Swimming pool robot

Abstract

Swimming pool robot, characterized in that it includes the following: a main body; two locomotion mechanisms, each located on opposite sides of the main body; and a side drive component, wherein the side drive component comprises the following: a lateral flow channel that has a liquid inlet and a liquid outlet; a lateral impeller arranged in the lateral flow channel; and a lateral electric motor configured to drive the lateral wheel; wherein the fluid discharge opening is located on one of the propulsion mechanisms, so that the lateral flow channel is connected to the outside world.

Description

TECHNICAL AREA

[0001] The present application falls under the field of cleaning by robots and specifically concerns a swimming pool robot. Technical background

[0002] Currently, when cleaning the waterline, a pool robot moves laterally (horizontally) along the pool wall. While the robot moves horizontally, its roller brush cleans the waterline. However, this cleaning method does not allow the robot to effectively move laterally (horizontally) along the waterline, resulting in poor cleaning performance. Alternatively, when the robot moves along the edge of the pool floor or along the water's surface, the forces of the water make it difficult for it to stay close to the pool wall, also resulting in poor cleaning performance along the edge. REVELATION OF THE INVENTION

[0003] To solve the aforementioned technical problems, the present invention discloses a swimming pool robot comprising: a main body; two locomotion mechanisms arranged on the two sides of the main body; and a side drive component, wherein the side drive component comprises a lateral flow channel having a liquid inlet and a liquid outlet; a lateral impeller arranged in the lateral flow channel; a lateral electric motor for driving the lateral impeller; wherein at least the liquid outlet is arranged on one of the locomotion mechanisms, such that the lateral flow channel is connected to the outside world.

[0004] Reference numbers of the illustrations: 1000-Pool robot; 1001-Main body; 10011-Front section; 10012-Rear section; 10013-First intake chamber; 10013a-Second drain outlet; 10014-Second intake chamber; 1002-First handle; 1003-First top cover; 1005-Second liquid outlet; 10051-Third cover plate; 1008-Lower sensor; 1009-Distance sensor; 1010-Image capture element; 1011-Auxiliary light; 1020-Charging contacts / First coil; 1031-First water inlet; 1032-Second water inlet; 1041-First water outlet; 1051-Dust cassette / Filter cassette; 10511c-First cover plate; 10511d-Second cover plate; 1052-Second handle; 1061-Main pump; 1061a-Main impeller; 1061b-Main motor; 1061c-Housing; 1071-Propulsion mechanism; 111-Floor chamber; 113-Air inlet section; 115-Side drive component; 115a-Side flow channel; 115b-Side electric motor; 115c-Side impeller; 115d-First opening; 115e-Second opening; 116-First drive device; 117-Track; 1173-Side area; 1174-Outer cover plate; 1201-Cleaning brush;6000 control housing.; Presentation of the illustrations Fig. Figure 1 is a schematic representation of the structure of a swimming pool robot according to the present invention; Fig. Figure 2 is a schematic representation of the structure of a swimming pool robot in the underside view according to the present invention; Fig. Figure 3 is a schematic representation of the structure of a swimming pool robot according to a longitudinal section according to the present invention; Fig. Figure 4 is a schematic representation of the structure of a swimming pool robot according to a cross-section according to the present invention; Fig. Figure 5 is a further schematic representation of the structure of a swimming pool robot according to the present invention; Fig. Figure 6 is a schematic representation of a swimming pool robot after removal of part of the structure according to the present invention. Specific examples of implementation

[0005] The technical solutions in the exemplary embodiments of the present invention are described clearly and completely below in conjunction with the accompanying drawings of these embodiments. The described embodiments represent only a subset of the embodiments of the present invention and not all of them. It should be noted that designations such as "first," "second," etc., are used in the following embodiments for descriptive purposes only and should not be interpreted as indicating or implying their relative importance or as indicating the number of technical features specified.

[0006] As in the Fig. 1, Fig. 2, Fig. 3, Fig. 4, Fig. 5 to Fig. Figure 6 shows that the present embodiment describes a swimming pool robot comprising the following: a main body 1001, a first handle 1002, a filter cassette (also referred to as a dust cassette), a power supply component, and a third cover plate 10051. The filter cassette serves to filter the liquid entering it.

