Automatic pool cleaning apparatus

Abstract

The embodiment of the present disclosure relates to a pool automatic cleaning device, comprising: a main body; and a hovering monitoring assembly comprising a first monitoring component and a second monitoring component; wherein the second monitoring component is fixedly arranged on the main body, and the first monitoring component is movable between a first position and a second position; when the first monitoring component is located at the first position, the first monitoring component is in an unhovering state; when the first monitoring component is located at the second position, the first monitoring component is in a hovering state; and the first monitoring component cooperates with the second monitoring component to monitor the position of the first monitoring component. The pool automatic cleaning device provided in the present application can monitor the position of the first monitoring component by monitoring the state of the first monitoring component. The downward detection is performed in the manner of entity monitoring, the color interference of the pool bottom surface is avoided, and the detection accuracy and stability can be improved.

Description

Technical Field

[0001] This application relates to the technical field of automatic water tank cleaning equipment, and more particularly to an automatic water tank cleaning equipment. Background Technology

[0002] With the increasing popularity of swimming pools, cleaning them has become a crucial part of their daily use and maintenance. Automatic pool cleaning systems are commonly used for this purpose. For example, these systems can be used to clean the pool bottom. However, steep slopes, steps, and sunbathing platforms add to the complexity of the pool bottom environment.

[0003] Faced with the complex pool bottom environment, the automatic pool cleaning equipment may tip over (for example, the machine falls off a step or a place with a large drop), or it may even stand up or even stand upright (for example, on a downhill slope, if the machine cannot detect the change in slope and moves forward at full speed with its head suspended in the air, the machine may tip over or even stand upright).

[0004] Currently, photoelectric sensors can be used for downward-facing detection. A photoelectric sensor is a type of sensor that uses the photoelectric effect to detect objects. It identifies whether an object is suspended based on the reflection of specific or unspecific light from the pool bottom. However, using photoelectric sensors to detect whether the front of automated pool equipment is suspended in an underwater environment is not reliable. For example, dark-colored surfaces absorb light heavily and reflect poorly, which is detrimental to photoelectric sensor detection. In cases where the pool bottom has black, mosaic, or concrete surfaces, these surfaces can interfere with the photoelectric sensor's detection, leading to false detections. Utility Model Content

[0005] This application provides an automatic water tank cleaning device, including: a main body; and a suspension monitoring component disposed at the end of the main body. The suspension monitoring component includes a first monitoring component and a second monitoring component. The second monitoring component is fixedly disposed on the main body, and the first monitoring component is movable between a first position and a second position. When the first monitoring component is in the first position, the first monitoring component is in a non-suspended state; when the first monitoring component is in the second position, the first monitoring component is in a suspended state. The second monitoring component cooperates with the first monitoring component to monitor the position of the first monitoring component and thereby determine whether the automatic water tank cleaning device is suspended.

[0006] According to the automatic water tank cleaning device provided in this disclosure, the distance between the first monitoring component and the second monitoring component when the first monitoring component is located at the first position is less than the distance between the first monitoring component and the second monitoring component when the first monitoring component is located at the second position.

[0007] According to the automatic cleaning device for a water tank provided in this disclosure, the height of the first position is higher than the height of the second position.

[0008] According to the automatic water tank cleaning device provided in this disclosure, the suspended monitoring component further includes a connecting arm, on which the first monitoring component is provided, one end of the connecting arm is connected to the main body, and the other end of the connecting arm is a free end.

[0009] According to the present disclosure, an automatic water tank cleaning device further includes an elastic component supported between the main body and the connecting arm, for providing a force away from the main body to the other end of the connecting arm.

[0010] According to the automatic pool cleaning device provided in this disclosure, the first monitoring component includes a walking wheel, which is disposed at the other end of the connecting arm and can rotate around its own center. When the walking wheel is in the first position, the first monitoring component and the second monitoring component can cooperate to monitor the rotation state of the walking wheel.

