A pool robot

Abstract

The application provides a pool robot, and relates to the technical field of robots. The pool robot comprises a body assembly and at least two pumping assemblies. The body assembly comprises a casing, and the casing is formed with at least two driving flow channels. Each driving flow channel comprises a pumping section and a connecting section, and the two sections are connected in communication at one end close to each other. The other end of the pumping section is formed with at least one first flow channel opening at the tail of the casing. The other end of the connecting section is formed with at least one second flow channel opening at the top of the casing and / or at least one third flow channel opening at the bottom of the casing. Each first flow channel opening is arranged in the width direction of the casing in an interval manner. Each pumping section is correspondingly provided with at least one pumping assembly. Each pumping assembly comprises an impeller and a driving motor in transmission connection with the impeller. Each driving motor has at least two different rotating speeds or different rotating directions. The application can realize efficient and reliable differential drainage effect in a compact space.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, and in particular to a swimming pool robot. Background Technology

[0002] Most low-cost robots use only a single main water pump for propulsion, and may have one or more flow channels at the bottom. Steering is achieved by a simple servo motor controlling a deflector. When steering is needed, the servo motor rotates the deflector, changing the direction of the water jet and generating a small steering torque. However, steering using a deflector results in a very small torque, allowing for slow changes in direction only at low speeds or when stationary. During strong forward movement, frequent switching can cause water flow fluctuations, leading to poor steering performance and affecting the robot's smooth movement. Utility Model Content

[0003] In view of this, the purpose of this utility model is to overcome the shortcomings of the prior art and provide a pool robot that can achieve efficient and reliable differential drainage in a compact space, thereby improving the robot's turning flexibility and overall cleaning efficiency.

[0004] This utility model provides the following technical solution: This application provides a swimming pool robot, the swimming pool robot comprising: A fuselage assembly, the fuselage assembly including a housing, the housing forming at least two drive flow channels, each drive flow channel including a draw-out section and a connecting section, the draw-out section and the connecting section being connected at one end close to each other, the other end of the draw-out section forming at least one first flow channel opening at the tail of the housing, the other end of the connecting section forming at least one second flow channel opening at the top of the housing and / or at least one third flow channel opening at the bottom, and each of the first flow channel openings being spaced apart along the width direction of the housing; At least two extraction and discharge assemblies are provided, each of which is disposed on the housing. Each extraction and discharge section corresponds to at least one extraction and discharge assembly. Each extraction and discharge assembly includes an impeller and a drive motor that is drivenly connected to the impeller. Each impeller is located in the corresponding extraction and discharge section. Each drive motor has at least two different rotation speeds or different rotation directions.

[0005] In some embodiments, if the drive channel has the third channel opening and the second channel opening, the pool robot further includes a filter assembly disposed in the third channel opening to filter the flowing liquid; The housing assembly also includes a first switch, which is disposed on the housing in an openable manner to selectively open or close the third flow channel opening.

[0006] In some embodiments, the housing assembly further includes a second switch element disposed in the housing in an openable manner to selectively open or close the second flow channel opening.

[0007] In some embodiments, the first switching element is a first check valve configured to allow liquid to flow into the third flow channel only; And / or, the second switching element is a second check valve, which is configured to allow liquid to flow out of the second flow channel only.

[0008] In some embodiments, the second flow channel is oriented away from the bottom of the housing.

[0009] In some embodiments, the second flow channels are distributed on both sides of the housing, and the orientation of each flow channel is obliquely set towards the outside of the housing.

[0010] In some embodiments, the connecting sections of the respective drive channels are interconnected.

[0011] In some embodiments, the fuselage assembly further includes at least two wheel sets, which are disposed at the bottom of the housing and spaced apart along the length of the housing; Each wheel assembly includes at least two wheels that are spaced apart along the width of the housing and can rotate independently.

[0012] In some embodiments, in each of the wheel sets, at least the wheels of the wheel sets located at the head and / or tail of the housing are omnidirectional wheels.