[0007] As in Fig. As shown in Figure 3, the main body 1001 (i.e., the main body of the pool robot) has a first receiving chamber 10013 and a second receiving chamber 10014. The filter cartridge is arranged in the first receiving chamber 10013. For example, a first upper cover 1003 is provided on the top of the main body 1001, which is rotatably mounted on the insertion and removal opening on the top of the first receiving chamber 10013. When the first upper cover 1003 is opened, the user can insert the filter cartridge through the opening into the first receiving chamber 10013 or remove the filter cartridge from the first receiving chamber 10013. In one embodiment, one end of the first upper cover 1003 is rotatably mounted on the main body 1001, while the other end is connected to the main body 1001 via a snap-fit ​​or magnetic structure.

[0008] The first receiving chamber is equipped with at least one first liquid outlet, wherein at least part of the first liquid outlet is arranged on the side wall of the first receiving chamber 10013, or the majority of the first liquid outlet is arranged on the side wall of the first receiving chamber 10013 and a smaller portion is arranged on the bottom of the first receiving chamber 10013. The number of first liquid outlets is not fixed and is selected according to actual requirements. For example, there are several first liquid outlets forming a grid structure.

[0009] The main body has at least one second liquid outlet 1005. In some embodiments, the second liquid outlet 1005 is arranged at the bottom of the main body 1001; or the second liquid outlet 1005 is arranged on the side wall of the main body; or part of the second liquid outlet is arranged at the bottom of the main body 1001 and part on the side wall of the main body. The second liquid outlet 1005 is connected to the first liquid outlet.

[0010] The third cover plate 10051 is rotatably arranged on the main body 1001 outside the main body and has a first state in which it covers the second liquid outlet 1005, and a second state in which it at least partially does not cover the second liquid outlet 1005. For example, one end of the third cover plate 10051 is rotatably arranged on the main body 1001, while the other end is free. The third cover plate 10051 rotates under an applied force to cover the second liquid outlet 1005 or to partially or completely expose the second liquid outlet 1005.

[0011] In some embodiments, the third cover plate 10051 consists of a rubber sheet or a soft plastic sheet. When the outside of the third cover plate 10051 is subjected to a first force and the inside of the third cover plate 10051 is subjected to a second force, the first force acting in the direction of the first receiving chamber and the second force acting in the direction of the outside of the main body, the directions of the two forces are opposite. If the first force is greater than the second force, the third cover plate 10051 covers the second liquid outlet 1005. If the first force is less than the second force, the third cover plate 10051 rotates away from the second liquid outlet 1005, either exposing or not covering the second liquid outlet 1005.No separate electric motor is required to drive the third cover plate 10051 to rotate in order to cover or expose the second liquid outlet 1005, thus simplifying the structure of the swimming pool robot.

[0012] With regard to the second liquid outlet 1005, in one embodiment a roller brush 1201 is provided at the rear end of the main body 1001, wherein part of the second liquid outlet 1005 is arranged on the side wall of the rear end of the main body 1001 and part on the bottom of the main body 1001. Similarly, one end of the third cover plate 10051 is arranged on the side wall of the rear end of the main body 1001, while the free end lies on the bottom of the main body 1001, with part of the third cover plate 10051 located between the roller brush and the main body 1001. The front end of the main body can also be equipped with a roller brush 1201. When the pool robot is at the waterline of the pool wall, the waterline can be cleaned by the roller brush at the front end of the main body or by the roller brush at the rear end of the main body.In one embodiment, there are several second liquid outlets 1005 that form a grid structure.

[0013] In further embodiments, the second liquid outlet 1005 is arranged on the side wall of the rear end of the main body, with the third cover plate correspondingly arranged on the side wall of the rear end of the main body. If a roller brush 1201 is provided at the rear end of the main body, the third cover plate is located between the side wall of the rear end of the main body and the roller brush. Alternatively, the second liquid outlet 1005 is arranged on the bottom of the main body 1001, with the third cover plate 10051 also correspondingly arranged on the bottom of the main body.

[0014] The power supply component is located in the second receiving chamber 10014. For example, the power supply component is a battery pack or other power supply structure, with the battery pack serving to supply power to the swimming pool robot.

