Automatic cleaning equipment for pool

Abstract

The utility model provides automatic cleaning equipment for a pool. The automatic cleaning equipment comprises a main body, the detection device is arranged on the main body, the detection device comprises an ultrasonic signal transmitting unit and an ultrasonic signal receiving unit, the ultrasonic signal transmitting unit is used for transmitting signals to the ultrasonic signal receiving unit, and the ultrasonic signal receiving unit is used for receiving the ultrasonic signals; the ultrasonic signal receiving unit is used for receiving a signal transmitted by the ultrasonic signal receiving unit; and the controller is used for determining whether water flows out of at least one part of the main body or not based on the signal information received by the ultrasonic signal receiving unit. According to the automatic cleaning equipment for the water pool, whether at least one part of the main body discharges water or not can be recognized through the signal information received by the ultrasonic receiving unit, influences of sediment and the like are small, and the accuracy and stability of water outlet detection are improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of cleaning devices, in particular to an automatic pool cleaning device. BACKGROUND

[0002] With the gradual popularization and application of swimming pools, automatic pool cleaning robots are widely used to clean the bottom and walls of swimming pools, greatly reducing the demand and cost of manual cleaning. At present, most automatic pool cleaning robots are equipped with sensors, which are used to detect the water-out state and water-in state of the automatic pool cleaning robot.

[0003] Generally, the water-out detection methods mainly include: 1. Light cone detection method, which detects whether the machine is in water by using the different propagation parameters of light in water and on water. However, there may be a lot of mud in the pool, and the light cone surface is easy to be dirty, which greatly affects the detection result. 2. Electrode detection method, which detects whether the machine is in water by using the fact that water can conduct the electrode after the machine enters the water. However, the electrode method has the problem of electrode electrolysis. In the case of immersion in water and power on, the electrolysis of the electrode will be a serious problem. After a long time of use, it may fail or corrode to leave a void, causing the machine to leak into the sealed cabin. 3. Capacitor detection method, which detects whether the machine is in water by changing the capacitance of the capacitor in the sealed cabin of the machine when the sealed cabin is wet. However, this method requires the capacitor to be placed in the sealed cabin, which has high requirements for the installation position of the detection device. 4. Ultrasonic echo signal detection method, which detects whether the machine is in water by constantly detecting the echo signal reflected by the obstacle after the ultrasonic wave is emitted. The ultrasonic echo signal is different because the propagation parameters of ultrasonic waves in water and air are different. However, the reflected echo signal is easily affected. If the surface of the probe that measures the echo signal is covered with obstacles such as mud or water droplets, the mud or water droplets will absorb and scatter ultrasonic energy, causing the echo amplitude to decrease significantly, resulting in inaccurate detection results. CONTENT OF THE UTILITY MODEL

[0004] The technical problem to be solved by the present application is to overcome the shortcomings of the prior art. The automatic pool cleaning device can emit ultrasonic signals directly to the ultrasonic signal receiving unit through the ultrasonic signal emitting unit, detect whether the automatic pool cleaning device is out of water based on the signals received by the ultrasonic signal receiving unit, and is less affected by small obstacles such as mud, thereby improving the accuracy and stability of the water-out detection.

[0005] In one aspect of the present application, an automatic pool cleaning device is provided, comprising:

[0006] a main body;

[0007] a detection device arranged on the main body, the detection device comprising an ultrasonic signal transmitting unit and an ultrasonic signal receiving unit, the ultrasonic signal transmitting unit being configured to transmit signals to the ultrasonic signal receiving unit, and the ultrasonic signal receiving unit being configured to receive signals transmitted by the ultrasonic signal receiving unit;

[0008] a controller configured to determine whether at least a portion of the main body is out of water based on signal information received by the ultrasonic signal receiving unit.

[0009] Further, a gap exists between the ultrasonic signal transmitting unit and the ultrasonic signal receiving unit, wherein the gap allows water to flow out between the ultrasonic signal transmitting unit and the ultrasonic signal receiving unit when the detection device is out of water.

[0010] Further, the size of the gap is between 0.5 cm and 5 cm.

[0011] Further, when the main body is placed horizontally, the opening of the gap is directed towards the bottom of the main body.

[0012] Further, the detection device comprises a base, one end of the signal transmitting unit and the signal receiving unit is arranged on the base, and the detection device is detachably connected to the main body through the base.

[0013] Further, the signal information comprises at least one of signal strength and signal propagation time.