[0013] In some embodiments, the pool robot further includes a mileage calculation component, which includes a position sensor and a mileage calculation processor. The position sensor is disposed on the housing and is positioned corresponding to the rotation part of the wheel. The position sensor is used to detect the number of rotations of the wheel. The signal input terminal of the mileage calculation processor is electrically connected to the position sensor to receive the number of rotations signal. The signal output terminal of the mileage calculation processor is used to output a mileage signal corresponding to the mileage traveled by the pool robot.

[0014] The embodiments of this utility model have the following advantages: The swimming pool robot provided by this invention achieves differential drainage and steering through the cooperation of two or more independently controllable pumping components on the body assembly and drive channels. The first flow inlets of each drive channel are distributed on both sides of the rear of the casing. When steering is required, the suction force or pumping direction of the corresponding drive channel is changed by independently adjusting the drive motor of the corresponding pumping component. This generates asymmetrical water flow reaction forces on both sides of the flow channel, thus forming a clear deflection torque on the body. This differential drainage method directly utilizes the main propulsion water flow to achieve steering, eliminating the need for guide vanes and avoiding water flow interference and momentum loss during steering.

[0015] Clearly, this application significantly enhances the steering torque and provides a rapid response, improving the robot's steering flexibility and stability during high-speed movement and allowing for flexible path changes. Furthermore, its compact structure achieves efficient and reliable differential propulsion within a limited space, contributing to improved overall cleaning efficiency without the need for additional drive motors, steering motors, etc.

[0016] To make the above-mentioned objectives, features and advantages of this utility model more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0017] To more clearly illustrate the technical solutions of the embodiments of this utility model, the drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this utility model and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 A schematic diagram of the structure of a pool robot provided by an embodiment of the present invention is shown from one perspective; Figure 2 This diagram illustrates a structural schematic of a pool robot provided by an embodiment of the present invention from another perspective. Figure 3 This diagram shows a structural schematic of a pool robot provided by an embodiment of the present invention from another perspective; Figure 4 This diagram illustrates a structural schematic of a pool robot provided by an embodiment of the present invention from another perspective.

[0019] Explanation of key component symbols: 100-Body assembly; 110-Casing; 111-Third flow channel inlet; 112-Second flow channel inlet; 113-First flow channel inlet; 114-Drive flow channel; 115-Extraction / discharge section; 116-Connecting section; 120-Second switching element; 130-Wheel; 140-First switching element; 200 - Exhaust assembly; 210 - Drive motor; 220 - Impeller; 300 - Filter assembly. Detailed Implementation

[0020] The embodiments of this utility model are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this utility model, and should not be construed as limiting this utility model.

[0021] It should be noted that when an element is said to be "fixed" to another element, it can be directly on the other element or there may be an intervening element. When an element is said to be "connected" to another element, it can be directly connected to the other element or there may be an intervening element. Conversely, when an element is said to be "directly" on another element, there is no intervening element. The terms "vertical," "horizontal," "left," "right," and similar expressions used in this document are for illustrative purposes only.

[0022] In this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0023] 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 one or more of that feature. In the description of this utility model, "a plurality of" means two or more, unless otherwise explicitly specified.

[0024] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein in the template description is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0025] In related technologies, most low-cost robots use only a single main water pump for forward propulsion, and may have one or more flow channels at the bottom. Steering is achieved by a simple servo motor controlling a deflector. When steering is needed, the servo motor rotates the deflector, changing the direction of the water jet, thus generating a weak steering torque. However, steering relying on the deflector produces a very small torque, allowing for slow changes in direction only at low speeds or when stationary. During strong forward movement, frequent switching can easily cause water flow fluctuations, resulting in poor steering performance and affecting the robot's smooth movement.

