Multifunctional swimming pool cleaning robot

Abstract

The utility model relates to a multifunctional swimming pool cleaning robot which comprises a shell, a filtering mechanism, a walking driving mechanism and a snorkeling driving device, the filtering mechanism is installed inside the shell, the snorkeling driving device is arranged inside the shell, the walking driving mechanism is installed outside the shell, and a part of the front end of the walking driving mechanism extends out of the shell. The water pumping device is installed in the shell. According to the swimming pool cleaning robot, three cleaning modes of swimming pool water surface cleaning, swimming pool bottom surface cleaning and swimming pool side wall cleaning are integrated to be completed by one swimming pool cleaning robot, so that the swimming pool cleaning cost of a user is reduced, and the swimming pool cleaning experience is better.

Description

Technical Field

[0001] This utility model relates to a robot, specifically a multi-functional swimming pool cleaning robot, belonging to the field of intelligent cleaning equipment technology. Background Technology

[0002] Swimming pools are specialized venues for people to engage in swimming, competitions, diving, water polo, and other water activities. Their primary function is to provide a space for swimming, meeting various needs such as fitness, recreation, and competition. In public swimming pools, people can enjoy professional swimming instruction and training services to improve their swimming skills. Swimming pools can be categorized into various types based on their purpose and structural characteristics, such as public swimming pools, private swimming pools, indoor swimming pools, outdoor swimming pools, competition pools, training pools, diving pools, and water polo pools. Regardless of the type, regular cleaning, disinfection, and water changes are necessary to maintain water quality and hygiene, providing swimmers with a more comfortable, convenient, and safe swimming environment.

[0003] Pool robots are automated devices specifically designed for cleaning swimming pools. They can automatically perform cleaning tasks, covering areas such as the pool bottom, walls, and waterline, greatly improving the efficiency and convenience of pool management. Some high-end pool robots are equipped with intelligent sensing technology, enabling them to perceive the shape and size of the pool and automatically plan cleaning paths to ensure efficient and comprehensive cleaning results.

[0004] Currently, pool cleaning is generally divided into three parts: (1) cleaning floating objects on the pool surface; (2) cleaning the pool walls; and (3) cleaning the pool bottom.

[0005] In the current technology, the cleaning of the pool bottom, pool sidewalls and pool surface is carried out by different types of cleaning robots. Therefore, users need to purchase multiple types of machines to maintain pool cleaning, which not only results in high maintenance costs, but also makes it inconvenient to use and manage. Summary of the Invention

[0006] To address the shortcomings of existing pool cleaning robots, which require different types of robots to clean the pool bottom, sidewalls, and surface, this invention provides a multi-functional pool cleaning robot that integrates surface cleaning, bottom cleaning, and sidewall cleaning into a single robot. This reduces the cost of pool cleaning for users and provides a better pool cleaning experience.

[0007] The technical solution adopted by this utility model to solve its technical problem is: a multi-functional swimming pool cleaning robot, the robot includes a shell, a filtration mechanism, a walking drive mechanism, a snorkeling drive device and a water pumping device. The filtration mechanism is installed inside the shell, the snorkeling drive device is installed inside the shell, the walking drive mechanism is installed outside the shell, and a portion of the front end of the walking drive mechanism extends to the outside of the shell. The water pumping device is installed inside the shell.

[0008] The technical solution adopted by this utility model to solve its technical problem further includes:

[0009] The filtering mechanism adopts a box-shaped filter screen, which has a first filter screen opening and a second filter screen opening. The first filter screen opening is located on the upper side of the box-shaped filter screen, and a baffle is installed at the first filter screen opening. A first driving device is installed on the side of the box-shaped filter screen, and the baffle is connected to the first driving device. A first roller sweeping device is installed inside the first filter screen opening, and a second driving device is installed on the side of the box-shaped filter screen, and the first roller sweeping device is connected to the second driving device. A check cover is installed inside the second filter screen opening via a rotating shaft. A first opening is located on the upper front side of the housing, corresponding to the first filter screen opening. A second opening is located on the bottom of the housing, corresponding to the second filter screen opening.

[0010] The filtering mechanism adopts a box-shaped filter screen with an opening located on the upper side of the screen. A first roller sweeping device is installed inside the opening, and a second driving device is installed on the side of the screen. The first roller sweeping device is connected to the second driving device. A first opening is located at the upper front of the housing, and a second opening is located at the bottom. The first and second openings are opposite to each other. A flip cover is installed inside the housing, corresponding to the positions of the first and second openings. The flip cover can switch between a first working position and a second working position. When the flip cover is flipped to the first working position, it blocks the second opening; when it is flipped to the second working position, it blocks the first opening.

[0011] The shell is equipped with a water ingress detection device, which includes an upper detection point and a lower detection point.

[0012] The front end of the housing is provided with one or more front ranging sensors, and the side of the housing is provided with one or more side ranging sensors.