[0011] According to the present disclosure, an automatic water tank cleaning device includes a first monitoring component comprising a monitoring sensor and a second monitoring component comprising a monitored element. The monitoring sensor cooperates with the monitored element to indirectly monitor whether the monitoring sensor is located at the first position or the second position. Alternatively, the first monitoring component comprises a monitored element and the second monitoring component comprises a monitoring sensor, wherein the monitoring sensor is capable of monitoring whether the monitored element is located at the first position or the second position.

[0012] According to the automatic water tank cleaning device provided in this disclosure, the monitoring sensor is a Hall sensor and the monitored component is a magnetic component.

[0013] According to the present disclosure, an automatic pool cleaning device further includes: a walking component disposed on the main body, wherein at least a portion of the suspension monitoring component is closer to the end end than the walking component.

[0014] According to the present disclosure, an automatic pool cleaning device includes a walking component comprising: a drive wheel and / or a track wheel.

[0015] According to the present disclosure, an automatic water tank cleaning device further includes: a controller, which is communicatively connected to the suspension monitoring component, for adjusting the travel direction of the automatic water tank cleaning device according to the second position.

[0016] The embodiments described in this application have the following beneficial effects:

[0017] The automatic water tank cleaning device provided in this application can monitor the position of a first monitoring component by monitoring its status. Utilizing a physical monitoring method for downward-looking detection avoids color interference from the pool bottom surface, thus improving the accuracy and stability of the detection. Attached Figure Description

[0018] To more clearly illustrate the technical solutions of the embodiments of this disclosure, the accompanying drawings used in the description of the embodiments will be briefly introduced below. The accompanying drawings in the following description are merely exemplary embodiments of this disclosure.

[0019] Figure 1 This is a schematic diagram of the structure of the first monitoring component of the automatic water tank cleaning device provided in this application in a non-suspended state;

[0020] Figure 2 This is a schematic diagram of the structure of the first monitoring component of the automatic water tank cleaning device provided in this application in a suspended state;

[0021] Figure 3 This is a schematic diagram of the structure of a connecting arm provided in this application; and

[0022] Figure 4 This is a schematic diagram of another connecting arm provided in this application.

[0023] Figure label:

[0024] 10. Robot; 100. Main body; 110. First monitoring component; 111. Walking wheel; 112. Accessory; 120. Second monitoring component; 130. Connecting arm; 200. Elastic component; 300. Walking component. Detailed Implementation

[0025] The embodiments of this disclosure will now be described with reference to the accompanying drawings. The described embodiments are merely some, not all, of the embodiments described herein. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the protection scope of this application. It should be noted that, unless otherwise specified, the embodiments and features described herein can be combined with each other.

[0026] This application provides an automatic pool cleaning device. This automatic pool cleaning device is capable of cleaning pools. 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 storage tank, a water storage trough, etc. The automatic pool cleaning device 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 device 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 device, 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.

[0027] Specifically, the pool bottom can include auxiliary structures such as steep slopes, steps, and sunbathing platforms. For example, steep slopes can serve as a transition zone between the deep and shallow water areas of the pool, preventing drowning caused by sudden changes in water depth. Steps, for instance, provide stable access to and from the water, assisting people with mobility impairments, children, or those carrying equipment (such as floats). Sunbathing platforms, on the other hand, can be flat, shallow platforms with a water depth of approximately 20-50 centimeters. While these auxiliary structures enrich the functionality of the pool, they also increase the complexity of the pool bottom environment.

[0028] The robot can clean the bottom of the swimming pool. During the cleaning process, the robot moves on the bottom of the pool and sucks up the impurities on the bottom of the pool into the robot through a water pump. The garbage basket inside the robot can filter the impurities and keep them in the garbage basket, and then drain the water, thereby achieving the purpose of cleaning the bottom of the pool.

