cleaner of the utility model is as follows:

[0125] Step S41: Controller B sequentially sets the straight-moving direction of the pool cleaner according to the direction required for span detection, and executes steps S42 to S43 after each setting; the process ends after the last setting and the execution of steps S42 to S43;

[0126] Step S42: the controller B controls the left travel motor C1 and the right travel motor C2 of the travel device to drive the pool cleaner to move forward and straight along the currently set direction, and at the same time, the controller B detects whether the pool cleaner enters the forward wall climbing state through the wall climbing detection device F; if the pool cleaner enters the forward wall climbing state, the process proceeds to step S42;

[0127] Step S42: the controller B controls the left travel motor C1 and the right travel motor C2 of the travel device to drive the pool cleaner to move straight in the opposite direction along the currently set direction, and at the same time, the controller B detects whether the pool cleaner is out of the forward wall climbing state through the wall climbing detection device F; when the pool cleaner is out of the forward wall climbing state, the process proceeds to step S43;

[0128] Step S43: Controller B continues to control the left travel motor C1 and the right travel motor C2 of the travel device to drive the pool cleaner to move straight in the reverse direction in the current set direction and perform timing, and controller B detects whether the pool cleaner enters the reverse wall climbing state through the wall climbing detection device F; if the pool cleaner enters the reverse wall climbing state, the timing ends, and controller B calculates the span in the current set direction through the timing time and the rotation speeds of the left travel motor C1 and the right travel motor C2, and enters step S44;

[0129] Step S44: the controller B controls the left travel motor C1 and the right travel motor C2 of the travel device to drive the pool cleaner to move forward and straight along the currently set direction, and at the same time, the controller B detects whether the pool cleaner is out of the reverse wall climbing state through the wall climbing detection device F; when the pool cleaner is out of the reverse wall climbing state, the process proceeds to step S45;

[0130] Step S44: Controller B controls the left travel motor C1 and the right travel motor C2 of the travel device to drive the pool cleaner to move straight in the current set direction to half the span of the current set direction, and then re-enters step S32 to allow controller B to reset the straight direction of the pool cleaner.

[0131] It should be noted that the forward and reverse directions of the present invention refer to two opposite directions. The forward straight and reverse straight directions of the present invention are not limited to straight directions in specific directions, that is, the forward straight and reverse straight directions refer to the front and rear directions of the cleaner body. The forward translation and reverse translation refer to the fact that the pool cleaner is offset to a certain extent in the left and right directions of the cleaner body and the straight direction of the pool cleaner remains unchanged after the offset. The controller controls the translation of the pool cleaner by controlling the changes in the speeds of the left travel motor C1 and the right travel motor C2.

[0132] The above embodiments and drawings do not limit the product form and style of the present utility model. Any appropriate changes or modifications made by ordinary technicians in the relevant technical field should be deemed to be within the patent scope of the present utility model.

Claims

1. A pool cleaner, comprising a cleaner body, and a controller, a walking device, a filtering device and a wheel brush installed on the cleaner body; The walking device includes a left walking motor, a right walking motor, a left walking wheel matched with the left walking motor, and a right walking wheel matched with the right walking motor; the controller is electrically connected to the left walking motor and the right walking motor respectively; The filter device includes a filter and a filter water pump, the filter water pump includes a filter motor and a filter impeller driven by the filter motor, and the filter impeller is located in the filter; the controller is electrically connected to the filter motor; Features: It also includes a wall climbing detection device and a wall climbing level detection device installed on the cleaner body; the controller is electrically connected to the wall climbing detection device and the wall climbing level detection device respectively.

2. The pool cleaner according to claim 1, characterized in that: The wall climbing detection device comprises a wall climbing detection body mounted on the cleaning device body, a detection arm rotatably mounted on the wall climbing detection body, and two wall climbing sensors mounted on the wall climbing detection body and respectively located on both sides of the wall climbing detection body, the detection arm is equipped with a wall climbing sensing element, and the wall climbing sensing element moves through the sensing areas of the two wall climbing sensors; The controller is electrically connected to two wall-climbing sensors of the wall-climbing detection device.

3. The pool cleaner according to claim 2, characterized in that: The wall-climbing induction element adopts a magnet, and the wall-climbing sensor adopts a Hall proximity switch.

4. The pool cleaner according to claim 1, characterized in that: The wall-climbing horizontal detection device includes a horizontal detection body, a horizontal detection ball, and two horizontal sensors; the horizontal detection body is installed on the cleaner body, and the horizontal detection body is provided with a horizontal detection cavity, the horizontal detection cavity has a buffer section and two offset sections respectively connected to the two ends of the buffer section, the aperture of the offset section is smaller than the aperture of the buffer section, and a step is formed at the connection between the buffer section and the offset section; the two horizontal sensors are installed on the horizontal detection body and are respectively arranged corresponding to the two offset sections, the horizontal detection ball is movably accommodated in the horizontal detection cavity, and the horizontal detection ball moves through the sensing areas of the two horizontal sensors.

5. The pool cleaner of claim 4, wherein: The level detection ball is magnetic, and the level sensor adopts a Hall proximity switch.

6. The pool cleaner of claim 4, wherein: The surface of the level detection ball is a reflective surface; the level sensor adopts a reflective photoelectric proximity switch.

7. The pool cleaner of claim 1, wherein: It also includes a left speed detection device for detecting the speed of the left walking wheel and a right speed detection device for detecting the speed of the right walking wheel; the left speed detection device and the right speed detection device are electrically connected to the controller respectively, and the left speed detection device and the right speed detection device are installed on the cleaner body.

8. The pool cleaner of claim 1, wherein: It also includes an orientation recognition device installed on the cleaning device body, and the orientation recognition device is electrically connected to the controller.

9. The pool cleaner of claim 8, wherein: The orientation recognition device includes an identification body installed on the cleaner body, an identification turntable rotatably matched with the identification body, and an orientation sensing device installed on the identification body. The identification turntable is equipped with a permanent magnet. The orientation sensing device is used to sense whether the identification turntable is located in a set orientation. The number of set orientations is at least three. The orientation sensing device is electrically connected to the controller.

10. The pool cleaner of claim 9, wherein: The orientation sensing device comprises at least three Hall sensors which are arranged corresponding to the ends of the permanent magnet.

11. The pool cleaner of claim 9, wherein: The orientation sensing device comprises at least three opposing beam photoelectric switches, and the identification turntable is provided with a shielding part which can movably shield the light-emitting part of the opposing beam photoelectric switches.

12. The pool cleaner of claim 9, wherein: The orientation sensing device comprises at least three reflective photoelectric switches, which are accommodated in the identification turntable. The inner wall of the identification turntable is provided with at least one reflective member which is movably opposite to the reflective photoelectric switch.

13. The pool cleaner of claim 1, wherein: It also includes a power supply battery and a BMS battery management module installed on the cleaner body; the power supply battery supplies power to the left travel motor, the right travel motor, the filter motor and the controller; the BMS battery management module is electrically connected to the power supply battery and the controller respectively.

14. The pool cleaner of claim 1 or 13, wherein: It also includes a water immersion sensor installed on the cleaning device body, and the water immersion sensor is electrically connected to the controller.

Images