Swimming pool cleaning robot

Abstract

A swimming pool cleaning robot comprises a robot body used for making contact with a to-be-cleaned waterline and working so as to clean the to-be-cleaned waterline; the at least two water sensing pieces are arranged in the robot main body; wherein one of the two water sensing pieces is close to the top of the robot body, the other water sensing piece is close to the side portion of the robot body, and all the water sensing pieces are matched and used for sensing the position state of the robot body on a to-be-cleaned waterline. And the control device is electrically connected with the robot main body and the water sensing piece and used for adjusting the working state of the robot main body when the position state of the robot main body changes. Through cooperation of the robot body, the water sensing part and the control device, the detection precision and the detection efficiency are improved, the cleaning effect is enhanced, meanwhile, the reliability of the equipment is improved, the service life of the equipment is prolonged, and the maintenance cost is reduced.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of pool cleaning, and particularly relates to a pool cleaning robot. BACKGROUND

[0002] With the acceleration of modern life rhythm and the increasing complexity of living environment, the pool cleaning robot as an important tool for improving the quality of life and work efficiency has been widely penetrated into public fields such as swimming pools. At present, the pool cleaning robot has multiple identification methods in water entry and exit and water line identification, such as triggering a signal by a mechanical water level detection through a float switch or a pressure sensor contacting the water body, judging the water level by using the buoyancy or water pressure change; or judging the water line according to the light reflection or absorption by using an infrared or laser sensor; or detecting the pitch angle change by using a gyroscope to judge the wall climbing action, and realizing the water exit or water line detection effect by combining an ultrasonic sensor.

[0003] However, the existing pool cleaning robot has certain defects in water entry and exit and water line identification, such as the mechanical water level detection which is prone to problems such as jamming and wear during long-term use, reduces the reliability of detection, and affects the normal work of the robot. And the optical sensor is greatly affected by the detection accuracy in the turbid pool environment, and is prone to misjudgment, so that the robot cannot accurately identify the water line, and the cleaning effect is poor. Similarly, when the gyroscope detects the pitch angle change to judge the wall climbing action in the combination of inertial navigation and ultrasonic wave, the frequent change of the pitch angle interferes with the accuracy of the yaw angle, and there is also a problem that the robot cannot accurately identify the water line. CONTENT OF THE UTILITY MODEL

[0004] In order to overcome the defects of the prior art, the application provides a pool cleaning robot, which has the advantages of high detection accuracy, fast response speed, low maintenance cost and good cleaning effect.

[0005] The technical scheme is specifically implemented as follows:

[0006] A pool cleaning robot comprises:

[0007] A robot main body is used to contact and work with a water line to be cleaned, so as to clean the water line to be cleaned.

[0008] At least two water sensing parts are arranged inside the robot main body, one of which is close to the top of the robot main body, and the other is close to the side of the robot main body, and all the water sensing parts are matched to sense the position state of the robot main body on the water line to be cleaned.

[0009] A control device electrically connected with the robot body and the water sensing member, for adjusting the working state of the robot body when the position state of the robot body changes.

[0010] In one embodiment, the robot body comprises a first cabin and a second cabin, the first cabin is located at the first end of the robot body, and the second cabin is located at the second end of the robot body, the inner cavity of the first cabin and the inner cavity of the second cabin are independent and sealed respectively.

[0011] The at least two water sensing members comprise a first water sensing member and a second water sensing member, the first water sensing member is located in the first cabin and arranged on the top wall of the first cabin, and the second water sensing member is located in the second cabin and arranged on the side wall of the second cabin.

[0012] In one embodiment, the first water sensing member and the second water sensing member each have a sensing surface for sensing water, the sensing surface of the first water sensing member is in contact with the top wall of the first cabin, and the sensing surface of the second water sensing member is in contact with the side wall of the second cabin.

[0013] In one embodiment, the first water sensing member has a first height from the bottom of the robot body, and the second water sensing member has a second height from the bottom of the robot body, the first height is greater than the second height.

[0014] In one embodiment, the position state of the robot body at the water line to be cleaned includes an out-of-water state and an in-water state, when the robot body is in the in-water state, the first water sensing member senses water, and when the robot body is in the out-of-water state, the first water sensing member does not sense water.