[0013] The described walking drive mechanism includes a left walking drive mechanism and a right walking drive mechanism. The left walking drive mechanism includes a left power unit, a left front wheel hub, a left rear wheel hub, and a left track. The left track is fitted onto the left front wheel hub and the left rear wheel hub. The left power unit is fixedly installed inside the housing. The left front wheel hub is installed on the left side of the housing. The left power unit and the left front wheel hub are connected by a gear structure for power transmission. The right walking drive mechanism includes a right power unit, a right front wheel hub, a right rear wheel hub, and a right track. The right track is fitted onto the right front wheel hub and the right rear wheel hub. The right power unit is fixedly installed inside the housing. The right front wheel hub is installed on the right side of the housing. The right power unit and the right front wheel hub are connected by a gear structure for power transmission. The front, rear, and bottom of the left and right tracks are designed to extend beyond the outer dimensions of the robot housing.

[0014] The left front wheel hub has internal teeth and external teeth. The left power unit is an electric motor, and the motor shaft meshes with the internal teeth of the left front wheel hub through a left motor gear. A left sweeping device is installed on the lower front side of the housing, and a left drive gear is fixedly installed at the end of the left sweeping device, which meshes with the external teeth of the left front wheel hub. The right front wheel hub has internal teeth and external teeth. The right power unit is an electric motor, and the motor shaft meshes with the internal teeth of the right front wheel hub through a right motor gear. A right sweeping device is installed on the lower front side of the housing, and a right drive gear is fixedly installed at the end of the right sweeping device, which meshes with the external teeth of the right front wheel hub. The left and right sweeping devices extend to the outside of the housing.

[0015] The snorkeling drive device includes a pump body and one or more floats. The floats are connected to the pump body through pump body pipes. The floats include a left float and a right float. The left water inlet on the left float is connected to the pump body pipe, and the right water inlet on the right float is connected to the pump body pipe. The pump body pipe adopts a T-shaped design, with one end connected to the left water inlet, the second end connected to the right water inlet, and the third end connected to the second opening of the pump body. The pump body also has a first opening. The left air inlet of the left float is connected to the left air inlet, and the right air inlet of the right float is connected to the right air inlet.

[0016] The housing contains a sealed chamber, which houses the main control board and a rechargeable battery. The pumping device includes a left water pump and a right water pump, which are positioned between the housing and the filter mechanism. Each water pump includes a motor and a propeller blade driven by the motor. The motors of the left and right water pumps are respectively located within the housing. A left water pump outlet is located on the housing at the position corresponding to the propeller blade of the left water pump, and a right water pump outlet is located on the housing at the position corresponding to the propeller blade of the right water pump. The left and right water pump outlets are located on the left and right sides of the main housing, respectively, with their outlets facing the tail of the housing.

[0017] The top of the casing is fitted with a flip cover, on which a solar panel is mounted.

[0018] The beneficial effects of this utility model are: this utility model integrates three cleaning methods—pool surface cleaning, pool bottom cleaning, and pool sidewall cleaning—into a single pool cleaning robot, thereby reducing the cost of pool cleaning for users and providing a better pool cleaning experience.

[0019] This invention enables continuous improvement in the intelligence and automation levels of swimming pools, providing people with a more convenient and efficient swimming experience. As an important venue for swimming, this invention strengthens the construction and management of swimming pools, improves their efficiency and safety, and creates more health and happiness for people, thus possessing broad social value and significance.

[0020] The present invention will be further described below with reference to the accompanying drawings and specific embodiments. Attached Figure Description

[0021] Figure 1 This is a three-dimensional structural diagram of the present invention.

[0022] Figure 2 This is a two-dimensional structural diagram of the present invention from a second perspective.

[0023] Figure 3 This is a schematic diagram of the internal three-dimensional structure of the present invention (after removing the solar panel).

[0024] Figure 4 This is a schematic diagram of the water flow channel for cleaning and filtering the pool surface according to Embodiment 1 of this utility model (where the arrow indicates the direction of water flow).

[0025] Figure 5 This is a schematic diagram of the water flow channel for cleaning and filtering at the bottom of a swimming pool according to Embodiment 1 of this utility model (where the arrow indicates the direction of water flow).

[0026] Figure 6 This is a schematic diagram of the water flow channel for cleaning and filtering the pool surface according to Embodiment 1 of this utility model (where the arrow indicates the direction of water flow).

[0027] Figure 7 This is a schematic diagram of the water flow channel for cleaning and filtering at the bottom of a swimming pool according to Embodiment 1 of this utility model (where the arrow indicates the direction of water flow).

[0028] Figure 8 This is a three-dimensional structural diagram of the water and gas passages in this utility model.

[0029] Figure 9 This is a three-dimensional structural diagram of the cleaning mechanism in Embodiment 1 of this utility model.

[0030] Figure 10 This is a schematic cross-sectional view of the cleaning mechanism in Embodiment 1 of this utility model. Figure 11 This is a three-dimensional structural diagram of the walking drive mechanism in this utility model.

[0031] Figure 12 This is a schematic cross-sectional view of the left half of the walking drive mechanism in this utility model.

[0032] Figure 13 This is a schematic cross-sectional view of the right half of the walking drive mechanism in this utility model.

[0033] Figure 14 This is a schematic diagram of the robot of this utility model cleaning the side of a swimming pool.