[0015] Regarding the first handle 1002, as in the Fig. 1 and Fig. As shown in Figure 5, the first handle 1002 is arranged on the main body 1001 to allow the user to lift the pool robot out of the pool using the first handle 1002, so that the pool robot leaves the water surface of the pool in an inclined position and can be transported to land. The first handle 1002 can be integrally formed with the main body 1001 and form part of the structure of the main body 1001; or the first handle 1002 can be detachably attached to the main body 1001.

[0016] In some embodiments, the main body 1001 comprises a first end and a second end. When the pool robot moves forward, the first end is in front of the second end, so the first end is considered the front end portion of the main body 1001 and the second end is considered the rear end portion of the main body 1001. As in the Fig. 1 and Fig. As shown in Figure 5, the first handle 1002 is located at the first end of the main body 1001. Moving from the first end to the second end, the first handle 1002, the second receiving chamber, the filter cassette, and the first liquid outlet are arranged sequentially from front to back on the main body 1001.

[0017] The pool robot has a cleaning mode for performing cleaning in the pool as well as an exit mode in which it leaves the water surface of the pool in an inclined position.

[0018] When the pool robot is in the pool, the first intake chamber 10013, the first liquid outlet, and the second liquid outlet 1005 are continuously connected. The liquid in the first intake chamber flows to the second liquid outlet 1005 and exerts an outward pressure on the third cover plate 10051, while the liquid in the pool exerts a second pressure on the third cover plate 10051 directed towards the first intake chamber. The first and second pressures are equal in magnitude and opposite in direction. However, in cleaning mode, the main pump (described below) operates, creating a vacuum in the first intake chamber 10013 to draw water from the pool into the filter cartridge, where it is filtered.Due to the negative pressure in the first intake chamber 10013, the third cover plate 10051 is pressed firmly against the second liquid outlet 1005 to cover it and prevent water from the pool from successively entering the first intake chamber through the second liquid outlet 1005 and the first liquid outlet, bypassing the filter cartridge, and being expelled from the pool robot after passing through the main pump. This would mean that the liquid entering the first intake chamber through the second and first liquid outlets would not be filtered, which would impair the cleaning performance of the pool robot.

[0019] Before the user lifts the pool robot out of the pool, the main pump is usually switched off; or, after the sensor detects that the pool robot is leaving the water, the processor controls the main pump to switch off. This causes the main pump to release the negative pressure created in the first intake chamber 10013, meaning that as soon as the pool robot leaves the water, the main pump releases the negative pressure created in the first intake chamber 10013. When the user wants to lift the pool robot out of the pool, they grasp the first handle 1002 and lift the pool robot so that it leaves the water's surface in a tilted position, i.e., the pool robot is in exit mode. Immediately after leaving the water, the first intake chamber 10013 contains a large amount of liquid.Along the direction of inclination of the pool robot, the first handle 1002, the power supply component, the filter cartridge, and the first liquid outlet are arranged sequentially from top to bottom. Under the influence of gravity, the liquid in the first intake chamber 10013 flows from the first liquid outlet to the second liquid outlet 1005 and exerts an outward force on the third cover plate 10051. Since the negative pressure in the first intake chamber 10013 is lifted, the third cover plate 10051 rotates away from the second liquid outlet 1005 under the force of gravity, so that the third cover plate at least partially uncovers the second liquid outlet 1005, thus exposing it.This allows the liquid in the first intake chamber 10013 to quickly drain from the main body 1001 through the first liquid outlet and the second liquid outlet 1005, thereby reducing the weight of the swimming pool robot and making it easier for the user to transport it on land.

[0020] This means that in the cleaning mode of the pool robot, the third cover plate 10051 covers the second liquid outlet 1005 and is in the first state; in the exit mode of the pool robot, the third cover plate 10051 exposes the second liquid outlet 1005 or at least does not partially cover it and is in the second state. The first intake chamber 10013, the first liquid outlet, and the second liquid outlet 1005 are fluidically connected sequentially to drain the liquid from the first intake chamber 10013 out of the main body 1001. In exit mode, along the direction of inclination of the pool robot, the first handle, the power supply component, the filter cartridge, and the first liquid outlet are arranged sequentially from top to bottom.