[0026] like Figure 1 , Figure 2 , Figure 3 and Figure 4 As shown, in order to solve the above-mentioned technical problems, this application provides a swimming pool robot. The swimming pool robot includes a body assembly 100 and at least two exhaust assemblies 200. The body assembly 100 includes a housing 110, and the housing 110 forms at least two drive flow channels 114. Each drive flow channel 114 includes an exhaust section 115 and a connecting section 116. The exhaust section 115 and the connecting section 116 are connected at their adjacent ends. The other end of the exhaust section 115 forms at least one first flow channel opening 113 at the tail of the housing 110. The other end of the connecting section 116 forms at least one second flow channel opening 112 at the top of the housing 110 and / or at least one third flow channel opening 111 at the bottom. The first flow channel openings 113 are spaced apart along the width direction of the housing 110. Each extraction assembly 200 is mounted on the housing 110. Each extraction section 115 has at least one extraction assembly 200. Each extraction assembly 200 includes an impeller 220 and a drive motor 210 that is connected to the impeller 220. Each impeller 220 is located in the corresponding extraction section 115. Each drive motor 210 has at least two different rotation speeds or different rotation directions.

[0027] In these embodiments, the robot's body assembly 100 is provided with at least two independent drive channels 114. Each drive channel 114 includes a pumping section 115 for generating water flow and a connecting section 116 for changing the flow direction.

[0028] Each extraction section 115 is equipped with at least one independently operable extraction component 200, that is, the rotation speed and rotation direction of the drive motor 210 of each extraction component 200 can be adjusted independently, and they are spaced apart along the width direction of the housing 110.

[0029] When moving forward, the drive motors of each pumping component are controlled to rotate forward, which is responsible for sucking water from the second flow channel 112 and / or the third flow channel 111 at the head of the robot, and discharging the water through the connecting section 116 and finally from the first flow channel 113. At the same time, each pumping component 200 is controlled to output the same or matched suction force and drainage direction, thereby generating a balanced forward thrust to propel the robot to move steadily in a straight line.

[0030] When moving backward, the drive motors of each pumping component are reversed to draw water from the first flow channel 113 at the tail of the robot and discharge it from the second flow channel 112 and / or the third flow channel 111. At the same time, each pumping component 200 is controlled to output the same or matched suction force and drainage direction, thereby generating a balanced backward thrust to propel the robot to move steadily in a straight line.

[0031] Of course, in other embodiments, the number of extraction components 200 and driving channels 114 may also be other numbers, etc. The specific number is not specifically limited here, but is set according to the specific application scenario.

[0032] When steering is required, the operating states of the extraction and decommissioning components 200 located on the steering side and the non-steering side are adjusted differently. For example: In one embodiment, the rotational speed of the drive motor 210 of one side of the extraction assembly 200 is reduced, while the rotational speed of the drive motor 210 of the other side of the extraction assembly 200 is maintained or increased, resulting in a speed difference between the impellers 220 of the two extraction assemblies 200. This creates an instantaneous imbalance in the thrust on both sides of the housing 110, causing the robot body to generate a yaw torque around its center of gravity, thereby achieving steering.

[0033] In one embodiment, the rotation of the drive motor 210 of one side of the extraction assembly 200 is stopped, while the rotation of the drive motor 210 of the other side of the extraction assembly 200 is maintained, creating a speed difference between the impellers 220 of the two extraction assemblies 200. This results in an instantaneous imbalance of thrust on both sides of the housing 110, causing the robot body to generate a yaw torque around its center of gravity, thereby achieving steering.

[0034] In one embodiment, the drive motor 210 of one of the extraction components 200 is controlled to rotate in the forward direction, while the other extraction component 200 extracts in the reverse direction, thus achieving rotation. At this time, the rotational speeds of each extraction component 200 can be the same or different.

[0035] Clearly, the pool robot provided in this application has the following significant advantages: By directly adjusting the individual drive motors to achieve differential thrust, the resulting steering torque is far greater than the weak torque of the traditional "single pump + deflector" method, which only deflects a portion of the water flow. This allows the robot to achieve rapid and sensitive steering even at high speeds, completely overcoming the problem of weak or failed steering when using traditional methods for powerful forward movement.

[0036] Differential steering does not rely on the frequent oscillation of mechanical guide vanes, avoiding the resulting violent fluctuations in water flow and body vibration. The robot's posture changes are smoother, and its movement trajectory is more stable and controllable, which is conducive to achieving planned cleaning paths (such as a bow shape), reducing missed areas or repeated cleaning, thereby improving overall cleaning coverage and efficiency.