[0034] Figure 15 This is a schematic diagram of the robot of this utility model cleaning the bottom of a swimming pool.

[0035] Figure 16 This is a schematic diagram of the robot of this utility model cleaning the surface of a swimming pool.

[0036] Figure 17 This is a block diagram of the control circuit of this utility model.

[0037] In the diagram, 1-shell, 11-left water pump outlet, 12-right water pump outlet, 13-side distance sensor, 14-front distance sensor, 15-first opening, 16-second opening, 17-waterline, 18-water inlet detection device, 181-upper detection point, 182-lower detection point, 2-flip cover, 21-solar panel, 3-box-type filter screen, 31-first filter screen opening, 32-second filter screen opening, 33-baffle, 34-... 35-First drive unit, 36-First sweeping device, 37-Second drive unit, 38-Anti-reverse cover, 4-Tipping cover, 41-Walking drive mechanism, 41-Left walking drive mechanism, 411-Left power unit, 412-Left front wheel hub, 4121-Left front wheel hub internal gear, 4122-Left front wheel hub external gear, 413-Left rear wheel hub, 414-Left motor gear, 415-Left drive gear, 416-Left sweeping device, 417-Left track 42-Right walking drive mechanism, 421-Right power unit, 422-Right front wheel hub, 4221-Right front wheel hub internal gear, 4222-Right front wheel hub external gear, 423-Right rear wheel hub, 424-Right motor gear, 425-Right drive gear, 426-Right rolling sweeper, 427-Right track, 5-Snorkeling drive unit, 51-Sealed chamber, 52-Main control board, 53-Left floating chamber, 531-Left water inlet, 532-Left air inlet 533-Left air inlet pipe, 534-Left air inlet, 54-Right float tank, 541-Right water inlet interface, 542-Right air inlet interface, 543-Right air inlet pipe, 544-Right air inlet, 55-Pump body, 551-First opening of pump body, 552-Second opening of pump body, 56-Rechargeable battery, 57-Pump body pipe, 6-Water pumping device, 61-Left water pump, 62-Right water pump, 7-Bottom of pool, 8-Side wall of pool, 9-Water surface of pool. Detailed Implementation

[0038] This embodiment is a preferred embodiment of the present invention. All other embodiments that are the same as or similar to this embodiment in principle and basic structure are within the protection scope of the present invention.

[0039] Please refer to the appendix for details. Figure 1 To be continued Figure 17 This utility model mainly protects a multi-functional swimming pool cleaning robot, which mainly includes a shell 1, a filter mechanism, a walking drive mechanism 4, a buoyancy drive device 5, and a water pumping device 6. The filter mechanism is installed inside the shell 1, the buoyancy drive device 5 is installed inside the shell 1, the walking drive mechanism 4 is installed outside the shell 1, and a portion of the front end of the walking drive mechanism 4 extends to the outside of the shell 1. The water pumping device 6 is installed inside the shell 1.

[0040] In this utility model, the filtration mechanism and the water inlet channel have the following two implementations, which will be described separately below.

[0041] Example 1: In this example, the filtration mechanism uses a box-type filter screen 3. In practice, other types of filtration mechanisms can also be used to filter the passing water flow, removing impurities and retaining them within the filtration mechanism to purify the water. In this example, the box-type filter screen 3 is installed in the middle of the housing 1. The box-type filter screen 3 has two openings, defined as a first filter screen opening 31 and a second filter screen opening 32. The first filter screen opening 31 is for water outlet, and the second filter screen opening 32 is for water inlet. The first filter screen opening 31 is located on the upper side of the box-type filter screen 3. A baffle 33 is installed at the first filter screen opening 31. A first driving device 34 is installed on the side of the box-type filter screen 3. The baffle 33 is connected to the first driving device 34, and the first driving device 34 can drive the baffle 33 to open or close, thus opening or closing the first filter screen opening 31. The first filter screen opening 31 is internally equipped with... Equipped with a first roller sweeping device 35, a second drive device 36 is installed on the side of the box-type filter screen 3. The first roller sweeping device 35 is connected to the second drive device 36, and the first roller sweeping device 35 can be driven to rotate by the second drive device 36. A check cover 37 is installed on the inner side of the second filter screen opening 32 through a rotating shaft. The check cover 37 can cover the second filter screen opening 32 by its own weight or the impact of reverse water flow, so as to prevent impurities and dirt from the box-type filter screen 3 from entering the pool through the second filter screen opening 32. When in use, it can be opened by the impact of forward water flow. The check cover 37 can only allow fluid to enter. When the fluid flows in the reverse direction, it is in the closed state, thereby preventing the filtered debris from flowing out of this opening.

[0042] In this embodiment, a first opening 15 is provided at the upper front part of the housing 1, and the first opening 15 is corresponding to the first filter screen opening 31. A second opening 16 is provided at the bottom of the housing 1, and the second opening 16 is corresponding to the second filter screen opening 32.