[0021] In some embodiments, the first liquid outlet and the second liquid outlet 1005 are connected by a first flow channel 1006. In the exit mode of the swimming pool robot, the liquid in the first receiving chamber 10013 flows successively through the first liquid outlet, the first flow channel 1006 and the second liquid outlet 1005 in order to be discharged from the main body 1001.

[0022] For example, the main body 1001 comprises a first inner shell and a first outer shell. The interior of the first inner shell serves as the first receiving chamber 10013, with the first inner shell being arranged within the first outer shell. The first outer shell contains the second receiving chamber 10014, which is located outside the first inner shell. The first liquid outlet is arranged on the side wall of the first inner shell. The second liquid outlet 1005 is arranged on the first outer shell. The first liquid outlet and the second liquid outlet 1005 are connected by the first flow channel, which is located between the first inner shell and the first outer shell.

[0023] Alternatively, a grid or partition is provided in the main body, the partition being equipped with a second drain outlet to connect the first and second receiving chambers. In this embodiment, the first and second liquid outlets are not connected by a first flow channel, but are both directly connected to the first receiving chamber.

[0024] As in Fig. As shown in Figure 3, the second intake chamber 10014 is positioned closer to the first handle 1002 compared to the first intake chamber 10013. If the filter cartridge is located in the first intake chamber 10013 and the battery pack in the second intake chamber 10014, the battery pack is closer to the first handle 1002 than the filter cartridge. This facilitates the rapid drainage of the fluid from the first intake chamber 10013 out of the pool robot during its exit mode, as the first intake chamber 10013 and the first fluid outlet are located closer to the rear of the main body 1001.

[0025] As in Fig. As shown in Figure 3, the swimming pool robot further comprises a first water inlet 1031, a first water outlet 1041, and a main pump. The first water inlet 1031 is located at the bottom of the main body 1001 or directly at the bottom of the dust cassette. The main pump is located in the second receiving chamber 10014, the first receiving chamber 10013 and the second receiving chamber 10014 being connected by at least one second outlet 10013a. The first water outlet is located at least partially on the top of the main body 1001. The first water inlet 1031, the filter cassette, the second outlet 10013a, the main pump, and the first water outlet are fluidically connected sequentially to form a cleaning water path. The battery pack provides power to the main pump and is located in the second receiving chamber 10014 outside the cleaning water path.For example, there are several secondary drain outlets 10013a that form a grid structure.

[0026] In the cleaning mode of the pool robot, the main pump is running. Driven by the main pump, the pool fluid flows through the first water inlet 1031 into the filter cassette, where it is filtered. The debris remains in the filter cassette, and the filtered fluid flows through the second outlet 10013a from the first intake chamber 10013 to the main pump in the second intake chamber 10014 and is finally discharged from the pool robot through the first water outlet, thus enabling the pool robot to clean the pool fluid.

[0027] In some embodiments, a first cover plate 10511c is provided at the first water inlet and a second cover plate 10511d at the second water inlet. When the pool robot is cleaning at the water surface, the first cover plate is in a closed position to prevent liquid from the pool from entering the filter cartridge through the first water inlet, while the second cover plate is in an open position, allowing liquid to enter the filter cartridge through the second water inlet and the second inlet. When the pool robot is moving in the water or cleaning the pool floor or walls, the second cover plate is in a closed position to prevent liquid from entering the filter cartridge through the second water inlet, while the first cover plate is in an open position, allowing liquid to enter the filter cartridge through the first water inlet and the first inlet.This means that when cleaning the water surface, the first cover plate is closed and the second cover plate is open; when cleaning the pool wall or pool floor, the first cover plate is open and the second cover plate is closed.

[0028] The number of first water inlets (1031) can be one or more, with the exact number determined according to requirements. Regarding the first water outlet, there can be one or more. For example, there might be one first water outlet and one main pump. Alternatively, one main pump could supply two or three first water outlets.

[0029] As in the Fig. 1 and Fig. As shown in Figure 3, in the direction of travel of the pool robot, the first liquid outlet, the filter cassette 1051, the first water outlet, and the first handle 1002 are arranged sequentially from back to front. Thus, in the exit mode of the pool robot, along the direction of tilt of the pool robot, the first handle 1002, the first water outlet, the filter cassette, and the first liquid outlet are arranged sequentially from top to bottom, so that the first intake chamber 10013 and the first liquid outlet are closer to the rear of the pool robot. This facilitates the rapid discharge of the liquid in the first intake chamber 10013 from the main body 1001 through the first liquid outlet and the second liquid outlet 1005.

