Automatic pool cleaning device

Abstract

Automatic pool cleaning device (10), comprising: a main body (11); a traveling mechanism (12) located on one side of the main body (11) and capable of moving the automatic pool cleaning device (10); and a guide structure (13) arranged on the traveling mechanism (12) or on the main body (11) and protruding from the traveling mechanism (12) or the main body; wherein during a movement of the automatic pool cleaning device (10), when the guide structure (13) rests against a pool wall, a frictional force caused by the resting can cause the guide structure (13) to rotate.

Description

[0001] This application claims priority to U.S. Provisional Application No. 63 / 742,854, filed January 7, 2025, the entire contents of which are incorporated by reference into this application. FIELD OF TECHNOLOGY

[0002] The present application relates to the technical field of cleaning devices, in particular an automatic pool cleaning device. BACKGROUND

[0003] With the increasing popularity and application of swimming pools, automatic pool cleaning robots are also widely used to clean the bottom and pool walls of swimming pools, greatly reducing the need and cost for manual cleaning. Swimming pool cleaning robots walk underwater or on the water surface along the edge of the pool and can realize mapping or cleaning of the edge areas. When the swimming pool robot walks along the edge, the robot needs to use a distance measuring sensor to measure the distance between the machine body and the pool edge in real time and use a drive device to control the distance in real time within a specified range to realize the function of walking along the edge of the pool.Due to the limited measuring range of the distance sensor, the robot cannot move too far from the edge of the pool or too close to it. Additionally, the drive control system has a certain delay, which requires constant adjustments to the distance between the machine and the pool wall as the machine moves along the edge. This results in the robot's path along the edge being uneven, and it is difficult to move strictly parallel to the pool wall, which can lead to problems such as poor mapping performance of the robot or cleaning gaps in the pool edge area. CONTENTS OF THE UTILITY MODEL

[0004] In one aspect of the present application, an automatic pool cleaning device is provided, comprising: a main body; a traveling mechanism located on one side of the main body, which can move the automatic pool cleaning device; and a guide structure arranged on the traveling mechanism or on the main body and projecting from the traveling mechanism or the main body; wherein During movement of the automatic pool cleaning device, when the guide structure rests against a pool wall, a frictional force caused by the contact can cause the guide structure to rotate. Compared with the prior art, the advantageous effects of the present application are as follows:

[0005] The present application can realize, by providing a guide structure on the side of the walking mechanism or the main body of the automatic pool cleaning device, that the machine is controlled so that when walking along the edge, by abutting the guide structure against the pool wall, the machine will enable to be close to the pool wall, thereby realizing that when the machine walks along the edge, the machine body always remains parallel to the pool wall, so that the path of walking along the edge is smooth, and the data acquired by sensors on the machine, such as distance measuring sensors, laser radar / lidar or visual sensors, can reproduce the contours of the pool walls very realistically, thereby improving the mapping quality of the automatic pool cleaning device and the coverage rate of cleaning the edge areas of the pool.The guide structure can also avoid the problem that the machine body of the machine collides or rubs against the pool wall during the movement of the machine due to the distance between the machine and the pool wall being too short, thereby improving the overall performance of the machine. SHORT DESCRIPTION OF THE CHARACTERS

[0006] The accompanying drawings of the specification, which form part of the present application, serve to provide a further understanding of the present application. The schematic embodiments of the present application and their description serve to explain the present application and do not constitute an unreasonable limitation of the present application. In the accompanying drawings: Fig. 1 schematically shows a structure of an automatic pool cleaning device in an embodiment of the present application; Fig. 2 schematically shows a structure of an automatic pool cleaning device in another embodiment of the present application; Fig. 3 schematically shows a scene in which the automatic pool cleaning device of the present application travels along an edge.

[0007] Wherein the above-mentioned accompanying drawings include the following reference numerals: 10. Automatic pool cleaning device; 11. Main body; 12. Walking mechanism; 121. Crawler side plate; 122. Crawler; 123. Driving wheel; 124. Driven wheel; 13. Guide structure. DETAILED DESCRIPTION

[0008] In the following, the technical solutions in the embodiments of the present application will be described clearly and completely in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only some embodiments of the present application and not all embodiments. Based on the embodiments in the present application, all other embodiments that a person of ordinary skill in the art can obtain without creative work fall within the scope of the present application. It should be noted that the embodiments in the present application and the features in the embodiments can be combined with each other unless conflicts exist.