[0043] In this embodiment, a water entry detection device 18 is provided inside the housing 1. Preferably, the water entry detection device 18 is located inside the first opening 15. The water entry detection device 18 uses a water level detection sensor to detect whether water is present at that location. The water entry detection device 18 includes an upper detection point 181 and a lower detection point 182. The upper detection point 181 is located above the waterline 17, and the lower detection point 182 is located below the waterline 17, respectively used to detect the upper and lower water levels. In this embodiment, the robot has a draft depth when entering the water surface, which is referred to here as the waterline. This waterline is a virtual line. In specific implementation, a reference waterline can also be marked inside the housing 1 or the first opening 15.

[0044] Example 2: Please refer to the appendix for details. Figure 6 and attached Figure 7The basic structure of this embodiment is the same as that of Embodiment 1. The difference is that in this embodiment, a first opening 15 is provided at the upper front part of the shell 1, and a second opening 16 is provided at the bottom of the shell 1. The first opening 15 and the second opening 16 are arranged opposite to each other. In this embodiment, the axes of the first opening 15 and the second opening 16 are preferably perpendicular to each other. The box-shaped filter screen 3 has only one filter screen opening, which corresponds to the position of the first filter screen opening 31 in Embodiment 1. A flip cover 38 is installed inside the shell 1. The flip cover 38 is arranged corresponding to the positions of the first opening 15 and the second opening 16. The cover plate 38 is driven to flip by a flipping cover plate drive device (a motor, not shown in the figure), thereby realizing the switching between the first working position and the second working position. When the flipping cover plate 38 is flipped to the first working position, the flipping cover plate 38 blocks the second opening 16, so that the water entering through the first opening 15 flows into the box-type filter screen 3 through the filter screen opening; when the flipping cover plate 38 is flipped to the second working position, the flipping cover plate 38 blocks the first opening 15, so that the water entering through the second opening 16 flows into the box-type filter screen 3 through the filter screen opening, thereby realizing the switching between the two working states of this utility model. In this embodiment, the flipping cover plate 38 replaces the baffle 33 and the anti-reverse cover plate 37 in the first embodiment, and only one filter screen opening needs to be opened on the box-type filter screen 3, so the structure is relatively simple compared to the first embodiment.

[0045] In this embodiment, one or more front ranging sensors 14 are provided at the front end of the housing 1, which can be used to detect the distance between the front of the housing 1 and the side wall of the pool. One or more side ranging sensors 13 are provided on the side of the housing 1, which can be used to detect the distance between the side of the housing 1 and the side wall of the pool. The front ranging sensor 14 and the side ranging sensor 13 can be laser ranging sensors or ranging radar.

[0046] In this embodiment, the walking drive mechanism 4 includes a left walking drive mechanism 41 and a right walking drive mechanism 42, which are respectively located on the left and right sides of the housing. The left walking drive mechanism 41 includes a left power unit 411, a left front wheel hub 412, a left rear wheel hub 413, and a left track 417. The left track 417 is fitted onto the left front wheel hub 412 and the left rear wheel hub 413, enabling the left track 417 to rotate synchronously with the left front wheel hub 412 and the left rear wheel hub 413. The left power unit 411 is fixedly installed inside the housing 1, and the left front wheel hub 412 is installed on the left side of the housing 1. In this embodiment, the left front wheel hub 412 is installed on a cylindrical shaft on the left side of the housing 1. The left front wheel hub 412 is directly or indirectly installed with the left power unit 411, and the left power unit 411 drives the left front wheel hub 412 to rotate. 412 drives the left track 417 to rotate. The right walking drive mechanism 42 includes a right power unit 421, a right front wheel hub 422, a right rear wheel hub 423, and a right track 427. The right track 427 is fitted on the right front wheel hub 422 and the right rear wheel hub 423, enabling the right track 4217 to rotate synchronously with the right front wheel hub 422 and the right rear wheel hub 423. The right power unit 421 is fixedly installed inside the housing 1. The right front wheel hub 422 is installed on the right side of the housing 1. In this embodiment, the right front wheel hub 412 is installed on the cylindrical shaft on the right side of the housing 1. The right front wheel hub 422 is directly or indirectly installed with the right power unit 421. The right power unit 421 drives the right front wheel hub 422 to rotate, and the right front wheel hub 422 drives the right track 427 to rotate. The front, rear, and bottom parts of the left track 417 and the right track 427 are designed to extend beyond the outer dimensions of the robot housing 1.