[0037] By integrating drive and steering functions into the parallel flow channels and exhaust assembly 200, the need for external, space-consuming mechanical servos and large deflector mechanisms is eliminated. All drive components can be built into the flow channels of the housing 110, making the robot structure more compact and highly integrated, making it particularly suitable for maintaining a small and flexible body in space-constrained pool environments.

[0038] The robot's agile turning capabilities allow it to easily navigate complex terrain such as pool corners and steps. Smooth movement ensures optimal contact and force between cleaning components like brushes and suction nozzles and the pool walls / bottom. Combined with efficient path planning, this ultimately achieves a simultaneous improvement in cleaning effectiveness and operational efficiency.

[0039] like Figure 1 As shown, in some embodiments, if the drive channel 114 has a third channel opening 111 and a second channel opening 112, the pool robot also includes a filter assembly 300 disposed within the third channel opening 111 to filter the flowing liquid. The body assembly 100 also includes a first switch 140 disposed in the housing 110 in an openable manner to selectively open or close the third channel opening 111.

[0040] Based on the aforementioned embodiments, this embodiment further optimizes the combination of fluid handling and drive channel 114 of the pool robot.

[0041] When a drive channel 114 is simultaneously provided with a second channel opening 112 at the top and a third channel opening 111 at the bottom, the pool robot also includes a filter assembly 300. This filter assembly 300 is integrated and installed inside the inlet of the third channel opening 111 or inside the channel near the inlet. Its structure can be a detachable trash can assembly or multi-layer non-woven filter media, effectively intercepting solid particles deposited at the bottom of the pool without causing excessive water flow resistance. Of course, the filter assembly 300 can also be configured similarly to the filter assemblies 300 in existing pool cleaning robots.

[0042] In actual operation, pool water is drawn into connecting section 116 through third flow channel 111. It first undergoes preliminary solid-liquid separation through filter assembly 300. The clean water then enters pumping section 115 and is discharged by pumping assembly 200 to the tail first flow channel 113, generating forward or turning power. Trapped contaminants are temporarily stored in the filter chamber, which users can clean periodically by opening the maintenance cover at the bottom of the casing 110, or by triggering an automatic flushing program when the robot returns to the charging dock.

[0043] To further enhance the adaptability of cleaning modes, the housing assembly 100 is further provided with a first switch 140. This first switch 140 is disposed in an openable manner at the position of the housing 110 corresponding to the third flow channel opening 111, for example, by means of a sliding baffle, a rotary valve, or an electromagnetically driven flip-top structure. For example, the first switch 140 is controlled by a control module and can selectively open or close the third flow channel opening 111 according to the current task requirements.

[0044] It is worth noting that even when the third flow channel 111 is closed, the corresponding extraction section 115 can still be connected to the second flow channel 112 via the connecting section 116, maintaining the propulsion function. Therefore, the differential drainage mechanism is not affected by the opening or closing state of the flow channels, and its steering performance remains stable at all times.

[0045] In addition, during differential steering, the control module can also dynamically adjust the opening of the first switching elements 140 on both sides. For example, if a proportional control type switching element is used, in conjunction with the speed adjustment of the pumping assembly 200, more precise flow distribution and torque control can be achieved.

[0046] like Figure 2 As shown, in some embodiments, the housing assembly 100 further includes a second switch 120, which is disposed on the housing 110 in an openable manner to selectively open or close the second flow channel 112.

[0047] Based on the aforementioned embodiments, this embodiment further introduces active control capability over the top second flow channel 112 to achieve more refined fluid path management and multi-scenario adaptation.

[0048] The second switch 120 is disposed on the housing 110 at a position corresponding to the second flow channel opening 112 in an openable and closable manner, and its structural form can be any of the following: A sliding baffle is driven by a miniature linear motor. Alternatively, a rotary valve plate is used, with its opening and closing angle controlled by a miniature servo motor. Another option is a flexible diaphragm combined with an electromagnetic actuator to achieve rapid opening and closing.