[0009] The present application provides an automatic pool cleaning device that can have at least one of the operating modes such as a pool bottom cleaning mode, a pool wall cleaning mode, and a water surface cleaning mode. It can be understood that the automatic pool cleaning device can clean a pool. The pool is, for example, a pool-shaped structure. The aforementioned pool-shaped structure can be a swimming pool, a water storage pool, a spa pool, a water storage tank, a water storage container, etc. The automatic pool cleaning device can be a device such as an automatic cleaning device, a pool cleaning robot, etc., that enables cleaning of the pool-shaped structure.This application is not limited to any specific embodiment of the automatic pool cleaning device or pool-shaped structure, as long as the principle of the present application can be realized. In the following, unless specifically stated, the automatic pool cleaning device will be explained using a robot as an example, and a pool or pool-shaped structure will be explained using a swimming pool as an example. In the following, unless specifically stated, the terms "pool bottom," "pool floor," and "pool bottom surface" all refer to the surface at the bottom of the swimming pool; the terms "pool wall" and "pool wall surface" refer to the surface of the pool walls of the swimming pool.

[0010] In the following, the automatic pool cleaning device of the present application will be explained in detail in conjunction with the accompanying drawings. Fig. 1 schematically shows the exterior of an automatic pool cleaning device in an embodiment of the present application, which can perform cleaning work on the bottom, on the pool walls, in the water and on the water surface of a pool (e.g., a swimming pool) as needed, for example, to remove waste in the water, on the water bottom and on the water surface and to clean the pool bottom and the pool walls of dirt, etc. As in Fig. 1, the automatic pool cleaning device 10 may include a main body 11 and a traveling mechanism 12, wherein the traveling mechanism 12 is located on one side of the main body 11, for example, it may be arranged on both sides of the main body 11 to drive the automatic pool cleaning device 10 to move. During the movement of the automatic pool cleaning device 10, the traveling mechanism 12 is in contact with the support surface of the automatic pool cleaning device 10, the support surface includes the pool floor or the pool wall, and the automatic pool cleaning device 10 is driven to move by the frictional force between the traveling mechanism 12 and the support surface. Specifically, as shown in Fig. 2, the traveling mechanism 12 may comprise a drive motor (not shown), a driving wheel 123, and a driven wheel 124, wherein the output shaft of the drive motor may be connected to the driving wheel 123, the driving wheel 123 is driven to rotate by the drive motor, the driving wheel 123 drives the driven wheel 124 to rotate, and thereby the automatic pool cleaning device 10 is driven to move. As shown in Fig. 1, the traveling mechanism 12 further includes a track 122 and a track side plate 121, at least a portion of the track side plate 121 covering the driving wheel 123 and the driven wheel 124. The track 122 and the track side plate 121 enclose the driving wheel 123 and the driven wheel 124 to prevent the driving wheel 123 and the driven wheel 124 from being wrapped with foreign matter such as debris, algae, etc., and also to prevent dirt from entering the interior of the machine body.

[0011] As in Fig. 2, the driving wheel 123 and the driven wheel 124 are connected by the track 122, so that the driving wheel 123 can drive the driven wheel 124 to rotate via the track 122. Of course, other mechanisms besides the track 122, such as chains or gears, can be used to transmit the driving force of the driving wheel 123 to the driven wheel 124. The rotation can be performed according to actual requirements, which is not specifically limited by the embodiments of the present description.

[0012] In addition, as in Fig. 1, in the embodiment of the present description, a guide structure 13 is provided on the automatic pool cleaning device 10, wherein the guide structure 13 may be arranged on the traveling mechanism 12, for example, on the crawler side plate 121. The guide structure 13 protrudes from the outermost side of the crawler side plate 121.Since the traveling mechanism 12 of the automatic pool cleaning device 10 is often located on the outside of the main body 11, the crawler side plate 121 is located on the outermost side of the machine body of the automatic pool cleaning device 10, and the guide structure 13 protrudes from the crawler side plate 121, which means that when the side surface of the cleaning device is in contact with the pool wall, the guide structure 13 abuts against the pool wall, and other structures on the cleaning device cannot come into contact with the pool wall, thereby avoiding abrasion or damage to other structures on the cleaning device.

[0013] In addition, the traveling mechanism 13 can also be arranged on the main body 11, for example, on one side of the main body 11, and the guide structure 13 protrudes from the outermost side of the side of the main body 11. For example: Generally, the outermost side of the traveling mechanism 12 is the outermost side of the machine body of the automatic pool cleaning device 10, and the guide structure 13 can be attached to the side wall of the traveling mechanism 12; if the outermost side of the traveling mechanism 12 is not the outermost side of the machine body of the automatic pool cleaning device 10, the guide structure 13 can be attached to the main body 11, that is, it is necessary to ensure that the guide structure 13 is located on the outermost side of the automatic pool cleaning device 10. The specific position of the guide structure 13 on the machine can be determined according to actual circumstances.