[0029] During cleaning operations, the complex environment at the bottom of the pool can cause the robot to malfunction due to unforeseen circumstances. For example, while cleaning steps or tanning platforms, the robot might fall off the edge and tip over; or, when encountering a steep slope while cleaning the pool bottom, the robot might continue moving at full speed with its head suspended in the air, causing it to tilt its head back or even stand upright, thus preventing it from completing the cleaning task. Therefore, the robot needs a component with a downward-looking detection function to monitor whether it is suspended in the air, thereby preventing the aforementioned accidents.

[0030] The following reference Figures 1 to 4 This application provides a description of the automatic water tank cleaning equipment. Figure 1 This is a structural schematic diagram of the automatic water tank cleaning device provided in this application (the first monitoring component 110 is not suspended). Figure 2 This is a structural schematic diagram of the automatic water tank cleaning device provided in this application (the first monitoring component 110 is in a suspended state). Figure 3 This is a schematic diagram of a connecting arm provided in this application. Figure 4 This is a schematic diagram of another connecting arm provided in this application.

[0031] First refer to Figure 1 A detailed description of the automatic water tank cleaning equipment is provided. Figure 1 This is a structural schematic diagram of the automatic water tank cleaning device provided in this application (with the first monitoring component 110 in a non-suspended state). The automatic water tank cleaning device may include a main body 100 and a suspension monitoring component. The suspension monitoring component is disposed at the end of the main body 100. The suspension monitoring component includes a first monitoring component 110 and a second monitoring component 120. The second monitoring component 120 is fixedly disposed on the main body 100, and the first monitoring component 110 can move between a first position and a second position. When the first monitoring component 110 is in the first position, it is in a non-suspended state; when it is in the second position, it is in a suspended state. The second monitoring component 120 cooperates with the first monitoring component 110 to monitor the position of the first monitoring component 110 and thus determine whether the automatic water tank cleaning device is suspended.

[0032] It is understood that the main body 100 is the frame of the automatic pool cleaning equipment carrying the core module. The frame may be, for example, a combination of a chassis and a shell, and the core module may include, for example, a power module, a filtration module, a mobility module, and an intelligent control module. Based on different modules, the main body 100 can realize basic functions such as movement, filtration, and mobility, and in conjunction with the intelligent control module, it can perform pool cleaning operations.

[0033] It is understood that the end of the main body 100 can be the head and / or tail of the main body 100. The head of the main body 100 can be the end facing the direction of travel when the robot 10 moves forward, and the tail of the main body 100 can be the end facing away from the direction of travel when the robot 10 moves forward.

[0034] It is worth noting that the examples of the framework and core modules described above are merely illustrative and do not limit the scope of protection of this application.

[0035] The suspension monitoring component includes a first monitoring component 110 and a second monitoring component 120. The second monitoring component 120 is fixedly mounted on the main body 100.

[0036] It is understood that the second monitoring component 120 can be fixed to the main body 100 by a variety of connection methods, such as threaded connection, rivet connection, snap-fit ​​connection, welding, or adhesive connection.

[0037] The first monitoring component 110 can move between a first position and a second position. When the first monitoring component 110 is in the first position, it is not suspended. When the first monitoring component 110 is in the second position, it is suspended. The first monitoring component 110 cooperates with the second monitoring component 120 to monitor the position of the first monitoring component 110.

[0038] It is understood that when the first monitoring component 110 is in a non-suspended state, it may be in contact with and interacting with the bottom of the pool, thus placing the first monitoring component 110 in a first position. Correspondingly, when the first monitoring component 110 is in a suspended state, it may be that the first monitoring component 110 is not in contact with the bottom of the pool, placing the first monitoring component 110 in a second position.

[0039] It is understandable that the state of the first monitoring component 110 can reflect the pool bottom conditions corresponding to the current position of the first monitoring component 110. Figure 2 Let's take an example to illustrate. Figure 2 If the first monitoring component 110 on the right side is suspended in the air, it indicates that the bottom position A corresponding to the location of the first monitoring component 110 has a drop exceeding a preset value compared to other bottom positions (such as the position B where the track wheels or wheels of the main body 100 are located). This suggests that the robot 10 is near the edge of a step or a steep slope. Conversely, if the first monitoring component 110 is not suspended in the air, it indicates that the robot 10 is in contact with the bottom of the pool, can move normally, and has a low probability of accidents.