[0049] The second switch 120 is independent of the aforementioned first switch 140 and is uniformly scheduled by the control module. It can control the opening / closing state of the second flow channel 112 and the third flow channel 111 respectively according to the cleaning task, water quality status or user instructions, thereby flexibly configuring the suction path.

[0050] For example, in the deep cleaning mode of the pool bottom, the second switch 120 is closed (closing the second flow channel 112), and the first switch 140 is opened (opening the third flow channel 111). The water flow is concentrated and drawn in from the bottom of the pool, which, together with the filter component 300, achieves powerful suction of dirt. This mode is suitable for scenarios after the pool water is changed or after a long period of uncleaning.

[0051] When it is necessary to turn or reverse, the third flow channel 111 must be closed to prevent garbage from flowing back out.

[0052] In some embodiments, the first switching element 140 is a first check valve configured to allow liquid to flow into the third flow port 111 only.

[0053] Based on the aforementioned embodiments, this embodiment provides a simplified and reliable flow channel control method. The first switching element 140 and / or the second switching element 120 are designed as one-way valve structures, which do not require additional drive mechanisms and automatically achieve opening and closing by relying on fluid pressure difference, thereby reducing system complexity and power consumption.

[0054] In this embodiment, the first switching element 140 is configured as a first check valve and installed inside the inlet of the third flow channel 111 or in the flow channel. The structure of this first check valve can take any of the following forms: Reed-type check valve: It consists of a flexible silicone or rubber valve and a metal support ring. Under normal conditions, the valve fits against the valve seat and closes the flow channel. Ball-type check valve: It has a built-in small-diameter stainless steel ball that seals the inlet by its own weight or spring force when there is no pressure difference; Duckbill valve (check valve): A one-piece molded elastic polymer structure that opens only when there is internal negative pressure (suction).

[0055] The first one-way valve is configured to allow liquid to flow only from the pool environment into the third flow channel inlet 111, i.e., from the outside to the inside of the flow channel. When the pumping assembly 200 is activated and generates negative pressure, the valve opens, allowing pool water carrying contaminants into the flow channel and through the filter assembly 300. When the pumping assembly 200 stops or the pressure inside the flow channel is higher than outside (e.g., when the robot is lifted out of the water), the valve automatically closes to prevent sewage backflow, impurity leakage, or air backflow.

[0056] This design is particularly suitable for bottom suction scenarios, ensuring effective water intake while preventing sediment from leaking out from the third flow channel 111 after shutdown, thus improving user experience and hygiene.

[0057] like Figure 2 As shown, in some embodiments, the second switching element 120 is a second check valve, which is configured to allow liquid to flow out of the second flow port 112 only.

[0058] Similarly, the second switch 120 can be configured as a second check valve, located at the second flow port 112. However, its flow direction is set opposite to that of the first check valve, that is, the second check valve only allows liquid to flow from the inside of the flow channel to the pool environment, that is, the flow direction is from the inside of the flow channel to the outside, so as to cooperate with the suction assembly to reverse the pumping and discharge, thereby discharging the pumped fluid without passing through the third flow port 111.

[0059] In some embodiments, the second flow channel openings 112 are distributed on both sides of the housing 110, and the orientation of each flow channel opening is obliquely set towards the outside of the housing.

[0060] Based on the aforementioned embodiments, this embodiment optimizes the arrangement of the second flow channel 112 to improve the robot's operational stability and steering accuracy during the turning process.

[0061] Second flow channels 112 are distributed on both the left and right sides of the housing 110, that is, one or more second flow channels 112 are opened on the top of the housing 110 near the left and right edges, respectively. These second flow channels 112 are not opened vertically upward, but their openings are oriented at an angle towards the outside of the housing. That is, the axis of the left second flow channel 112 is inclined to the left front or left rear, and the axis of the right second flow channel 112 is inclined to the right front or right rear, forming a symmetrical or asymmetrical outward expansion layout.

[0062] For example, the skewed structure can be formed directly by creating an skewed channel during the injection molding of the housing 110.