[0014] As in Fig. As shown in Figure 1, the crawler side plate 121 of the traveling mechanism 12 is the outermost side of the automatic pool cleaning device 10. The guide structure 13 is mounted on the crawler side plate 121 of the traveling mechanism 12. The guide structure 13 is a component of the machine body located closest to the pool wall. In this way, when the automatic pool cleaning device 10 travels along the pool wall, the yaw angle of the cleaning device can be adjusted by the controller so that the guide structure 13 abuts the pool wall, thereby ensuring that the machine body remains tightly against the pool wall while the automatic pool cleaning device 10 travels along an edge, and no cleaning areas are missed. If the guide structure 13 is not abutting the pool wall, a gap is formed between the machine body and the pool wall.which forms a cleaning failure area; furthermore, by abutting the guide structure 13 against the pool wall, it can be ensured that the travel path of the machine body coincides with or is close to the outline of the pool wall, so that the cleaning device can acquire information that is closer to the actual outline of the pool wall when detecting the outline of the pool wall for mapping; furthermore, the guide structure 13 protrudes from the outermost side of the machine body, so that by abutting the pool wall, it can prevent the machine body of the cleaning device or the sensors on the machine body from colliding or rubbing against the pool wall, thereby protecting the machine body or the sensors. Finally, while the automatic pool cleaning device 10 is moving, when the guide structure 13 abuts the pool wall,the frictional force caused by the contact causes rotation of the guide structure 13. As shown in , Fig. As shown in Figure 3, when the robot moves in the direction of the arrow, the guide structure 13 rotates in the direction opposite to the direction of movement due to the frictional force generated by the guide structure 13's contact with the pool wall. Compared to a robot without a guide structure 13, such a rotatable guide structure 13 causes less frictional force or resistance caused by continued movement after a collision or when the robot contacts the pool wall.

[0015] The guide structure 13 can be designed as a rolling structure. For example, the guide structure 13 can comprise a roller, a ball, or a deformable structure. A deformable material (e.g., rubber, sponge, etc.) can also be coated around the outside of the roller or ball to prevent the roller or ball material from being too hard and damaging the pool wall when it comes into contact with the pool wall. Of course, the guide structure 13 can also be other rotatable or non-rotatable structures, such as a smooth-surface slider; it can be specifically selected according to actual requirements.

[0016] The number of guide structures 13 may be several, and several guide structures 13 may be arranged spaced apart from each other in the horizontal direction on the traveling mechanism 12 or the main body 11. As shown in Fig. As shown in Figure 1, three guide structures 13 may be provided, which are arranged at a distance along the longitudinal direction of the machine at the front, middle, and rear parts of the crawler side plate 121 of the traveling mechanism 12. The spacing can be determined depending on the number of guide structures 13 as well as the structure and size of the machine. The height of the plurality of guide structures 13 in the vertical direction may be the same or different. For example, as shown in Fig.1, the vertical heights of the three guide structures 13 on the crawler side plate 121 are the same or almost the same. Of course, if necessary, two guide structures 13 can be provided, one at the head and one at the end of the walking mechanism 12 or the main body 11, to ensure that the machine body remains parallel to the pool wall when the machine walks along an edge. Alternatively, a larger number of guide structures 13 can be provided so that when the machine walks along an edge, the multiple guide structures 13 can ensure that the machine body does not collide with or rub against the pool wall in its entire longitudinal direction. Of course, if necessary due to structural or other requirements, e.g.when the machine travels along an edge, an inclined position is to be maintained so that the roller brush or the water suction opening on the head of the robot can better clean the pool wall or the waterline area, in this case a guide structure 13 is also provided, which is arranged for example at the head or at the end of the traveling mechanism 12, to ensure that the machine body on the side located near the pool wall does not collide with or rub against the pool wall.

[0017] Furthermore, the degree or size of protrusion of the plurality of guide structures 13 from the traveling mechanism 12 or the main body 11 can be the same or different. If the plurality of guide structures 13 protrude to different degrees or sizes from the traveling mechanism 12 or the main body 11, for example, the degree or size of protrusion of the guide structures 13 decreases successively from the head to the end of the machine, the machine can be slightly tilted while traveling along an edge and the machine body rests against the pool wall, so that the roller brush or the water intake port on the head of the robot can better clean the pool wall or the waterline area.