[0040] It is understood that the first monitoring component 110 being in a first position or a second position can reflect whether the first monitoring component 110 is in a non-suspended state or a suspended state. The non-suspended state or suspended state is determined relative to the bottom plane of the pool (e.g., the platform of a step, or the upper plane connected to a steep slope).

[0041] It is understood that the second monitoring component 120 is fixedly disposed relative to the main body 100. The relative positional change between the first monitoring component 110 and the second monitoring component 120 can reflect the relative positional change between the first monitoring component 110 and the main body 100. The first position and the second position can be the position of the first monitoring component 110 relative to the main body 100. Based on the above description, the cooperation between the first monitoring component 110 and the second monitoring component 120 can detect the positional change between the first monitoring component 110 and the second monitoring component 120, thereby detecting whether the first monitoring component 110 is in a suspended state, and thus determining whether the robot 10 will encounter a cliff, in order to avoid a sideways rollover or head-up situation.

[0042] For example, the height of the first position is higher than the height of the second position.

[0043] It is understood that the height can be the height of the first monitoring component 110 relative to any position on the plane of the pool bottom. When the first monitoring component 110 is not suspended, it is directly or indirectly supported by the pool bottom (e.g., the first monitoring component 110 is directly supported by the pool bottom or supported by a support member). When the first monitoring component 110 is suspended, it is not supported by the pool bottom and is positioned lower under gravity. For example, as... Figure 1 and Figure 2 As shown, when the first monitoring component 110 is supported by the bottom of the pool, the first monitoring component 110 is in a relatively high first position. When the first monitoring component 110 is not supported by the bottom of the pool, under the action of gravity, the first monitoring component can move downward and is in a relatively low second position.

[0044] For example, the distance between the first monitoring component 110 and the second monitoring component 120 when the first monitoring component 110 is in the first position is less than the distance between the first monitoring component 110 and the second monitoring component 120 when the first monitoring component 110 is in the second position.

[0045] It is understood that the distance between the first monitoring component 110 and the second monitoring component 120 when the first monitoring component 110 is located at the first position can be the distance between the center of the first monitoring component 110 and the center of the second monitoring component 120, the farthest distance between the first monitoring component 110 and the second monitoring component 120, or the shortest distance between the first monitoring component 110 and the second monitoring component 120.

[0046] In one example, the second monitoring component 120 is positioned higher than the first monitoring component 110. During the transition from a non-suspended state to a suspended state, the first monitoring component 110 moves downwards due to gravity, while the second monitoring component 120 does not undergo a vertical positional change. Therefore, the distance between the first monitoring component 110 and the second monitoring component 120 increases during this transition. In other words, the distance between the first monitoring component 110 and the second monitoring component 120 when the first monitoring component 110 is in the first position is less than the distance between the first monitoring component 110 and the second monitoring component 120 when the first monitoring component 110 is in the second position.

[0047] For example, the suspension monitoring component further includes a connecting arm 130, on which the first monitoring component 110 is provided. One end of the connecting arm 130 is connected to the main body 100, and the other end of the connecting arm 130 is a free end.

[0048] It is understood that the connecting arm 130 can be a straight rod or a curved rod. The connecting arm 130 is used to realize the transformation of the first monitoring component 110 between a first position and a second position. For example, the connecting arm 130 and the first monitoring component 110 can be fixedly connected (e.g., bolted connection, hinged connection, or snap-fit ​​connection); the connecting arm 130 and the first monitoring component 110 can also be movably connected, for example, the first monitoring component 110 can be rotatably connected to the connecting arm 130, that is, the first monitoring component 110 can rotate around its own position.