[0015] The control device comprises a first driving module electrically connected with the robot body and the first water sensing member, for driving the cleaning robot to work in the in-water state and to stop working in the out-of-water state.

[0016] In one embodiment, the in-water state comprises a first in-water state and a second in-water state, when the robot body is in the first in-water state, the first water sensing member and the second water sensing member both sense water, and when the robot body is in the second in-water state, the water sensing member senses water and the second water sensing member does not sense water.

[0017] The control device comprises a second driving module electrically connected with the robot body, the first water sensing element and the second water sensing element, for driving the cleaning robot to stop working or reduce working power when the first water entry state is switched to the second water entry state.

[0018] In one specific embodiment, the water sensing element comprises a capacitive sensing element.

[0019] In one specific embodiment, the first end of the robot body is provided with a rolling brush, and the rolling brush is located below the first cabin.

[0020] In one specific embodiment, the bottom of the robot body is provided with at least one pair of walking wheels, and the two walking wheels in each pair of walking wheels are arranged along the length direction or the width direction of the robot body.

[0021] In one specific embodiment, the inside of the robot body has a driving element, and the rolling brush is configured to be driven by the driving element.

[0022] The present application has at least the following beneficial effects:

[0023] A pool cleaning robot comprises a robot body for contacting and working with a water line to be cleaned to clean the water line to be cleaned; at least two water sensing elements, each arranged inside the robot body; one of the two water sensing elements is close to the top of the robot body, and the other is close to the side of the robot body, and all the water sensing elements cooperate to sense the position state of the robot body in the water line to be cleaned; a control device electrically connected with the robot body and the water sensing elements for adjusting the working state of the robot body when the position state of the robot body changes. The present application improves the sensing sensitivity of the water body by arranging at least two water sensing elements in different areas of the robot body, accurately detects the position state of the robot body in the water line to be cleaned, effectively avoids misjudgment, and makes the pool cleaning robot accurately judge its state under various water conditions. Secondly, the water sensing element does not need mechanical transmission, generates an induction signal when encountering water, responds quickly, makes the robot quickly adapt to water condition changes, improves cleaning efficiency and intelligent level, at the same time, uses components without mechanical wear to reduce maintenance workload and replacement cost, improves the reliability and service life of the equipment. Further, through the cooperation between the control device and the robot body and the water sensing element, the cleaning strategy is flexibly adjusted according to the position change of the robot body in the water line to be cleaned, such as stopping or reducing the motor power, avoiding invalid cleaning to consume battery power, improving cleaning coverage, and better meeting the pool cleaning demand. BRIEF DESCRIPTION OF DRAWINGS

[0024] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0025] Figure 1 A 3D diagram of a swimming pool cleaning robot;

[0026] Figure 2 A top view of a pool cleaning robot;

[0027] Figure 3 A-A' sectional view of a swimming pool cleaning robot;

[0028] Figure 4 This is an enlarged view of part A of a swimming pool cleaning robot;

[0029] Figure 5 A front view of a pool cleaning robot;

[0030] Figure 6 This is a B-B' cross-sectional view of a swimming pool cleaning robot;

[0031] Figure 7 This is an enlarged view of part B of a swimming pool cleaning robot.

[0032] Figure 8 This is a schematic diagram of a swimming pool cleaning robot module.

[0033] Figure label:

[0034] 1-Robot body; 2-First water sensor; 3-Second water sensor; 4-Control device;

[0035] 11-First chamber; 12-Second chamber; 13-Roller brush; 14-Walking wheel; 15-Sprayer head; 16-Drive component; 17-Water inlet;

[0036] 101 - First end; 102 - Second end;

[0037] 111 - The inner cavity of the first compartment; 112 - The top wall of the first compartment;

[0038] 121 - The inner cavity of the second compartment; 122 - The side wall of the second compartment;

[0039] 21 - Sensing surface of the first water sensor; 31 - Sensing surface of the second water sensor;

[0040] 41-First drive module; 42-Second drive module. Detailed Implementation

[0041] Various embodiments of the present application will be described in greater detail below. Various embodiments of the present application can have various modifications and can be made, and the present application should not be interpreted as being limited to the particular embodiments disclosed herein. It should be understood that the various embodiments of the present application do not limit the scope of the present application to the particular embodiments disclosed herein, but the present application should be interpreted to encompass all modifications, equivalents and / or alternatives falling within the spirit and scope of the various embodiments of the present application.