[0014] Further, the main body is further provided with an electronic compartment, and the detection device further comprises a connecting line, one end of the connecting line is connected to the ultrasonic signal transmitting unit and the ultrasonic signal receiving unit, and the other end of the connecting line is connected to the electronic compartment.

[0015] Further, the detection device is arranged at the front of the main body.

[0016] Further, the main body is provided with a water surface water suction port, and the detection device is within a preset distance range from the water surface water suction port.

[0017] Further, the detection device is one or more.

[0018] Compared with the prior art, the application has the following advantages:

[0019] This application transmits ultrasonic signals directly from an ultrasonic signal transmitting unit to an ultrasonic signal receiving unit. It utilizes the difference in signal information received by the ultrasonic signal receiving unit due to the difference in the medium between the transmitting and receiving units to detect whether the robot has exited water. The ultrasonic signal propagates between the transmitting and receiving units without reflection from other objects. Even if there are small obstacles such as mud or sand between the transmitting and receiving units, water can penetrate these obstacles, having minimal impact on the signal information received by the receiving unit, thus still being able to detect whether the robot has exited water. Furthermore, this solution has low requirements for the installation location of the detection device; it can be installed at a specific location on the main body according to actual needs. Simultaneously, the detection device can operate stably for a long time, improving the accuracy and stability of water exit detection. Attached Figure Description

[0020] The accompanying drawings, which form part of this application, are used to provide a further understanding of this application. The illustrative embodiments and descriptions of this application are used to explain this application and do not constitute an undue limitation of this application. In the drawings:

[0021] Figure 1 The schematic diagram illustrates the external shape of the automatic pool cleaning device of this application;

[0022] Figure 2 The schematic diagram illustrates the structure of the detection device in one embodiment of this application;

[0023] Figure 3 The structure of the detection device is illustrated schematically in another embodiment of this application.

[0024] Reference numerals: 10-Automatic water tank cleaning equipment; 110-Main body; 120-Detection device; 130-Water surface suction port; 1210-Ultrasonic signal transmitting unit; 1220-Ultrasonic signal receiving unit; 1230-Gap; 1231-Through hole; 1240-Base. Detailed Implementation

[0025] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of the embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of this application. It should be noted that, unless otherwise specified, the embodiments and features in the embodiments of this application can be combined with each other.

[0026] To address the issue that automatic pool cleaning equipment in related technologies has different requirements for water outlet detection sensors when cleaning pool walls and water surfaces, and that improper placement of the water outlet detection sensors can affect the cleaning effect, this application provides an automatic pool cleaning device. The automatic pool cleaning device may have at least one of the following operating modes: pool bottom cleaning mode, pool wall cleaning mode, and water surface cleaning mode.

[0027] It is understood that the automatic pool cleaning equipment is capable of cleaning the pool. The pool is, for example, a pool-shaped structure. The pool-shaped structure can be a swimming pool, a water storage tank, a spa pool, a water tank, a water storage trough, etc. The automatic pool cleaning equipment can be a device such as an automatic cleaning device or a pool cleaning robot, capable of cleaning the pool-shaped structure. This application does not limit the specific presentation of the automatic pool cleaning equipment or the pool-shaped structure, as long as the principle of this application is achieved. In the following description, unless otherwise specified, a robot will be used as an example of the automatic pool cleaning equipment, and a swimming pool will be used as an example of a pool or pool-shaped structure. In the following description, unless otherwise specified, the terms "pool bottom," "pool bottom surface," and "pool base" all refer to the bottom surface of the swimming pool; the terms "pool wall" and "pool wall surface" all refer to the surface of the swimming pool wall.