[0049] It should be noted that the above-mentioned connection method between the connecting arm 130 and the first monitoring component 110 is only exemplary. The specific connection method between the connecting arm 130 and the first monitoring component 110 can be set according to the usage requirements of the automatic water tank cleaning equipment, or according to the specific product structure of the automatic water tank cleaning equipment. Even if the connecting arm 130 and the first monitoring component 110 are movably connected, as long as the range of motion of the first monitoring component 110 does not interfere with the determination of the position of the first monitoring component when the first monitoring component 110 and the second monitoring component 120 cooperate, the specific connection method is not limited here.

[0050] When the first monitoring component 110 and / or the connecting arm 130 are not supported by the pool bottom, both the first monitoring component 110 and the connecting arm 130 are able to move relative to the main body 100.

[0051] For example, the first monitoring component 110 can be located at the free end of the connecting arm 130, or it can be located in the middle of the connecting arm 130. When the first monitoring component 110 is not suspended, it can be in contact with the bottom of the pool, or the free end of the connecting arm 130 can be in contact with the bottom of the pool, or both the first monitoring component 110 and the free end of the connecting arm 130 can be in contact with the bottom of the pool. The position where the first monitoring component 110 and / or the free end of the connecting arm 130 is in contact with the bottom of the pool is the monitoring position of the suspended monitoring component.

[0052] For example, one end of the connecting arm 130 can be movably connected to the main body 100.

[0053] See Figure 3 In one example, the movable connection may be, for example, a rotatable connection between one end of the connecting arm 130 and the body 100 (e.g., a hinge connection or a movable riveting). The free end of the connecting arm 130 rotates about the axis of the connection, causing the first monitoring component 110 to change between a first position and a second position.

[0054] See Figure 4 In another example, the active connection may be, for example, a sliding connection (e.g., via a retractable mechanical structure) between one end of the connecting arm 130 and the body 100. The free end of the connecting arm 130, by sliding relative to the body 100, causes the first monitoring component 110 to change between a first position and a second position.

[0055] Specifically, the automatic water tank cleaning device provided in this application further includes: an elastic component 200, supported between the main body 100 and the connecting arm 130, for providing a force away from the main body 100 to the other end of the connecting arm 130.

[0056] For example, the elastic component 200 may be a compression spring; one end of the compression spring is connected to the main body 100, and the other end is connected to the connecting arm 130. When the first monitoring component 110 is in the first position, the compression spring is in a compressed state. Once the monitoring position (the position where the free end of the first monitoring component 110 and / or the connecting arm 130 contacts the bottom of the pool) is suspended, the force generated by the compression spring returning to its original length can accelerate the movement of the connecting arm 130, thereby increasing the speed at which the first monitoring component 110 moves to the second position and improving the monitoring efficiency of the suspended monitoring component.

[0057] For example, the elastic component 200 may be a torsion spring. When the connecting arm 130 is rotatably connected to the body 100, the torsion spring can be sleeved on the pivot of the connecting arm 130 and / or the pivot of the body 100, with two torsion arms respectively connected to the body 100 and the connecting arm 130. When the first monitoring component 110 is in the first position, the torsion spring is in a deformed state. Once the monitoring position (the position where the bottom of the pool contacts the free end of the connecting arm 130) is suspended, the force generated by the recovery deformation of the compression spring causes the connecting arm 130 to rotate faster, thereby increasing the speed at which the first monitoring component 110 moves to the second position and improving the monitoring efficiency of the suspended monitoring component.

[0058] For example, the first monitoring component includes a walking wheel 111, which is located at the other end of the connecting arm 130 and can rotate around its own center. When the walking wheel 111 is in the first position, the first monitoring component 110 and the second monitoring component 120 can cooperate to monitor the rotation state of the walking wheel 111.

[0059] It is understandable that the first monitoring component 110 being in a non-suspended state can mean that the walking wheel 111 is in a non-suspended state. In this case, the walking wheel 111 is supported by the bottom of the pool. As the robot 10 moves on the bottom of the pool, the walking wheel 111 rolls on the bottom surface.