[0047] In this embodiment, the left front wheel hub 412 is provided with a left front wheel hub internal tooth 4121 and a left front wheel hub external tooth 4122. The left front wheel hub external tooth 4122 is located on the inner side of the outer edge of the left front wheel hub 412. The left power device 411 adopts a motor. A left motor gear 414 is fixedly installed on the motor shaft. The left motor gear 414 meshes with the left front wheel hub internal tooth 4121, and drives the left front wheel hub 412 to rotate through the left motor gear 414. A left sweeping device 416 is installed on the lower front side of the housing 1. A left drive gear 415 is fixedly installed at the end of the left sweeping device 416. The left drive gear 415 meshes with the outer gear 4122 of the left front wheel hub. The left front wheel hub 412 can be driven to rotate by the left power device 411. At the same time, the left front wheel hub 412 drives the left drive gear 415 to rotate, and the left drive gear 415 drives the left sweeping device 416 to rotate, thereby achieving the purpose of driving the left sweeping device 416 to rotate. The right front wheel hub 422 is provided with a right front wheel hub inner gear 4221 and a right front wheel hub outer gear 4222. The right front wheel hub outer gear 4222 is located on the inner side of the outer edge of the right front wheel hub 422. The right power device 421 is a motor. A right battery gear 424 is fixedly installed on the motor shaft. The right motor gear 424 meshes with the right front wheel hub inner gear 4221, and drives the right front wheel hub 422 to rotate by the right motor gear 424. A right sweeping device 426 is installed on the lower front side of the housing 1. A right drive gear 425 is fixedly installed at the end of the right sweeping device 426. The right drive gear 425 meshes with the external gear 4222 of the right front wheel hub. The right front wheel hub 422 can be driven to rotate by the right power device 421. At the same time, the right front wheel hub 422 drives the right drive gear 425 to rotate, and the right drive gear 425 drives the right sweeping device 426 to rotate, thereby achieving the purpose of driving the right sweeping device 426 to rotate. The left sweeping device 416 and the right sweeping device 426 extend to the outside of the housing 1. The left sweeping device 416 and the right sweeping device 426 can rotate with their respective left and right walking drive mechanisms, thereby enabling the left sweeping device 416 and the right sweeping device 426 to clean and scrape the pool surface they come into contact with.

[0048] In this embodiment, the snorkeling drive device 5 includes a pump body 55 and one or more floating pods, which are connected to the pump body 55 via pump body pipes 57. Preferably, there are two or more floating pods to ensure a more balanced robot center of gravity. In this embodiment, two are used as an example: a left floating pod 53 and a right floating pod 54. The left water inlet 531 on the left floating pod 53 is connected to the pump body pipe 57, and the right water inlet 541 on the right floating pod 54 is connected to the pump body pipe 57. The pump body pipe 57 adopts a T-junction design, with one end connected to the left water inlet 531, the second end connected to the right water inlet 541, and the third end connected to the second opening 552 of the pump body. The pump body 55 also has a first opening 551. The left air inlet 532 of the left floating pod 53 is connected to the left air inlet 534, and the right air inlet 542 of the right floating pod 54 is connected to the right air inlet 544.

[0049] In this embodiment, the left air inlet 532 and the right air inlet 542 are respectively located on the upper part of the floating tank. Through pipe extensions, the left air inlet 534 and the right air inlet 544 extend to a position above the water inlet detection device 18. The left water inlet 531 and the right water inlet 541 are respectively located on the lower part of the floating tank and are respectively connected to the pump body 55 through the pump body pipe 57. The first opening 551 of the pump body is positioned below the water surface where the robot operates, ensuring that no air is injected when the floating tank is filled with water. Through the connected pipes, the pump body 55 can fill or drain water into the left float 53 and the right float 54 to change the robot's overall specific gravity. When the robot's overall specific gravity is greater than that of water, it can dive; when the robot's overall specific gravity is less than that of water, it can float on the water surface. The size of the left float 53 and the right float 54 is precisely calculated so that when the water in the left float 53 and the right float 54 is drained, the robot's draft on the water surface is just right to meet the robot's working depth requirements. Similarly, when the left float 53 and the right float 54 are filled with water, the robot's overall specific gravity is slightly greater than that of water, and the robot can dive underwater to work.

[0050] In this embodiment, a sealing chamber 51 is provided inside the housing 1. Preferably, the sealing chamber 51 is located at the rear of the inner cavity of the housing 1. The sealing chamber 51 contains a main control board 52 and a rechargeable battery 56. The rechargeable battery 56 is used to power this invention. The main control board 52 drives and controls various devices and electrical components through wires. The pump body 55 can also be located inside the sealing chamber 51.

[0051] In this embodiment, the water pumping device 6 is disposed inside the housing 1. The water pumping device 6 includes a left water pump 61 and a right water pump 62, which are located between the housing 1 and the filter mechanism. The water in the filter mechanism can be directly discharged to the outside of the housing 1 through the left water pump 61 and the right water pump 62. The left water pump 61 and the right water pump 62 each include a motor and a propeller blade driven by the motor. The motor is disposed inside the housing 1. A left water pump outlet 11 is provided on the housing 1 at the position corresponding to the propeller blade of the left water pump 61, and a right water pump outlet 12 is provided on the housing 1 at the position corresponding to the propeller blade of the right water pump 62. The left water pump outlet 11 and the right water pump outlet 12 are located on the left and right sides of the main housing 1, respectively, and the outlet directions of the left water pump outlet 11 and the right water pump outlet 12 face the tail of the housing 1.

[0052] In this embodiment, a flip cover 2 is installed on the top of the housing 1, and a solar panel 21 is provided on the flip cover 2. Photovoltaic power generation can be carried out through the solar panel 21 to charge this utility model.

[0053] Based on the above structure, the specific working method of the robot in this utility model is described, which includes the following three working states:

[0054] (1) The method for cleaning the swimming pool surface is as follows:

[0055] By default, after the robot is powered on, it will first perform a pool surface cleaning operation.