[0018] The guide structure 13 may further comprise a structure for cleaning the pool wall, for example, bristles or scrapers. If the guide structure 13 comprises bristles or scrapers, the guide structure 13 may rest against the wall and rotate during the forward movement of the machine body, or it may remain stationary to clean the pool wall while the machine travels along an edge.

[0019] Furthermore, the automatic pool cleaning device 10 can include a detection component capable of detecting whether the guide structure 13 is in contact with the pool wall, enabling the machine to be controlled such that the guide structure 13 maintains contact with the pool wall as it travels along an edge. The detection component can be a contact sensor located within the guide structure 13 or connected to the guide structure 13, such as a pressure sensor. The pressure sensor can directly detect the pressure exerted on the guide structure 13 by the pool wall, thereby determining whether the guide structure 13 is in contact with the pool wall. The detection component can also include a distance measurement sensor (e.g., ultrasonic sensor, infrared sensor, TOF sensor, etc.), a laser radar / lidar, a camera (e.g., monocular or stereo camera, etc.).) or an IMU (Inertial Measurement Unit) on the robot, wherein the distance measuring sensor, the laser radar / lidar, and the image sensor can determine whether the guide structure 13 has deviated from the pool wall by detecting the distance between the machine body and the pool wall, and the IMU can determine whether the guide structure 13 has deviated from the pool wall by detecting the change in position of the machine when walking along an edge. For example, if the distance measuring sensor, the laser radar / lidar, or the image sensor detects an abnormal value of the distance between the machine body and the pool wall (e.g.the distance between the machine body and the pool wall exceeds the measuring range of the distance measuring sensor so that no distance value can be measured) or a preset threshold for the distance is exceeded (the preset threshold for the distance is greater than or equal to the value of the length by which the guide structure 13 protrudes from the machine body), it is determined that the guide structure 13 has deviated from the pool wall; or if the IMU detects a change in the yaw angle that exceeds a preset threshold for the angle within a predetermined period of time or a predetermined distance, it is assumed that the guide structure 13 has deviated from the pool wall.

[0020] The automatic pool cleaning device 10 further includes a controller. In the mode where the machine travels along an edge, when the detection component detects that the guide structure 13 has deviated from the pool wall, i.e., the guide structure 13 is not in contact with the pool wall, the controller can adjust the heading angle of the automatic pool cleaning device 10 by controlling the tracks 122 on both sides of the machine for differential movement or the water spray mechanisms on the left and right sides so that the guide structure 13 returns to the state in which it is in contact with the pool wall. The controller can be any form as long as it can control the track 122 or the water spray mechanisms.In addition, while the cleaning device moves along the pool wall, the controller can also control the crawlers 122 or the water spray mechanisms so that part of the guide structure 13 abuts the pool wall. At this time, the machine body remains in an inclined state relative to the pool wall, so that the roller brush or the water intake port on the robot head can better clean the pool wall or the waterline area. It should be noted that since the purpose of adjusting the heading angle of the cleaning device is to bring the guide structure back into contact with the pool wall, the cleaning device is rotated in the direction of the pool wall when adjusting the heading angle.

[0021] Furthermore, the automatic pool cleaning device 10 provided based on the above-described embodiment can move while traveling along an edge, while abutting the pool wall, for example, when the guide structure 13 abuts the pool wall, so that the automatic pool cleaning device 10 always remains parallel to the pool wall while traveling along an edge.

[0022] Specifically, while the machine travels along an edge, if the detection component detects that the automatic pool cleaning device 10 has deviated from the pool wall, such as the guide structure 13 has deviated from the pool wall, the yaw angle of the automatic pool cleaning device 10 is adjusted so that the automatic pool cleaning device 10 again abuts the pool wall.

[0023] Furthermore, as the machine moves within the pool, information about the environment in which the machine is located, such as the outlines of the surrounding pool walls, can be detected by a sensor mounted on the machine, such as a laser radar / lidar, distance sensor, or image sensor. This can determine whether the machine enters an area where cleaning errors are likely to occur, such as the corners of the pool, areas with curved pool walls, or areas with a slope. If so, the automatic pool cleaning device 10 can be controlled to adhere to the pool wall, for example, by positioning the guide structure 13 against the pool wall, allowing the machine to remain tightly against the pool wall, thus cleaning the edges of the pool in these areas. By controlling the adherence of the machine to the pool wall, the cleaning coverage rate in these areas can be improved.

[0024] In the description of the present application, the use of terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., means that the specific features, structures, materials, or properties described in connection with the embodiment or example are included in at least one embodiment or example of the present application. Furthermore, the described specific features, structures, materials, or properties may be appropriately combined in any one or more embodiments or examples. Furthermore, those skilled in the art may, unless conflicting, combine and combine the various embodiments or examples described in the present description, as well as the features of the various embodiments or examples.