[0042] In the following, the term "include" or "may include" used in the various embodiments of the present application indicates the presence of the disclosed functions, operations or elements, and does not limit the addition of one or more functions, operations or elements. In addition, as used in the various embodiments of the present application, the terms "include", "have" and their cognates merely mean to indicate the presence of specific features, numbers, steps, operations, elements, components or combinations of the foregoing, and should not be understood as first excluding the presence or addition of one or more other features, numbers, steps, operations, elements, components or combinations of the foregoing, or as having the possibility of adding one or more features, numbers, steps, operations, elements, components or combinations of the foregoing.

[0043] As shown in Figures 1-8 A pool cleaning robot includes:

[0044] A robot body 1 for contacting and working with a water line to be cleaned to clean the water line to be cleaned;

[0045] At least two water sensing elements, each disposed inside the robot body 1; one of the two water sensing elements is close to the top of the robot body 1, and the other is close to the side of the robot body 1, and all the water sensing elements cooperate to sense the position state of the robot body 1 in the water line to be cleaned;

[0046] A control device 4 electrically connected to the robot body 1 and the water sensing elements, for adjusting the working state of the robot body 1 when the position state of the robot body 1 changes.

[0047] The application improves the sensing sensitivity of the water body by arranging at least two water sensing elements in different areas of the robot body 1, so as to accurately detect the position state of the robot body 1 in the water line to be cleaned, effectively avoid misjudgment, and enable the pool cleaning robot to accurately judge its own state under various water conditions. Secondly, the water sensing element does not need mechanical transmission and generates an induction signal when it encounters water, which responds quickly, so that the robot can quickly adapt to changes in water conditions, improve cleaning efficiency and intelligent level, and at the same time, the use of components without mechanical wear reduces maintenance workload and replacement cost, improves the reliability and service life of the equipment. Further, through the cooperation between the control device 4 and the robot body 1 and the water sensing element, the cleaning strategy is flexibly adjusted according to the position change of the robot body 1 in the water line to be cleaned, such as stopping or reducing the motor power, to avoid invalid cleaning and consume battery power, improve cleaning coverage, and better meet the pool cleaning needs.

[0048] As shown in Figures 1-7 The robot body 1 includes a first cabin body 11 and a second cabin body 12, the first cabin body 11 is located at the first end 101 of the robot body 1, and the second cabin body 12 is located at the second end 102 of the robot body 1, the inner cavity 111 of the first cabin body and the inner cavity 121 of the second cabin body are independent of each other and are respectively sealed; the at least two water sensing elements include a first water sensing element 2 and a second water sensing element 3, the first water sensing element 2 is located in the first cabin body 11 and is arranged on the top wall 112 of the first cabin body; the second water sensing element 3 is located in the second cabin body 12 and is arranged on the side wall 122 of the second cabin body. The layout of the first water sensing element 2 and the second water sensing element 3 is specially designed in the application, which fully utilizes the space inside the robot body 1 and improves the detection accuracy and reliability.

[0049] Specifically, the first cabin body 11 is located at the first end 101 of the robot body 1, and the second cabin body 12 is located at the second end 102. This front and rear distribution design not only helps the balance and stability of the robot body 1 on the water surface, but also makes the layout of the water sensing element more reasonable. Further, the first water sensing element 2 is arranged on the top wall 112 of the first cabin body, which can sensitively capture the water flow change at the top of the robot body 1; and the second water sensing element 3 is arranged on the side wall 122 of the second cabin body, which can accurately perceive the water flow dynamics on the side of the robot body 1. The mutual cooperation of the two water sensing elements enables the robot body 1 to be timely and accurately monitored when the water flow at the side or top of the robot body 1 changes, so as to better adjust the working state of the robot body 1 according to the sensing information, such as adjusting the running power, changing the inclination angle of the cleaning component, etc., thereby ensuring the continuity and efficiency of the cleaning operation.