[0060] It is worth noting that whether the first monitoring component 110 is in the first position can be determined based on the position of the traveling wheel 111 (e.g., the center position of the axle of the traveling wheel 111, the uppermost position of the traveling wheel, or the lowermost position of the traveling wheel). For example, when the traveling wheel 111 is not suspended in the air, the center position of the axle of the traveling wheel 111 can be determined as the first position.

[0061] It is worth noting that, as mentioned above, the first monitoring component 110 also includes an accessory 112 (which can cooperate with the second monitoring component 120 and may be a monitoring sensor or a monitored component). When the walking wheel 111 is not suspended, during the movement of the robot 10, the accessory 112 is driven by the walking wheel 111 to rotate around the center of the walking wheel 111. The first monitoring component 110 and the second monitoring component 120, in cooperation, can determine the rotation state of the walking wheel 111 by monitoring changes in the accessory 112, thereby determining the motion state of the robot 10. Based on the movement pattern of the robot 10, the walking wheel 111 exhibits a corresponding rotation pattern (for example, during the uniform movement of the robot 10, the walking wheel 111 rotates at a uniform speed). Conversely, if the first monitoring component 110 and the second monitoring component 120 cooperate to detect that the walking wheel 111 rotates at a uniform speed (for example, the detected signal exhibits a periodic pattern of strength variation), then the robot 10 is also moving at a uniform speed.

[0062] The accessory 112 can be positioned at the hub, spokes, or rim of the wheel 111. Understandably, in this case, the height of the accessory 112 relative to the pool bottom will change as the wheel 111 rotates. However, in this example, the change in height of the accessory 112 relative to the pool bottom will not affect the determination of the position of the first monitoring component 110 when the first monitoring component 110 and the second monitoring component 120 cooperate. For example, when the wheel 111 rotates, the height difference between the different positions of the accessory 112 is less than the height difference between the first position and the second position.

[0063] In the automatic water tank cleaning device disclosed in this application, the cooperation between the first monitoring component 110 and the second monitoring component 120 does not specifically limit the first monitoring component 110 and the second monitoring component 120. For example, the first monitoring component 110 can monitor the second monitoring component 120, or the second monitoring component 120 can monitor the first monitoring component 110.

[0064] For example, the first monitoring component 110 includes a monitoring sensor, and the second monitoring component 120 includes a monitored element. The monitoring sensor cooperates with the monitored element to indirectly monitor whether the monitoring sensor is located at the first position or the second position.

[0065] It is understood that the monitoring sensor can sense specific physical quantities (such as magnetic fields) to monitor the relative position between the monitored object and the monitoring sensor.

[0066] When the monitored component is in a fixed position and the monitoring sensor is in a first position, the monitoring sensor can detect the monitored component. Conversely, if the monitored component is detected by the monitoring sensor, it indicates that the monitoring sensor is in the first position.

[0067] If the monitored component is not detected by the monitoring sensor during the movement of robot 10, it indicates that the monitoring sensor is located in a second position.

[0068] For example, the first monitoring component 110 includes a monitored component, and the second monitoring component 120 includes a monitoring sensor, which is capable of monitoring whether the monitored component is located at the first position or the second position.

[0069] It is understandable that swapping the positions of the monitoring sensor and the monitored component does not affect their coordination. For example, when the monitoring sensor is in a fixed position and the first monitoring component 110 is in a first position, the monitoring sensor can detect the monitored component. Conversely, if the monitored component is detected by the monitoring sensor, it indicates that the monitored component is in the first position.

[0070] If the monitored component is not detected by the monitoring sensor during the movement of robot 10, it indicates that the monitored component is located in the second position.

[0071] For example, the monitoring sensor is a Hall sensor, and the monitored element is a magnetic element.

[0072] It is understood that the Hall sensor is a magnetic sensor that operates based on the Hall effect, and can convert changes in magnetic field strength into electrical signal output.

[0073] When the Hall sensor is within the sensing range of the magnetic component, the Hall sensor outputs a corresponding feedback signal. Based on the feedback signal, the state of the robot 10 can be determined.

[0074] Next, based on the example above about the robot with the walking wheel 111, we will describe the state judgment of the robot 10 in detail.