[0030] In some embodiments, the swimming pool robot includes, as in Fig. Figure 2 shows a group of charging contacts, each group comprising two charging contacts 1020. Each charging contact 1020 is located on the bottom of the main body 1001 and connected to the battery pack. The battery pack receives external electrical energy via the charging contacts to be charged. The external power source can be wired or wireless. Since, in the direction of travel of the pool robot, the second liquid outlet 1005, the first water inlet 1031, and the charging contacts are arranged sequentially from back to front, in the exit mode of the pool robot, along the direction of tilt of the pool robot, the charging contacts are located above the first water inlet 1031, and the first water inlet 1031 is located above the second liquid outlet 1005. This keeps the second liquid outlet 1005 away from the charging contacts.The liquid discharged from the second liquid outlet 1005 does not flow to the charging contacts 1020. If liquid remains on the charging contacts 1020, the remaining liquid flows off from top to bottom along the inclination of the pool robot, thus preventing liquid from remaining on the charging contacts after the pool robot has left the water.

[0031] In further embodiments, the pool robot includes a water barrier arranged on at least one side of the first water inlet. When the pool robot is in cleaning mode and moving forward, the water barrier can, on the one hand, scrape off dirt adhering to the pool wall or pool floor and, on the other hand, retain the liquid around the first water inlet so that the retained liquid can reach the first water inlet and be drawn into the filter cartridge for filtration. This increases the cleaning efficiency of the pool robot.

[0032] In further embodiments, a group of charging contacts can be replaced by a wireless coil, which serves as the first coil for receiving current. An external power source wirelessly charges the first coil via a second coil that delivers current.

[0033] In further embodiments, the swimming pool robot includes a subsensor 1008, which is arranged at the bottom of the main body. As in Fig. Figure 2 shows the lower sensor 1008 positioned in front of the first water inlet. The lower sensor primarily serves to detect whether there are ramps, steps, or similar features in the pool, and to measure the distance of the pool robot to the pool floor when the robot is at the water's surface, in order to detect the presence of steps or platforms in the pool.

[0034] In some embodiments, the main pump includes, as in Fig. Figure 3 shows a main motor 1061b and a main impeller 1061a. A control housing 6000 and a housing 1061c are also arranged in the second receiving chamber 10014. The control housing 6000 has a sealed chamber in which the main motor 1061b is housed. The output shaft of the main motor 1061b protrudes from the control housing 6000 and is connected to the main impeller 1061a. One end of the housing 1061c is sealed to the second outlet 10013a, while the other end is sealed to the first water outlet. The main impeller 1061a is located within the housing 1061c. The liquid filtered by the filter cassette first enters the housing 1061c through the second outlet 10013a and is then discharged through the first water outlet.That is, the first water inlet 1031, the filter cassette, the first receiving chamber 10013, the second outlet 10013a, the housing 1061c or the main impeller 1061a and the first water outlet are fluidically connected sequentially to form a cleaning water path.

[0035] In further embodiments, the first and second receiving chambers are connected by a grid structure; for example, the upper part of the first and second receiving chambers is connected by a grid structure, while the lower part always remains connected. Alternatively, a partition with a grid is arranged between the first and second receiving chambers. The main impeller is arranged in the housing, with one end of the housing connected to the first water outlet and the other end of the housing always connected to the second receiving chamber. The liquid filtered by the filter cartridge first enters the second receiving chamber, is drawn from there into the housing, and finally discharged through the first water outlet. There are two control housings: a first control housing and a second control housing.The first control housing contains the main pump motor, while the second control housing contains the battery pack and control board. The first control housing is attached to the top of the second control housing and is located outside of it.

[0036] In one embodiment, the battery pack is arranged to bypass the cleaning water path. The battery pack must be waterproof to prevent contact with the liquid, which could impair its power supply performance. In one embodiment, the battery pack is located in the sealed chamber of the control housing 6000 to prevent contact with the liquid. The battery pack is connected to the main motor 1061b to supply it with power. In an alternative embodiment, the battery pack is provided with a waterproof enclosure to prevent contact with the liquid. The battery pack is located in the second receiving chamber 10014 outside the control housing 6000.