[0050] In addition, the independent and sealed design of the first cabin body 11 and the second cabin body 12 not only improves the waterproof performance and durability of the robot body 1, but also better protects the electronic components and sensing devices in each cabin, reduces the risk of failure caused by water ingress or moisture, and improves the safety and reliability of the product.

[0051] As shown in Figure 4 , 7 , the first water sensing element 2 and the second water sensing element 3 each have a sensing surface for sensing water. The sensing surface 21 of the first water sensing element is in contact with the top wall 112 of the first cabin body, and the sensing surface 31 of the second water sensing element is in contact with the side wall 122 of the second cabin body. The present application specially designs the sensing surface 21 of the first water sensing element and the sensing surface 31 of the second water sensing element, so that the position of the robot body 1 can be captured in time and accurately whether it changes slightly in the vertical direction or the horizontal direction, improving the detection accuracy and reliability.

[0052] As shown in Figure 6 , the first water sensing element 2 has a first height h1 to the bottom of the robot body 1, and the second water sensing element 3 has a second height h2 to the bottom of the robot body 1, and the first height h1 is greater than the second height h2.

[0053] Among them, the center of the first water sensing element 2 to the outer bottom wall of the robot body 1 is the first height h1, and the center of the second water sensing element 3 to the outer bottom wall of the robot body 1 is the second height h2.

[0054] The present application specially designs the positions of the first water sensing element 2 and the second water sensing element 3 in the height direction of the robot body 1, so that the two water sensing elements can respectively perceive the water flow changes of different depths, thereby improving the detection accuracy and reliability.

[0055] As shown in Figures 1-8As shown, the position state of the robot body 1 in the water line to be cleaned includes an out-of-water state and an in-water state, the first water sensing element 2 senses the water body in the in-water state, and the first water sensing element 2 does not sense the water body in the out-of-water state; the control device 4 includes a first driving module 41, the first driving module 41 is electrically connected with the robot body 1 and the first water sensing element 2, and is used for driving the cleaning robot to work in the in-water state and driving the cleaning robot to stop working in the out-of-water state. Through the cooperation between the first driving module 41, the robot body 1 and the first water sensing element 2, when the robot body 1 is in the in-water state, the first water sensing element 2 can accurately sense the water body, so as to trigger the first driving module 41 in the control device 4, and drive the cleaning robot to start working; and when the robot body 1 is in the out-of-water state, the first water sensing element 2 does not sense the water body, at this time, the first driving module 41 drives the cleaning robot to stop working, so that the robot body 1 only works in the water area that needs to be cleaned, avoiding invalid work and energy waste, protecting the cleaning components and power system of the robot, and prolonging the service life of the robot.

[0056] As shown, Figures 1-8 The in-water state includes a first in-water state and a second in-water state, the first water sensing element 2 and the second water sensing element 3 both sense the water body in the first in-water state, and the first water sensing element 2 senses the water body and the second water sensing element 3 does not sense the water body in the second in-water state; the control device 4 includes a second driving module 42, the second driving module 42 is electrically connected with the robot body 1, the first water sensing element 2 and the second water sensing element 3, and is used for driving the cleaning robot to stop working or reduce the working power when the first in-water state is switched to the second in-water state. Through the cooperation of the second driving module 42, the robot body 1, the first water sensing element 2 and the second water sensing element 3, the depth perception and fine control of the robot body 1 in the position state of the water line to be cleaned are realized, and the cleaning effect and the service life of the equipment are improved.