[0075] In the example above with wheels 111, a magnetic component can be attached to the wheels 111 as an accessory 112, and a Hall sensor can be attached to the main body 100 as part of the second monitoring component 120. When the first monitoring component 110 is in the first position, the magnetic component can be sensed by the Hall sensor, and the Hall sensor outputs a feedback signal, indicating that the position of the pool bottom monitored by the suspension monitoring component is not suspended. When the first monitoring component 110 is in the second position, the magnetic component cannot be sensed by the Hall sensor, and the Hall sensor does not output a feedback signal, indicating that the position of the pool bottom monitored by the suspension monitoring component is suspended.

[0076] It is worth noting that multiple magnetic components (e.g., two) can be installed on the same walking wheel 111. Understandably, the magnetic fields of multiple magnetic components can influence each other. In this example, the superposition of the magnetic fields of multiple magnetic components changes the intensity and distribution of the magnetic field sensed by the Hall sensor, thus making the signal output by the Hall sensor more stable and clear. It is also worth noting that when the first monitoring component 110 is in the first position, the position of the magnetic component relative to the axis of rotation changes as the walking wheel 111 rotates, and the strength of the magnetic field sensed by the Hall sensor also changes accordingly. The feedback signal output by the Hall sensor also changes accordingly. For example, if the feedback signal output by the Hall sensor shows a periodic change, it indicates that the walking wheel 111 is rotating, and thus that the robot 10 is moving. Conversely, if the feedback signal output by the Hall sensor remains unchanged, it indicates that the walking wheel 111 is not rotating, and thus that the position of the robot 10 has not moved.

[0077] It is worth noting that the above description of the suspension monitoring component is merely exemplary, and the scope of protection of this application is not limited to the contents listed above. Those skilled in the art can configure the suspension monitoring component according to the actual situation, as long as it can achieve the technical principles of this application.

[0078] For example, the automatic pool cleaning device further includes: a walking component 300 disposed on the main body 100, and at least a portion of the suspension monitoring component is closer to the end end than the walking component 300.

[0079] It is understood that the walking component 300 can be driven by a drive mechanism to move the robot 10 on the bottom of the pool. During its operation on the bottom of the pool, the robot 10 relies on the walking component 300 for movement and support. In other words, the walking component 300 being in a state of not being suspended in the air indicates that the robot 10 is safe in terms of movement and support. When the robot 10 moves forward, it moves towards its head; when it moves backward, it moves towards its tail. For example, if the suspension monitoring component is closer to the head end than the walking component 300, it can monitor whether there is a pool bottom in the forward direction as the robot 10 moves towards its head, thus preventing the walking component 300 from being suspended in the air during forward movement. Similarly, if the suspension monitoring component is closer to the tail end than the walking component 300, it can monitor whether there is a pool bottom in the backward direction as the robot 10 moves towards its tail, thus preventing the walking component 300 from being suspended in the air during backward movement.

[0080] Specifically, the walking component 300 includes: drive wheels and / or track wheels.

[0081] It is understood that there may be multiple sets of drive wheels and / or track wheels. For example, the suspension monitoring component may be located between the front end of the drive wheels and / or track wheels and the head position of the main body. Alternatively, the suspension monitoring component may be located between the rear end of the drive wheels and / or track wheels and the tail position of the main body.

[0082] It is worth noting that the above description of the walking component 300 is merely exemplary, and the protection of this application is not limited to the contents listed above. Those skilled in the art can configure the walking component 300 according to the actual situation, as long as it can realize the technical principles of this application.

[0083] For example, the automatic pool cleaning device further includes: a controller, which is communicatively connected to the suspension monitoring component, for adjusting the travel direction of the automatic pool cleaning device according to the second position.

[0084] It is understood that the controller may be a microcontroller or a basic single-board computer (such as Arduino, Raspberry Pi).