[0037] In further embodiments, a control board is housed in the control unit 6000, which is connected to the main motor. The control board serves to control the switching on and off of the main pump motor or to adjust the operating parameters of the main motor; for example, the operating parameters can be power or speed.

[0038] In further embodiments, the swimming pool robot is equipped with a locomotion mechanism 1071, which serves to move the swimming pool robot on the pool floor or on the pool wall. As in Fig. As shown in Figure 6, the propulsion mechanism 1071 comprises two wheels and a track 117 that runs around the two wheels, forming a region 1173 (e.g., an annular region 1173) between the two wheels and the track. There are two propulsion mechanisms 1071, each arranged on one of the two sides of the main body 1001. Each propulsion mechanism 1071 is driven by a drive motor housed in the control unit 6000. The drive motor is connected to the control board, which also controls the switching on and off of the drive motor or the adjustment of its operating parameters. For example, the operating parameters could be power or rotational speed.

[0039] The inclined position of the pool robot refers to the fact that, when the pool robot is projected vertically onto a vertical plane, the line connecting the centers of rotation of the two wheels forms an angle with the X-axis or the Z-axis, where the angle is greater than 0 degrees and less than or equal to 90 degrees. Alternatively, the moving surface (or the bottom surface of the track) of the pool robot's track, which may come into contact with the pool floor or wall, forms an angle with the horizontal or vertical plane. Accordingly, the "incline direction of the pool robot" refers to the direction of extension of the moving surface of the track or the bottom surface of the track when the pool robot is inclined.

[0040] To facilitate the removal of the filter cassette 1051, a second handle 1052 is provided on the filter cassette, which is rotatably arranged on the upper opening of the filter cassette, so that the user can remove the filter cassette from the first recording chamber or insert it into the first recording chamber by holding the second handle.

[0041] In another embodiment, the main pump operates when the pool robot is cleaning the pool wall or crawling along it. The fluid continuously enters the filter cassette through the first water inlet and is continuously discharged by the main pump's impeller and the first water outlet. The discharged fluid exerts an initial thrust force on the pool robot towards the pool wall, causing it to adhere to the wall.

[0042] As in Fig. As shown in Figure 4, the swimming pool robot further comprises a side drive component 115. The side drive component includes a lateral flow channel 115a, which is arranged transversely on the main body. The two ends of the lateral flow channel 115a penetrate the lateral side walls of the main body and are connected to the outside. The two end openings of the lateral flow channel 115a serve as the first opening 115d and the second opening 115e, with one of the two openings, either the first opening 115d or the second opening 115e, functioning as a liquid inlet and the other as a liquid outlet.

[0043] The side drive component further comprises a lateral impeller 115c and a lateral electric motor 115b, which drives the lateral impeller 115c. The lateral impeller 115c and the lateral electric motor 115b are both arranged in the lateral flow channel 115a.

[0044] The lateral electric motor 115b drives the lateral impeller 115c to direct fluid from the pool through the fluid inlet into the lateral flow channel. The fluid passes the lateral impeller and is discharged through the fluid outlet, generating a jet stream directed away from the side of the main body.This jet stream generates a second thrust force on the pool robot, the second thrust force providing at least one thrust component in the transverse direction of the pool robot to move the pool robot laterally (horizontally) along the waterline on the pool wall and clean the waterline; or to move the pool robot along the pool floor or near the pool wall to map the pool floor or clean the pool wall along the edge during edge following; or to move the pool robot along the water surface on the pool wall to map the water surface or clean along the edge during edge following.

[0045] In one embodiment, the side drive component 115 is as shown in Fig. 4 shown, arranged continuously between the two sides of the swimming pool robot, with the first opening 115d on one side and the second opening 115e on the other side.

[0046] In some embodiments, the two ends of the lateral flow channel penetrate the outer surfaces of the two locomotion mechanisms of the swimming pool robot, with the first opening being located on one locomotion mechanism and the second opening on the other locomotion mechanism, so that the two ends of the lateral flow channel penetrate the locomotion mechanisms and are connected to the outside world.