[0057] Specifically, the water entry state of the robot body 1 is further subdivided into a first water entry state and a second water entry state. In the first water entry state, the robot body 1 is completely or partially submerged in water, and the second water sensing member 3 can sense the water body, which indicates that the robot is in a normal cleaning working environment. At this time, the first driving module 41 in the control device 4 will drive the cleaning robot to work at normal power, ensuring the cleaning effect. When the robot body 1 switches from the first water entry state to the second water entry state, although the first water sensing member 2 still senses the water body, the second water sensing member 3 does not sense the water body. This usually means that the robot body 1 may be approaching the edge of the water area or encountering a shallow water area. At this time, the second driving module 42 in the control device 4 will respond quickly to drive the cleaning robot to stop working or reduce the working power, so as to avoid damage to the robot due to overwork, or prevent unnecessary disturbance in the shallow water area. This design not only improves the self-protection ability of the robot, but also ensures the continuity and efficiency of the cleaning work. At the same time, by finely controlling the working state of the robot, energy consumption can also be effectively saved, and operating costs can be reduced.

[0058] As shown in Figures 1-8 The water sensing member includes a capacitive sensing member. The capacitive sensing member of the present application is based on the principle of capacitive screen, and uses its water sensing characteristics to realize timely detection of the position of the robot body 1 in the water line to be cleaned, thereby improving the speed and reliability of detection.

[0059] The first end 101 of the robot body 1 is provided with a roller brush 13, which is located below the first cabin body 11. The present application directly contacts and cleans the water line to be cleaned through the design of the roller brush 13, effectively removing dirt, floating objects and other impurities on the water surface.

[0060] In one embodiment, the first driving module 41 is used to drive the roller brush 13 to work in the water entry state, and to stop working in the water exit state; the second driving module 42 is used to drive the roller brush 13 to stop working or reduce the working power when switching from the first water entry state to the second water entry state. Although the robot body 1 is still partially in the water when switching from the first water entry state to the second water entry state, the second water sensing member 3 does not sense the water body, indicating that the robot may be approaching the edge of the water area or the shallow water area. At this time, the control device 4 will respond quickly to drive the roller brush 13 to stop working or reduce the working power, so as to avoid unnecessary disturbance in the shallow water area or damage to the robot.

[0061] The bottom of the robot body 1 is provided with at least one pair of walking wheels 14, and two walking wheels 14 in each pair of walking wheels 14 are arranged along the length direction or the width direction of the robot body 1. The pool cleaning robot of the present application realizes stable walking and efficient cleaning operation of the robot body 1 on the water surface by additionally providing at least one pair of walking wheels 14 on the bottom thereof and ingeniously designing the layout of the walking wheels 14.

[0062] As shown in Figures 1-8 The upper surface of the robot body 1 has a water inlet 17 communicating with the outside, and the inside of the robot body 1 has a driving member 16 and a spray head 15, the spray head 15 faces the water inlet 17, and the spray head 15 is configured to be driven by the driving member 16.

[0063] In one embodiment, the first driving module 41 is used to drive the driving member 16 to work to make the spray head 15 rotate in the water entry state, and to stop working to make the spray head 15 stop in the water exit state; the second driving module 42 is used to drive the driving member 16 to stop working or reduce the working power to make the spray head 15 stop rotating or reduce the rotating speed when switching from the first water entry state to the second water entry state. Although the robot body 1 is still partially in the water when switching from the first water entry state to the second water entry state, the second water sensing member 3 does not sense the water body, indicating that the robot may be approaching the edge of the water area or the shallow water area. At this time, the control device 4 will respond quickly to drive the driving member 16 to stop working or reduce the working power, avoiding unnecessary disturbance in the shallow water area or damage to the robot.

[0064] In various embodiments of the present application, the expression "or" or "at least one of A or / and B" includes any combination of the listed terms or all combinations thereof. For example, the expression "A or B" or "at least one of A or / and B" can include A, can include B, or can include both A and B.

[0065] The expressions used in various embodiments of the present application, such as "first", "second", etc., can modify various constituent elements in various embodiments, but can not limit the corresponding constituent elements. For example, the above expressions do not limit the order and / or importance of the elements. The above expressions are only for the purpose of distinguishing one element from other elements. For example, the first user device and the second user device indicate different user devices, although both are user devices. For example, without departing from the scope of various embodiments of the present application, a first element can be referred to as a second element, and similarly, a second element can also be referred to as a first element.