[0063] In this embodiment, the outwardly deflected second flow channels 112 on both sides form a funnel-shaped discharge area, which can react against the downward pressure on the housing 110, improving the stability of the housing 110 during the turning process. During differential drainage turning, if the thrust on the right side increases, the housing 110 may experience slight sideslip. At this time, the reaction force of the liquid discharged from the second flow channels 112 helps to counteract the sideslip tendency and improve trajectory tracking accuracy.

[0064] When the robot moves forward, if the flow channel opening faces directly forward or upward, it is easy to draw in air and form bubbles, which will reduce the efficiency of the suction and exhaust component 200. The outward deflection design allows the second flow channel opening 112 to avoid the main navigation turbulence area, and mainly draws water from the relatively calm side and rear, reducing gas-liquid mixing and improving suction stability.

[0065] If the second flow channel 112 is equipped with a second check valve, its deflection direction guides the water flow out along the valve disc opening direction, reducing opening resistance and improving response sensitivity.

[0066] In some embodiments, the drive motor 210 may be any of the following: a brushless DC motor, a servo motor, or a stepper motor.

[0067] For example, the drive motor 210 is coaxially connected to the impeller 220 via a bushing or coupling to ensure smooth and reliable power transmission.

[0068] The control module of the pool robot dynamically adjusts the operating parameters (voltage, current, pulse width modulation (PWM) duty cycle, etc.) of the drive motor 210 based on a preset program or sensor feedback, thereby changing the rotational speed of the impeller 220. For example: In standard cleaning mode, a medium speed is maintained to ensure stable suction power.

[0069] Alternatively, when encountering areas with severe local pollution, the rotation speed can be instantly increased to its maximum value to generate stronger suction. When the robot performs low-power cruise or turning operations, the rotation speed should be appropriately reduced to decrease energy consumption and extend the battery life.

[0070] Of course, the drive motor 210 can also be a motor that supports bidirectional rotation, such as a bipolar BLDC motor. In this case, the phase sequence of the drive signal can be switched through the control module to reverse the impeller 220. When the robot is entangled in an obstacle, the impeller 220 rotates in reverse briefly to break free from the restraint using reverse thrust. Combined with the differential drainage mechanism, during high-speed turns, one side of the impeller 220 rotates forward to provide the main propulsion force, while the other side of the impeller 220 briefly reverses to generate lateral thrust, helping the robot to quickly complete the turning action.

[0071] like Figure 4 As shown, in some embodiments, the connecting segments 116 of the various drive channels 114 are interconnected.

[0072] Based on the aforementioned embodiments, this embodiment optimizes the internal topology of the drive channel 114 by designing the connecting sections 116 of each drive channel 114 to be interconnected, forming a locally shared fluid chamber, thereby improving the fluid scheduling flexibility while maintaining differential drainage capacity.

[0073] Each of the two (or more) drive channels 114 in the fuselage assembly 100 includes an extraction section 115 and a connecting section 116. Unlike the previous independent channel design, in this embodiment, the connecting sections 116 are connected to each other inside the housing 110 through a communication channel to form a cavity.

[0074] This connection structure can be achieved by integrally forming the connecting cavity during injection molding of the housing 110. Alternatively, inter-segment connection can be achieved through openings or guide tubes in the internal partition.

[0075] It is worth noting that the extraction and discharge sections 115 remain independent of each other and are respectively connected to their respective impellers 220 and drive motors 210, ensuring that the drainage thrust of the tail first flow channel 113 can be independently adjusted and maintaining the differential steering function.

[0076] When the robot operates in an uneven area at the bottom of the pool, the third flow channel opening 111 on one side may be partially blocked (e.g., it may be stuck in a pit or close to the pool wall), causing water intake on that side to be obstructed. Since the connecting section 116 is connected, the unobstructed flow channel on the other side can supply water to the obstructed side through the connecting channel, avoiding overheating or a sudden drop in efficiency of the single-sided drive motor 210 due to idling, and improving the system's fault tolerance.

[0077] In energy-saving mode, one side of the pumping component 200 can be shut off, and water can be driven into both sides of the flow channel by a single pumping component 200 through the connecting section 116, achieving low-power operation of dual suction, which is suitable for lightly polluted scenarios.