[0028] The automatic water tank cleaning device of this application will be described in detail below with reference to the accompanying drawings. Figure 1 The schematic diagram illustrates the external shape of the automatic pool cleaning device of this application, which can perform cleaning operations on the bottom, walls, water, and surface of a pool (e.g., a swimming pool) as needed. For example, it can be used to remove debris from the water, bottom, and surface, and to clean dirt from the pool bottom and walls. Figure 1 As shown, the automatic pool cleaning device 10 may include a main body 110 and a detection device 120. The detection device 120 is mainly used to detect whether at least a portion of the main body 110 is leaking water. The detection device 120 is disposed on the main body 110, for example, it may be disposed at the front of the main body 110, where the front may include the head and top area of ​​the main body 110. This allows the detection device 120 to promptly detect whether water is leaking from the front of the main body 110. For example, when the automatic pool cleaning device 10 is cleaning the pool wall, it can promptly detect whether the front of the machine is exposed above the water surface, allowing for timely changes to the cleaning path. Alternatively, depending on the location of the leaking water to be detected, the detection device 120 can be disposed at a corresponding position on the main body 110, such as... Figure 1As shown, the main body 110 is also equipped with a water surface suction port 130. The water surface suction port 130 can be located at the front of the machine. When the machine is cleaning the water surface, the floating garbage on the water surface can be sucked into the garbage basket through the water surface suction port 130. The detection device 120 can be set near the water surface suction port 130, such as above, below or to the side of the water surface suction port 130, and within a preset distance range from the water surface suction port 130. The detection device 120 can be used to detect whether the water surface suction port 130 is above or below the water surface. The preset distance range can be determined according to actual needs and the structure and size of the robot, etc., and is not specifically limited in this embodiment.

[0029] Depending on the location or component on the main body 110 that needs to be tested for water discharge, the number of testing devices 120 can be set to one or more. For example, multiple testing devices 120 can be set at different locations on the main body 110 to test for water discharge in different areas of the main body 110, or multiple testing devices 120 can be set at different locations in the area of ​​the main body 110 that needs to be tested for water discharge to improve the accuracy of the water discharge test results.

[0030] Figure 2 , Figure 3 The structure of the detection device of this application is schematically illustrated, as follows: Figure 2 As shown, the detection device 120 may include an ultrasonic signal transmitting unit 1210 and an ultrasonic signal receiving unit 1220. The ultrasonic signal transmitting unit 1210 can be used to transmit ultrasonic signals, and the ultrasonic signal receiving unit 1220 is used to receive the ultrasonic signals transmitted by the ultrasonic signal transmitting unit 1210. The propagation parameters of ultrasonic signals in water and air (such as propagation speed and attenuation) are different, resulting in different signal information received by the ultrasonic signal receiving unit 1220 in water and air. In the embodiments of this specification, the ultrasonic signal propagates between the ultrasonic signal transmitting unit 1210 and the ultrasonic signal receiving unit 1220 without needing reflection from other objects. Even if there are small obstacles such as mud or sand between the ultrasonic signal transmitting unit 1210 and the ultrasonic signal receiving unit 1220, water can penetrate these obstacles, having a relatively small impact on the signal information received by the ultrasonic signal receiving unit 1220. Therefore, it is still possible to detect whether the machine is in water using the signal information received by the ultrasonic signal receiving unit 1220. The automatic water tank cleaning device 10 in the embodiments of this specification may also include a controller. The controller is generally set in the electronic compartment inside the main body 110. The controller can determine whether at least a part of the main body 110 is emitting water based on the signal information received by the ultrasonic signal receiving unit 1220, and control the travel path of the main body 110 or adjust the posture of the main body 110 based on whether the main body 110 is emitting water.

[0031] like Figure 2 , Figure 3 As shown, the detection device 120 may include a base 1240, an ultrasonic signal transmitting unit 1210 and an ultrasonic signal receiving unit 1220, one end of which may be mounted on the base 1240. The detection device 120 is detachably connected to the main body 110 via the base 1240, such as by threaded connection, screw connection, snap-fit ​​connection, etc., which facilitates the inspection or replacement of the detection device 120.

[0032] The signal information received by the ultrasonic signal receiving unit 1220 may include at least one of signal strength and signal propagation duration. Since the attenuation and propagation speed of ultrasonic signals differ in air and water, the signal strength and propagation duration received by the ultrasonic signal receiving unit 1220 will differ depending on whether the robot is in water or air. The signal propagation duration is the time interval between the time the ultrasonic signal transmitting unit 1210 emits the ultrasonic wave and the time the ultrasonic signal receiving unit 1220 receives the signal. Based on the signal strength and / or signal propagation duration received by the ultrasonic signal receiving unit 1220, the location of the automatic water cleaning device 10 in water or on the water surface can be quickly and accurately detected.