[0066] It should be noted that in this application, unless otherwise clearly specified and defined, the terms "mounting", "connecting", "fixing" and the like should be understood in a broad sense, for example, can be fixed connection, can also be detachable connection, or integral connection; can be mechanical connection, can also be electrical connection; can be direct connection, or can be indirect connection through intermediate medium; can be internal communication of two elements. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to the specific circumstances.

[0067] In this application, those of ordinary skill in the art need to understand that the terms indicating the orientation or positional relationship herein are based on the orientation or positional relationship shown in the drawings, which is only for the purpose of facilitating the description of this application and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the various embodiments of the application.

[0068] The terms used in the various embodiments of the present application are only used for the purpose of describing specific embodiments and are not intended to limit the various embodiments of the present application. As used herein, the singular form is intended to include the plural form, unless the context clearly indicates otherwise. Unless otherwise defined, all terms used herein (including technical and scientific terms) have the same meaning as commonly understood by those of ordinary skill in the art to which the various embodiments of the present application belong. The terms (such as those defined in a commonly used dictionary) will be interpreted to have the same meaning as the contextual meaning in the relevant technical field and will not be interpreted to have an idealized or overly formal meaning, unless clearly defined in the various embodiments of the present application.

Claims

1. A swimming pool cleaning robot, characterized in that, include: The robot body is used to contact and work with the water line to be cleaned; At least two water sensors are disposed inside the robot body; one of the two water sensors is close to the top of the robot body and the other is close to the side of the robot body. All the water sensors cooperate to sense the position of the robot body on the water line to be cleaned. A control device, electrically connected to the robot body and the water sensor, is used to adjust the working state of the robot body when the position state of the robot body changes.

2. The pool cleaning robot according to claim 1, characterized in that, The robot body includes a first compartment and a second compartment. The first compartment is located at the first end of the robot body, and the second compartment is located at the second end of the robot body. The inner cavities of the first compartment and the second compartment are independent of each other and are each sealed. The at least two water sensors include a first water sensor and a second water sensor. The first water sensor is located inside the first chamber and is disposed on the top wall of the first chamber. The second water sensor is located inside the second chamber and is disposed on the side wall of the second chamber.

3. The swimming pool cleaning robot according to claim 2, characterized in that, Both the first water sensor and the second water sensor have a sensing surface for sensing water. The sensing surface of the first water sensor is in contact with the top wall of the first chamber, and the sensing surface of the second water sensor is in contact with the side wall of the second chamber.

4. The swimming pool cleaning robot according to claim 2, characterized in that, The first water sensor has a first height to the bottom of the robot body, and the second water sensor has a second height to the bottom of the robot body, wherein the first height is greater than the second height.

5. The pool cleaning robot according to claim 2, characterized in that, The robot body's position in the water line to be cleaned includes an outflow state and an inflow state. When the robot body is in the inflow state, the first water sensor detects water. When the robot body is in the outflow state, the first water sensor does not detect water. The control device includes a first drive module, which is electrically connected to the robot body and the first water sensor, and is used to drive the cleaning robot to work in the water-in state and to drive the cleaning robot to stop working in the water-out state.

6. The pool cleaning robot according to claim 5, characterized in that, The water entry state includes a first water entry state and a second water entry state. When the robot body is in the first water entry state, both the first water sensor and the second water sensor detect water. When the robot body is in the second water entry state, the water sensor detects water, but the second water sensor does not detect water. The control device includes a second drive module, which is electrically connected to the robot body, the first water sensor, and the second water sensor. It is used to drive the cleaning robot to stop working or reduce its working power when switching from the first water entry state to the second water entry state.

7. The pool cleaning robot according to claim 1, characterized in that, The water sensor includes a capacitive sensor.

8. The swimming pool cleaning robot according to claim 2, characterized in that, The robot body has a roller brush at its first end, and the roller brush is located below the first cabin.

9. The pool cleaning robot according to claim 1 or 2, characterized in that, The robot body has at least one pair of wheels at its bottom, with two wheels in each pair arranged along the length or width of the robot body.

10. The pool cleaning robot according to claim 1, characterized in that, The upper surface of the robot body has a water inlet that communicates with the outside. The robot body has a drive unit and a nozzle inside. The nozzle faces the water inlet and is configured to be driven by the drive unit.

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