[0056] The water ingress detection device 18 is used to confirm whether the robot has been placed in the working environment by the user. The water ingress detection device 18 is divided into an upper detection point 181 and a lower detection point 182. The draft of the robot when working on the water surface is located above the lower detection point 182 and below the upper detection point 181. This draft depth is the waterline 17 for the robot's water surface cleaning operation. When the upper detection point 181 does not detect a water ingress signal, but the lower detection point 182 detects a water ingress signal, it is determined that the robot has floated on the water surface and can perform water surface cleaning operations. In addition, the design of the first opening 15 on the housing 1, with an opening of about 3 cm below the waterline 17, facilitates the entry of water from the pool surface into the robot's interior.

[0057] In surface operation mode, the main control board 52 controls the first drive device 34 to open the front baffle 33 and activates the second drive device 36 to rotate the first sweeping device 35. The first sweeping device 35 is approximately 2 / 5 of its depth below the waterline 17, thus continuously sweeping the surface debris into the box-shaped filter screen 3. Simultaneously, the main control board 52 activates the left and right water pumps 61 and 62 in the sealed chamber 10 to discharge water from the shell 1. Water entering the box-shaped filter screen 3 from the first opening 15 is filtered by the filter screen and discharged from the left and right water pump outlets 11 and 12. While the left and right water pumps 61 and 62 are discharging water, they also generate power in the opposite direction, propelling the robot closer to the surface.

[0058] Distance sensors are installed in front of and to the sides of the robot. These sensors collect distance data between the robot and the shore and send it to the main control board 52. As a result, the robot can perceive the distance between its front and sides and the edge of the pool in real time. The main control board will control the left water pump 61 and the right water pump 62 to rotate forward, in reverse, or at a differential speed according to the set mechanism and algorithm. This enables the robot to move forward and turn in front of the pool water, or to move along the edge of the pool according to cleaning needs, thereby achieving the purpose of covering and cleaning the pool surface.

[0059] (2) The method for cleaning the bottom of the swimming pool is as follows:

[0060] When the robot enters the pool bottom operation mode, the main control board 52 will control the first drive device 34 to close the front baffle 33 to prevent the collected surface debris from floating out.

[0061] Because the position of the first opening 551 of the pump body of the snorkeling drive device is below the waterline.

[0062] The main control board 52 controls the start of the pump body 55 to enter the water injection mode, and fills the left float tank 53 and the right float tank 54 with water. When the left float tank 53 and the right float tank 54 are full of water, the overall specific gravity of the robot will be greater than that of water, thus enabling the robot to dive into the water for operation. At the same time, the upper and lower water entry detection points of the water entry detection device 18 will detect that the robot is in the water.

[0063] Then, the left water pump 61 and the right water pump 62 are turned on, and the water inside the robot shell is discharged from the outlet 11 of the left water pump and the outlet 12 of the right water pump. A negative pressure is formed inside the shell 1. Under the action of atmospheric pressure, the water outside the shell 1 is forced through the check cover 37 on the second opening 16 at the bottom of the box-shaped filter screen 3. The water at the bottom of the pool, along with the debris at the bottom of the pool, is sucked into the box-shaped filter screen 3 through the second opening 16. After filtration, the debris is collected in the box-shaped filter screen 3, and the filtered water is discharged outside the shell 1 by the left water pump 61 and the right water pump 62.

[0064] The robot is equipped with a left walking drive mechanism 41 and a right walking drive mechanism 42 on its left and right sides, respectively. The left walking drive mechanism 41 and the right walking drive mechanism 42 drive the track and the corresponding rolling sweeping assembly, respectively. Furthermore, the left walking drive mechanism 41 and the right walking drive mechanism 42 can rotate forward, reverse, or move at a differential speed. Therefore, the left walking drive mechanism 41 and the right walking drive mechanism 42 enable the robot to achieve forward, backward, or left and right turning maneuvers.

[0065] The robot is equipped with rangefinders on its front and sides, which can sense the distance between the robot and the edge of the pool. Based on this data, the main control board 52 can more intelligently plan the robot's path, thereby enabling the cleaning operation to be carried out on the entire bottom of the pool.

[0066] (3) The cleaning methods for the pool sidewalls and waterline are as follows:

[0067] The robot is controlled to enter the pool bottom operation mode. In this mode, the robot climbs from the bottom of the pool to the side wall to perform its work. As mentioned earlier, in underwater operation mode, the robot's overall weight is only slightly greater than that of water. The left and right sweeping devices 416 and 426, located on the lower front side of the housing 1, are designed to be larger than the front of the housing 1. Therefore, when the robot pushes against the pool wall to climb, the left and right sweeping devices 416 and 426 are the first to contact the pool wall. Since the left and right sweeping devices 416 and 426 are connected to the drive wheel hub via gears and rotate in the same direction, as the walking drive mechanism continues to drive forward, the sweeping devices against the pool wall also continue to rotate and rub against the pool wall. This friction will offset part of the robot's weight in the water, causing the front of the robot to be lifted. Under the continuous friction between the left and right sweeping devices 416 and the pool wall, the walking drive mechanism 4 continues to drive forward, and the angle between the bottom of the robot and the pool wall becomes smaller and smaller until the bottom of the robot is in contact with the pool wall. At the same time, the main control board 52 will start the left water pump 61 and the right water pump 62 to drain water from the shell 1. As the water inside the shell 1 is drained, a negative pressure environment will be formed in the inner cavity of the shell 1 through the second opening 16 and the bottom of the robot. Therefore, the robot will adhere to the pool wall due to atmospheric pressure. Through the walking drive mechanism 4 on both sides of the robot, the friction between the tracks on both sides and the pool wall will be driven, which will enable the robot to walk on and off the side wall of the pool. Through the forward, reverse or differential movement of the walking drive mechanism 4 on both sides, it can achieve forward, backward and turning movement, thereby realizing the covering operation of the pool side wall.