[0078] like Figure 1 As shown, in some embodiments, the fuselage assembly 100 further includes at least two sets of wheels 130, which are disposed at the bottom of the housing 110 and spaced apart along the length of the housing 110. Each set of wheels 130 includes at least two wheels 130 that are spaced apart along the width of the housing 110 and can rotate independently.

[0079] Based on the aforementioned embodiments, this embodiment introduces a mechanical walking mechanism to form a water-driven wheel 130 rotation movement mode with the fluid propulsion system.

[0080] The fuselage assembly 100 also includes at least two sets of wheels 130 mounted on the outer bottom of the housing 110. These sets of wheels 130 are spaced apart along the length (i.e., the front-to-back direction) of the housing 110, for example, one is located at the front of the housing 110 (near the head) and the other is located at the rear of the housing 110 (near the tail).

[0081] For example, in other embodiments, the number of wheel sets 130 may also be three, four, five, six, seven, or eight, etc.

[0082] Each set of wheels 130 further includes at least two wheels 130, spaced apart along the width direction (i.e., left-right direction) of the fuselage 110. A typical configuration is two wheels 130 per set, such as a left wheel and a right wheel, symmetrically distributed on both sides of the longitudinal centerline of the fuselage. Of course, a three- or four-wheel arrangement can also be used to enhance traction.

[0083] The key point is that each wheel 130 in the same wheel group 130 can rotate independently, that is, the rotation speed or direction of the left wheel and the right wheel are not constrained by each other.

[0084] In this embodiment, in a low-cost solution, the wheel 130 can be designed as a freely rotating driven wheel, providing only support and guidance, while the driving force is provided by the drive channel 114, and steering is achieved by using the differential speed of the wheel 130.

[0085] like Figure 1 As shown, in some embodiments, in each set of wheels 130, at least the wheels 130 in the set of wheels 130 located at the head and / or tail of the housing 110 are omnidirectional wheels.

[0086] Based on the aforementioned embodiments, this embodiment further optimizes the wheel configuration of the wheel 130 group by setting the wheels 130 in the wheel 130 group located at the head and / or tail of the housing 110 as omnidirectional wheels to enhance the robot's omnidirectional mobility and terrain adaptability.

[0087] Taking two wheels and 130 sets as an example: The front wheels 130 are located at the bottom of the front end of the housing 110; The rear wheel set 130 is located at the bottom of the rear end of the housing 110.

[0088] In this embodiment, the wheels 130 of the front wheel group 130 are swivel wheels. Alternatively, the wheels 130 of the rear wheel group 130 are swivel wheels. Alternatively, both the front wheel group 130 and the rear wheel group 130 are swivel wheels.

[0089] Casters can be made using any of the following common configurations: dual-axle casters with ball bearing supports, Mecanum casters, or eccentric casters.

[0090] As a passive driven wheel, the omnidirectional wheel is driven to roll freely by the movement of the machine body or the thrust of water flow.

[0091] When the robot performs in-situ turns or small-radius turns, the omnidirectional wheels can freely adjust their rolling direction, avoiding the dragging resistance or slippage caused by lateral friction of traditional fixed wheels. Especially on the wet and slippery tile surface at the bottom of the pool, the omnidirectional wheels significantly reduce the steering torque requirement, making the differential drainage drive more efficient.

[0092] In some embodiments, the pool robot also includes a mileage calculation component, which includes a position sensor and a mileage calculation processor. The position sensor is disposed on the housing 110 and is positioned corresponding to the rotating part of the wheel 130. The position sensor is used to detect the number of rotations of the wheel 130. The signal input terminal of the mileage calculation processor is electrically connected to the position sensor to receive the number of rotations signal. The signal output terminal of the mileage calculation processor is used to output a mileage signal corresponding to the mileage traveled by the pool robot.

[0093] Based on the aforementioned embodiments, this embodiment introduces a mileage calculation component to monitor the travel distance of the pool robot in real time, providing key data support for path planning, area coverage judgment, and task completion assessment.