[0085] For example, adjusting the travel direction of the automatic pool cleaning device according to the second position includes: when the first monitoring component 110 is in the second position, the controller adjusts the automatic pool cleaning device to move in the opposite direction to the current travel direction. For example, when the suspended monitoring component is located at the front end of the main body and the robot is moving forward, the controller can control the robot to move backward; when the suspended component is located at the rear end of the main body and the robot is moving backward, the controller can control the robot to move forward. Alternatively, when the first monitoring component 110 is in the second position, the controller can adjust the heading angle of the automatic pool cleaning device to make the automatic pool cleaning device turn.

[0086] It is worth noting that the above description of the controller and the adjustment of the automatic water tank cleaning device is merely exemplary. This application does not limit its scope to the contents listed above. Those skilled in the art can configure the controller according to actual conditions, as long as it achieves the technical principles of this application. The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0087] In the description of this specification, 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.

[0088] 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.

[0089] 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.

[0090] The above description is merely an exemplary embodiment of this application, but the scope of protection of this application is not limited thereto. Any person skilled in the art can easily conceive of various variations or substitutions within the technical scope described in this application, and these should all be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. An automatic water tank cleaning device, comprising: Main body (100); as well as A suspension monitoring component is disposed at the end of the main body (100), the suspension monitoring component includes a first monitoring component (110) and a second monitoring component (120); The second monitoring component (120) is fixedly mounted on the main body (100), and the first monitoring component (110) can move between a first position and a second position. When the first monitoring component (110) is in the first position, it is not suspended. When the first monitoring component (110) is in the second position, it is suspended. The second monitoring component (120) cooperates with the first monitoring component (110) to monitor the position of the first monitoring component (110) and thus determine whether the automatic cleaning device for the water tank is suspended.

2. The automatic water tank cleaning device according to claim 1, wherein, The distance between the first monitoring component (110) and the second monitoring component (120) when the first monitoring component (110) is in the first position is less than the distance between the first monitoring component (110) and the second monitoring component (120) when the first monitoring component (110) is in the second position.

3. The automatic water tank cleaning device according to claim 1, wherein, The height of the first position is higher than the height of the second position.

4. The automatic water tank cleaning device according to claim 2, wherein, The suspended monitoring component also includes a connecting arm (130), on which the first monitoring component (110) is provided. One end of the connecting arm (130) is connected to the main body (100), and the other end of the connecting arm (130) is a free end.

5. The automatic water tank cleaning device according to claim 4 further includes: An elastic component (200), supported between the body (100) and the connecting arm (130), is used to provide a force away from the body (100) to the other end of the connecting arm (130).

6. The automatic water tank cleaning device according to claim 4, wherein, The first monitoring component (110) includes a walking wheel (111), which is located at the other end of the connecting arm (130) and can rotate around its own center. When the walking wheel (111) is in the first position, the first monitoring component (110) and the second monitoring component (120) can cooperate to monitor the rotation state of the walking wheel.

7. The automatic water tank cleaning device according to any one of claims 1 to 6, wherein, The first monitoring component (110) includes a monitoring sensor, and the second monitoring component (120) includes a monitored element. The monitoring sensor cooperates with the monitored element to indirectly monitor whether the monitoring sensor is located at the first position or the second position; or, The first monitoring component (110) includes a monitored component, and the second monitoring component (120) includes a monitoring sensor, which is capable of monitoring whether the monitored component is located at the first position or the second position.

8. The automatic water tank cleaning device according to claim 7, wherein, The monitoring sensor is a Hall sensor, and the monitored component is a magnetic component.

9. The automatic water tank cleaning device according to any one of claims 1-6 further includes: A walking component (300) is disposed on the main body (100), and at least a portion of the suspension monitoring component is closer to the end end than the walking component (300).

10. The automatic water tank cleaning device according to claim 9, wherein, The walking component (300) includes: drive wheels and / or track wheels.

11. The automatic water tank cleaning device according to any one of claims 1-6, further comprising: The controller is communicatively connected to the suspension monitoring component and is used to adjust the travel direction of the automatic water tank cleaning device according to the second position.

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