[0068] (4) How the robot returns to the water surface to perform photovoltaic charging or water surface cleaning operations:

[0069] After the robot has finished cleaning the pool sidewall, or when it needs to transition from cleaning the sidewall to cleaning the pool surface, the robot, driven by the walking drive mechanism 4, will move upwards along the pool sidewall until the water ingress detection device 18 emerges from the water. The moment the water ingress detection device 18 emerges, it sends a signal to the main control board 52. The main control board 52 uses this signal to determine that the front of the robot has emerged from the water and stops the walking drive mechanism 4 from moving upwards. However, the water pumps 61 and 62 continue to drain water, ensuring that the robot remains attached to the pool wall while the water ingress detection device 18 remains above the water surface. Since the left air inlet 534 and right air inlet 544 are above the water surface detection device 18, they will also remain above the water surface.

[0070] Once the above conditions are met, the main control board 52 activates the pump 55 of the snorkeling drive device 5 to enter drainage mode, discharging the ballast water from the left float 53 and right float 54. Simultaneously, a negative pressure is created within the left and right float 54, allowing air to enter through the left air inlet 534 and right air inlet 544. After the water in the left and right float 54 is completely drained, they are filled with air, and the robot's overall density returns to less than that of water. The robot then floats on the water surface, enabling it to perform surface cleaning operations and receive solar energy for charging via the photovoltaic solar panel 21.

[0071] A hinged cover 2 is provided on the top of the robot. A photovoltaic solar panel 21 is fixed to the hinged cover 2. The hinged cover 2 is connected to the robot housing 1 through a pivot. When the cover is opened, the cover 2 rotates around the pivot and opens to a set angle. The user can then take out the box-shaped filter screen 3 inside the housing 1 to clean the debris inside the box-shaped filter screen 3. After cleaning, the box-shaped filter screen 3 is put back in, and the robot can enter the next work cycle.

[0072] The above describes the basic method of cleaning the pool surface, pool sidewalls, and pool bottom according to the present invention.

[0073] This invention integrates three cleaning methods—pool surface cleaning, pool bottom cleaning, and pool sidewall cleaning—into a single pool cleaning robot, thereby reducing the cost of pool cleaning for users and providing a better pool cleaning experience.

[0074] This invention enables continuous improvement in the intelligence and automation levels of swimming pools, providing people with a more convenient and efficient swimming experience. As an important venue for swimming, this invention strengthens the construction and management of swimming pools, improves their efficiency and safety, and creates more health and happiness for people, thus possessing broad social value and significance.

Claims

1. A multi-functional swimming pool cleaning robot, characterized by: The robot includes a shell (1), a filtration mechanism, a walking drive mechanism (4), a snorkeling drive device (5), and a water pumping device (6). The filtration mechanism is installed inside the shell (1), the snorkeling drive device (5) is installed inside the shell (1), the walking drive mechanism (4) is installed outside the shell (1), and a portion of the front end of the walking drive mechanism (4) extends to the outside of the shell (1). The water pumping device (6) is installed inside the shell (1).

2. The multifunctional pool cleaning robot according to claim 1, characterized in that: The filter mechanism adopts a box-type filter screen (3). The box-type filter screen (3) is provided with a first filter screen opening (31) and a second filter screen opening (32). The first filter screen opening (31) is located on the upper side of the box-type filter screen (3). A baffle (33) is installed at the first filter screen opening (31). A first driving device (34) is installed on the side of the box-type filter screen (3). The baffle (33) is connected to the first driving device (34). A first sweeping device is installed inside the first filter screen opening (31). (35) A second drive device (36) is installed on the side of the box-type filter screen (3). The first roller sweeping device (35) is connected to the second drive device (36). A backstop cover (37) is installed on the inside of the second filter screen opening (32) through a rotating shaft. A first opening (15) is opened at the upper part of the front side of the housing (1). The first opening (15) is corresponding to the first filter screen opening (31). A second opening (16) is opened at the bottom of the housing (1). The second opening (16) is corresponding to the second filter screen opening (32).