[0094] The position sensor is installed inside the housing 110, corresponding to the rotating part of at least one rotatable wheel 130. Typical installation locations include: the end of the axle, the inside of the wheel hub, or near the output shaft of the drive motor.

[0095] The position sensor can be a Hall sensor, in conjunction with a magnetic encoder disk on the wheel axle, such as a magnet, which outputs a fixed number of pulses per revolution.

[0096] The mileage calculation and processing can be handled by a standalone microcontroller, such as the ARM Cortex-M series, or integrated into the main control module. Its signal input is electrically connected to the position sensor to receive pulse signals representing the number of wheel rotations (130 degrees). The signal output outputs a mileage signal corresponding to the actual distance traveled by the pool robot, for use by the upper-level system.

[0097] In all examples shown and described herein, any specific values ​​should be interpreted as merely exemplary and not as limitations; therefore, other examples of exemplary embodiments may have different values.

[0098] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0099] The embodiments described above are merely examples of several implementations of this utility model, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of this utility model. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this utility model, and these modifications and improvements all fall within the protection scope of this utility model.

Claims

1. A swimming pool robot, characterized in that, The pool robot includes: A fuselage assembly, the fuselage assembly including a housing, the housing forming at least two drive flow channels, each drive flow channel including a draw-out section and a connecting section, the draw-out section and the connecting section being connected at one end close to each other, the other end of the draw-out section forming at least one first flow channel opening at the tail of the housing, the other end of the connecting section forming at least one second flow channel opening at the top of the housing and / or at least one third flow channel opening at the bottom, and each of the first flow channel openings being spaced apart along the width direction of the housing; At least two extraction and discharge assemblies are provided, each of which is disposed on the housing. Each extraction and discharge section corresponds to at least one extraction and discharge assembly. Each extraction and discharge assembly includes an impeller and a drive motor that is drivenly connected to the impeller. Each impeller is located in the corresponding extraction and discharge section. Each drive motor has at least two different rotation speeds or different rotation directions.

2. The pool robot according to claim 1, characterized in that, If the drive channel has the third channel opening and the second channel opening, the pool robot further includes a filter assembly disposed in the third channel opening to filter the flowing liquid; The housing assembly also includes a first switch, which is disposed on the housing in an openable manner to selectively open or close the third flow channel opening.

3. The pool robot according to claim 2, characterized in that, The housing assembly also includes a second switch, which is disposed on the housing in an openable manner to selectively open or close the second flow channel opening.

4. The pool robot according to claim 3, characterized in that, The first switching element is a first check valve, which is configured to allow liquid to flow into the third flow channel only; And / or, the second switching element is a second check valve, which is configured to allow liquid to flow out of the second flow channel only.

5. The pool robot according to claim 1 or 2, characterized in that, The second flow channel opening is oriented away from the bottom of the housing.

6. The pool robot according to claim 5, characterized in that, The second flow channel openings are distributed on both sides of the housing, and the orientation of each flow channel opening is obliquely set towards the outside of the housing.

7. The pool robot according to claim 1, characterized in that, The connecting sections of each of the driving channels are interconnected.

8. The pool robot according to claim 1, characterized in that, The fuselage assembly also includes at least two wheel sets, which are disposed at the bottom of the housing and are spaced apart along the length of the housing. Each wheel assembly includes at least two wheels that are spaced apart along the width of the housing and can rotate independently.

9. The pool robot according to claim 8, characterized in that, In each of the wheel sets, at least the wheels of the wheel set located at the head and / or tail of the housing are omnidirectional wheels.

10. The pool robot according to claim 8, characterized in that, The swimming pool robot also includes a mileage calculation component, which includes a position sensor and a mileage calculation processor. The position sensor is disposed on the housing and is positioned corresponding to the rotating part of the wheel. The position sensor is used to detect the number of rotations of the wheel. The signal input terminal of the mileage calculation processor is electrically connected to the position sensor and is used to receive the number of rotations signal. The signal output terminal of the mileage calculation processor is used to output a mileage signal corresponding to the mileage traveled by the swimming pool robot.

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