[0025] Furthermore, the terms "first" and "second" are for descriptive purposes only and are not intended to indicate or imply a relative importance or the number of technical features mentioned. Therefore, the features defined by "first" and "second" may explicitly or implicitly include at least one of these features. In the description of the present application, "multiple" means two or more, unless expressly stated otherwise.

[0026] In the present application, unless otherwise stated, the positional terms used, such as "top" and "bottom", generally refer to the directions indicated in the drawings or to the vertical, perpendicular or gravity direction; similarly, for ease of understanding and description, "left" and "right" generally refer to the left and right sides shown in the accompanying drawings; "inside" and "outside" are to be understood as inside and outside relative to the outlines of the individual parts themselves, but the above positional terms do not serve to limit the present application.

[0027] The basic principles, main features of the present application, and the advantageous effects of the present application have been illustrated and described above. Those skilled in the art should be aware that the present application is not limited to the above-described embodiments. The above-described embodiments and the description in the specification are merely preferred embodiments of the present application and are not intended to limit the present application. Various changes and improvements may be made to the present application without departing from the spirit and scope of the present application, all of which fall within the claimed scope of the present application. The claimed scope of the present application is limited by the appended claims and their equivalents. QUOTES CONTAINED IN THE DESCRIPTION

[0000] This list of documents submitted by the applicant was generated automatically and is included solely for the convenience of the reader. This list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions. Cited patent literature

[0000] US 63 / 742,854

[0001]

Claims

[1] Automatic pool cleaning device (10), comprising: a main body (11); a traveling mechanism (12) located on one side of the main body (11) and capable of moving the automatic pool cleaning device (10); and a guide structure (13) arranged on the traveling mechanism (12) or on the main body (11) and protruding from the traveling mechanism (12) or the main body; wherein during a movement of the automatic pool cleaning device (10), when the guide structure (13) rests against a pool wall, a frictional force caused by the resting can cause the guide structure (13) to rotate. [2] The automatic pool cleaning device (10) according to claim 1, wherein the traveling mechanism (12) comprises a crawler and a crawler side plate (121), the guide structure (13) is arranged on the crawler side plate and protrudes from the crawler side plate (121). [3] The automatic pool cleaning device (10) according to claim 2, wherein the traveling mechanism (12) further comprises a drive motor, a driving wheel (123) and a driven wheel (124), the drive motor is gear-connected to the driving wheel (123), and at least a part of the crawler side plate (121) covers an area between the driving wheel (123) and the driven wheel (124). [4] The automatic pool cleaning device (10) according to claim 2, wherein the traveling mechanism (12) further comprises a transmission gear, and the driving wheel (123) transmits a driving force to the driven wheel (124) via the caterpillar (122) or the transmission gear. [5] Automatic pool cleaning device (10) according to one of claims 1 to 4, wherein the guide structure (13) comprises a roller, a ball or a deformable structure. [6] Automatic pool cleaning device (10) according to claim 1, further comprising: a detection component which serves to detect whether the guide structure (13) is in contact with the pool wall. [7] The automatic pool cleaning device (10) according to claim 6, wherein the detection component comprises a contact sensor, a distance sensor, a lidar, a camera, or an inertial measurement unit. [8] Automatic pool cleaning device (10) according to claim 6, further comprising: a control, whereby, if the detection component detects that the guide structure (13) is not in contact with the pool wall, the controller adjusts a heading angle of the automatic pool cleaning device (10) such that the guide structure (13) is in contact with the pool wall. [9] Automatic pool cleaning device (10) according to claim 8, wherein the automatic pool cleaning device (10) is held in an inclined state relative to the pool wall when the guide structure (13) abuts the pool wall. [10] The automatic pool cleaning device (10) according to claim 8 or 9, wherein the controller adjusts the heading angle by adjusting the walking mechanisms (12) on two sides of the automatic pool cleaning device (10) or water spraying mechanisms on two sides of the automatic pool cleaning device (10). [11] The automatic pool cleaning device (10) according to claim 5, wherein there are a plurality of guide structures (13), and the plurality of guide structures (13) are arranged spaced apart from each other in the horizontal direction. [12] The automatic pool cleaning device (10) according to claim 11, wherein the degree of protrusion or the size of the plurality of guide structures (13) is different. [13] Automatic pool cleaning device (10) according to claim 1, characterized by that the direction of rotation of the guide structure (13) is opposite to the direction of movement of the automatic pool cleaning device (10).

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