[0033] like Figure 2 As shown, there are no other objects or structures between the ultrasonic signal transmitting unit 1210 and the ultrasonic signal receiving unit 1220, so that the ultrasonic signal emitted by the ultrasonic signal transmitting unit 1210 is not interfered with by other objects and propagates directly to the ultrasonic signal receiving unit 1220. Figure 2 As shown, there is a gap 1230 between the ultrasonic signal transmitting unit 1210 and the ultrasonic signal receiving unit 1220. The gap 1230 can be a structure or space that can guide water out. After the automatic cleaning device 10 of the water tank discharges water, the water between the ultrasonic signal transmitting unit 1210 and the ultrasonic signal receiving unit 1220 can flow out through the gap 1230. This prevents the water droplets remaining between the ultrasonic signal transmitting unit 1210 and the ultrasonic signal receiving unit 1220 from affecting the signal received by the ultrasonic signal receiving unit 1220 after the robot has been out of the water, thus avoiding misidentifying the robot that has been out of the water as being in the water.

[0034] The specific structure of gap 1230 can be set according to actual needs. Gap 1230 is generally a semi-enclosed structure and may include at least one opening to allow water to flow out between the ultrasonic signal transmitting unit 1210 and the ultrasonic signal receiving unit 1220. To facilitate the flow of water between the ultrasonic signal transmitting unit 1210 and the ultrasonic signal receiving unit 1220 after the water is discharged from the automatic water cleaning device 10, the installation direction of the detection device 120 can be set according to actual needs, so that after the water is discharged from the automatic water cleaning device 10, the opening of gap 1230 faces the direction of the pool bottom. If gap 1230 includes multiple openings, then at least one opening must face the direction of the pool bottom after the water is discharged from the automatic water cleaning device 10. Figure 2 As shown, the ultrasonic signal transmitting unit 1210 and the ultrasonic signal receiving unit 1220 can have one fixed end and one free end, with the free end corresponding to the opening of the gap 1230. When the main body 110 is placed horizontally, the opening of the gap 1230 can face the bottom of the main body 110, that is, the free end is closer to the bottom of the main body 110. This allows water to flow out of the gap 1230 under the influence of gravity after the automatic water cleaning device 10 dispenses water. Figure 3 As shown, if the fixed end is closer to the bottom of the pool than the free end after the water is discharged from the automatic cleaning device 10, a through hole 1231 can be provided in the base part between the ultrasonic signal transmitting unit 1210 and the ultrasonic signal receiving unit 1220 as an opening of the gap 1230, so that water can flow out from the gap 1230 under the action of gravity. Of course, the installation direction of the detection device 120 can be set or adjusted according to actual needs, as long as water can flow out from the gap 1230 when the detection device 120 discharges water. For example, if the detection device 120 is used to detect the water discharge status when the machine climbs the wall, the detection device 120 can also be set so that the opening of the gap 1230 faces the bottom of the pool when the main body 110 climbs the wall.

[0035] like Figure 2As shown, the size of the gap 1230 between the ultrasonic signal transmitting unit 1210 and the ultrasonic signal receiving unit 1220 can be set within a suitable range according to actual needs. This ensures that the ultrasonic signal has sufficient propagation space, allowing the ultrasonic signal receiving unit 1220 to receive different signal information above and below water, while also preventing larger objects such as leaves from getting stuck between the ultrasonic signal transmitting unit 1210 and the ultrasonic signal receiving unit 1220 and affecting the water detection results. If some small obstacles such as mud or sand are trapped between the ultrasonic signal transmitting unit 1210 and the ultrasonic signal receiving unit 1220, the impact on the detection results will be minimal because water can penetrate such small obstacles. Generally, the size of the gap 1230 can be set between 0.5 cm and 5 cm, and the specific size can be set according to the robot's structure and the speed and accuracy requirements of the water detection.

[0036] The main body 110 is usually equipped with an electronic compartment, which is generally a sealed structure that can house waterproof components such as circuit boards, batteries, controllers, and motors. The detection device 120 may also include a connecting cable. One end of the connecting cable can be connected to the ultrasonic signal transmitting unit 1210 and the ultrasonic signal receiving unit 1220, and the other end can be connected to the electronic compartment. The battery in the electronic compartment can power the detection device 120 through the connecting cable. The detection device 120 can transmit data with the controller in the electronic compartment through the connecting cable, so that the controller can obtain the signal information detected by the detection device 120. The controller can also control the detection device 120 to turn on or off through the connecting cable.

[0037] The main body 1 may also include components such as a shell, a handle, and a drain outlet. Those skilled in the art can select and set the components constituting the main body 1 according to the principles of this application, as long as they can realize the technical principles of this application.