3. The multifunctional pool cleaning robot according to claim 2, characterized in that: The filter mechanism adopts a box-type filter screen (3), which has a filter screen opening located on the upper side of the box-type filter screen (3). A first roller sweeping device (35) is installed inside the filter screen opening. A second drive device (36) is installed on the side of the box-type filter screen (3). The first roller sweeping device (35) is connected to the second drive device (36). A first opening (15) is opened on the upper front side of the housing (1), and a second opening (16) is opened at the bottom of the housing (1). The first opening (15) and the second opening (16) are arranged opposite to each other. A flip cover (38) is installed inside the housing (1). The flip cover (38) is arranged at the position corresponding to the first opening (15) and the second opening (16). The flip cover (38) can switch between the first working position and the second working position. When the flip cover (38) is flipped to the first working position, the flip cover (38) blocks the second opening (16); when the flip cover (38) is flipped to the second working position, the flip cover (38) blocks the first opening (15).

4. The multifunctional pool cleaning robot according to claim 1, characterized in that: The housing (1) is provided with a water ingress detection device (18), which includes an upper detection point (181) and a lower detection point (182).

5. The multifunctional pool cleaning robot according to claim 1, characterized in that: The front end of the housing (1) is provided with one or more front ranging sensors (14), and the side of the housing (1) is provided with one or more side ranging sensors (13).

6. The multifunctional pool cleaning robot according to claim 1, characterized in that: The aforementioned walking drive mechanism (4) includes a left walking drive mechanism (41) and a right walking drive mechanism (42). The left walking drive mechanism (41) includes a left power unit (411), a left front wheel hub (412), a left rear wheel hub (413), and a left track (417). The left track (417) is fitted onto the left front wheel hub (412) and the left rear wheel hub (413). The left power unit (411) is fixedly installed inside the housing (1). The left front wheel hub (412) is installed on the left side of the housing. The left power unit (411) and the left front wheel hub (412) are connected by a gear structure for power transmission. The right walking drive mechanism... The mechanism (42) includes a right power unit (421), a right front wheel hub (422), a right rear wheel hub (423), and a right track (427). The right track (427) is fitted on the right front wheel hub (422) and the right rear wheel hub (423). The right power unit (421) is fixedly installed inside the housing (1). The right front wheel hub (422) is installed on the right side of the housing (1). The right power unit (421) and the right front wheel hub (422) are connected by a gear structure for power transmission. The front, rear, and bottom parts of the left track (417) and the right track (427) are designed to extend beyond the outer dimensions of the robot housing (1).

7. The multifunctional pool cleaning robot according to claim 6, characterized in that: The left front wheel hub (412) has an internal tooth (4121) inside, and an external tooth (4122) on the inner side of the outer edge of the left front wheel hub (412). The left power unit (411) is an electric motor, and the motor shaft meshes with the internal tooth (4121) of the left front wheel hub through the left motor gear (414). A left sweeping device (416) is installed on the lower side of the front end of the housing (1). A left drive gear (415) is fixedly installed at the end of the left sweeping device (416), and the left drive gear (415) meshes with the external tooth (4122) of the left front wheel hub. The right front wheel hub (422) has a right tooth (4121) inside. The front wheel hub has an inner tooth (4221), and the right front wheel hub (422) has an outer tooth (4222) on the inner side of its outer edge. The right power unit (421) is an electric motor. The motor shaft meshes with the inner tooth (4221) of the right front wheel hub through the right motor gear (424). The lower front end of the housing (1) is equipped with a right sweeping device (426). A right drive gear (425) is fixedly installed at the end of the right sweeping device (426). The right drive gear (425) meshes with the outer tooth (4222) of the right front wheel hub. The left sweeping device (416) and the right sweeping device (426) extend to the outside of the housing (1).

8. The multifunctional pool cleaning robot according to claim 1, characterized in that: The snorkeling drive device (5) includes a pump body (55) and one or more floats. The floats are connected to the pump body (55) through pump body pipes (57). The floats include a left float (53) and a right float (54). The left water inlet (531) on the left float (53) is connected to the pump body pipe (57), and the right water inlet (541) on the right float (54) is connected to the pump body pipe (57). The pump body pipe (57) adopts a three-way design, with one end connected to the left water inlet (531), the second end connected to the right water inlet (541), and the third end connected to the second opening (552) of the pump body. The pump body (55) is also connected to the first opening (551). The left air inlet (532) of the left float (53) is connected to the left air inlet (534), and the right air inlet (542) of the right float (54) is connected to the right air inlet (544).

9. The multifunctional pool cleaning robot according to claim 1, characterized in that: The housing (1) contains a sealed chamber (51), which houses a main control board (52) and a rechargeable battery (56). The pumping device (6) includes a left pump (61) and a right pump (62), which are positioned between the housing (1) and the filter mechanism. Each pump includes a motor and a propeller blade driven by the motor. The machines are respectively installed inside the housing (1). The housing (1) has a left water pump outlet (11) at the position of the propeller blade of the left water pump (61) and a right water pump outlet (12) at the position of the propeller blade of the right water pump (62). The left water pump outlet (11) and the right water pump outlet (12) are located on the left and right sides of the main housing (1), respectively. The outlet directions of the left water pump outlet (11) and the right water pump outlet (12) are towards the tail of the housing (1).

10. The multifunctional pool cleaning robot according to claim 1, characterized in that: The top of the housing (1) is fitted with a flip cover (2), and a solar panel (21) is provided on the flip cover (2).

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