[0038] As described above, ultrasonic signals are directly transmitted from the ultrasonic signal transmitting unit 1210 to the ultrasonic signal receiving unit 1220. The difference in the medium between the ultrasonic signal transmitting unit 1210 and the ultrasonic signal receiving unit 1220 causes a difference in the signal information received by the ultrasonic signal receiving unit 1220, thus detecting the robot's water-out status. The ultrasonic signal propagates between the ultrasonic signal transmitting unit 1210 and the ultrasonic signal receiving unit 1220 without needing reflection from other objects. Even if there are small obstacles such as mud or sand between the ultrasonic signal transmitting unit and the ultrasonic signal receiving unit, water and air can penetrate these obstacles, having minimal impact on the signal information received by the ultrasonic signal receiving unit, and thus still being able to detect whether the robot is out of water. Furthermore, this solution has low requirements for the installation location of the detection device 120; it can be installed at a specific location on the main body 110 according to actual needs. Simultaneously, the detection device can operate stably for a long time, improving the accuracy and stability of water-out detection.

[0039] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of those different embodiments or examples.

[0040] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "a plurality of" means two or more, unless otherwise explicitly specified.

[0041] In this application, unless otherwise stated, directional terms such as "up" and "down" are generally used in relation to the direction shown in the accompanying drawings, or in relation to the vertical, perpendicular, or gravitational direction; similarly, for ease of understanding and description, "left" and "right" are generally used in relation to the left and right shown in the accompanying drawings; "inner" and "outer" refer to the inner and outer contours of each component itself, but the above directional terms are not intended to limit this application.

[0042] The foregoing has shown and described the basic principles, main features, and beneficial effects of this application. Those skilled in the art will understand that this application is not limited to the above embodiments. The embodiments and descriptions in the specification are merely preferred examples and are not intended to limit the application. Various changes and modifications can be made to this application without departing from its spirit and scope, and all such changes and modifications fall within the scope of the claims. The scope of protection of this application is defined by the appended claims and their equivalents.

Claims

1. An automatic water tank cleaning device, characterized in that, The automatic water tank cleaning equipment includes: Main body (110); A detection device (120) is disposed on the main body (110). The detection device (120) includes an ultrasonic signal transmitting unit (1210) and an ultrasonic signal receiving unit (1220). The ultrasonic signal transmitting unit (1210) is used to transmit signals to the ultrasonic signal receiving unit (1220), and the ultrasonic signal receiving unit (1220) is used to receive the signals transmitted by the ultrasonic signal receiving unit (1220). The controller is used to determine whether at least a portion of the main body (110) is emitting water based on the signal information received by the ultrasonic signal receiving unit (1220).

2. The automatic water tank cleaning device according to claim 1, wherein, There is a gap (1230) between the ultrasonic signal transmitting unit (1210) and the ultrasonic signal receiving unit (1220); wherein, when water is discharged from the detection device (120), the gap (1230) allows water to flow out between the ultrasonic signal transmitting unit (1210) and the ultrasonic signal receiving unit (1220).

3. The automatic water tank cleaning device according to claim 2, wherein, The size of the gap (1230) is between 0.5 cm and 5 cm.

4. The automatic water tank cleaning device according to claim 2, wherein, When the body (110) is placed horizontally, the opening of the gap (1230) faces the bottom of the body (110).

5. The automatic water tank cleaning device according to claim 1, wherein, The detection device (120) includes a base, one end of the signal transmitting unit and the signal receiving unit is disposed on the base (1240), and the detection device (120) is detachably connected to the main body (110) through the base (1240).

6. The automatic water tank cleaning device according to any one of claims 1-5, wherein, The signal information includes at least one of signal strength and signal propagation duration.

7. The automatic water tank cleaning device according to claim 1, wherein, The main body (110) is also provided with an electronic compartment, and the detection device (120) also includes a connecting line. One end of the connecting line is connected to the ultrasonic signal transmitting unit (1210) and the ultrasonic signal receiving unit (1220), and the other end of the connecting line is connected to the electronic compartment.

8. The automatic water tank cleaning device according to claim 1, wherein, The detection device (120) is located at the front of the main body (110).

9. The automatic water tank cleaning device according to claim 1, wherein, The main body (110) is provided with a water surface suction port, and the distance between the detection device (120) and the water surface suction port is within a preset distance range.

10. The automatic water tank cleaning device according to claim 1, wherein, The detection device (120) may be one or more.

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