[0047] For example, the two ends of the lateral flow channel 115a are each located in a region 1173 (e.g., an annular region 1173) of a locomotion mechanism, thus not occupying any additional space in the main body.

[0048] This allows for a more compact structure of the swimming pool robot while simultaneously providing the lateral thrust function, resulting in a smaller overall size of the swimming pool robot.

[0049] In some embodiments, each locomotion mechanism comprises two wheels and a track 117 that runs around the two wheels, forming a space (e.g., an annular space) between the two wheels and the track. There are two locomotion mechanisms 1071, each arranged on one of the two sides of the main body 1001. The two ends of the lateral flow channel are each located within the space (e.g., the annular space) of a locomotion mechanism, so that the lateral flow channel runs through the spaces of both locomotion mechanisms and is connected to the outside. This does not occupy any additional space in the main body, making the structure of the swimming pool robot compact and ensuring that the normal operation of the two wheels and the track is not affected.

[0050] In further embodiments, the two wheels are referred to as the first wheel and second wheel for the sake of simplicity. The propulsion mechanism further comprises an outer cover plate 1174, which is arranged on the main body and covers at least the first and second wheels to prevent exposure of the first and second wheels, respectively, and to protect them. Thus, the wheels are covered without interfering with the normal operation of the track. Accordingly, the first opening and the second opening of the lateral flow channel are each arranged on the outer cover plate of a propulsion mechanism, such that the two ends of the lateral flow channel penetrate the outer cover plates of the two propulsion mechanisms (i.e., the outer cover plates as the outer surfaces of the propulsion mechanisms) and are connected to the outside world.

[0051] In further embodiments, the first opening and the second opening are each provided with a grid. The grid prevents dirt or contaminants from the pool from entering the lateral flow channel and wrapping themselves around the impeller, thus preventing jamming of the impeller, which could impair its normal operation. Furthermore, the grid can direct the flow of liquid entering or exiting the lateral flow channel.

[0052] Alternatively, in further embodiments where the propulsion mechanism includes an outer cover plate, the two ends of the lateral flow channel are each arranged within the area (e.g., the annular area) of a propulsion mechanism. Each outer cover plate is provided with an escape hole or an escape grid to expose both the first and second openings, so that the two ends of the lateral flow channel are connected to the outside world.

[0053] In another embodiment, the first and second openings are each arranged on an outer cover plate in the vertical direction of the pool robot. This means that, in the vertical direction of the pool robot, the first and second openings are located within the area without interfering with the normal operation of the track.

[0054] In other embodiments, the outer cover plate, as in Fig. Figure 5 shows that not only the two wheels are covered, but also at least part of the area. For example, the outer cover plate covers the area, but is provided with the aforementioned first opening or second opening, or the aforementioned escape hole or escape grille.

[0055] In further embodiments, the two ends of the lateral flow channel do not penetrate the two propulsion mechanisms to communicate with the outside world. For example, one of the two openings, either the first or the second, serves as a liquid inlet and the other as a liquid outlet, with the liquid outlet being located on the propulsion mechanism and the liquid inlet not being located on the propulsion mechanism. For example, the liquid inlet is connected to the first receiving chamber, which serves to hold the filter cartridge.When the lateral electric motor drives the lateral impeller, the fluid from the first intake chamber flows through the fluid inlet into the lateral flow channel, passes the impeller of the lateral flow channel, and is discharged through the fluid outlet of the propulsion mechanism to exert a lateral (sideways) thrust on the pool robot. Alternatively, the fluid inlet can also be connected to the aforementioned second intake chamber. When the lateral electric motor drives the lateral impeller, the fluid from the second intake chamber flows through the fluid inlet into the lateral flow channel, passes the impeller of the lateral flow channel, and is discharged through the fluid outlet of the propulsion mechanism to exert a lateral (sideways) thrust on the pool robot.Alternatively, the fluid inlet can also be connected to other areas in the main body, as long as, under the drive of the lateral electric motor, fluid from the main body passes through the fluid inlet into the lateral flow channel, passes the impeller of the lateral flow channel and is discharged through the fluid discharge opening of the propulsion mechanism.

[0056] If the pool robot is equipped with a side-drive component, it has a left-edge following mode and a right-edge following mode. Left-edge following mode means that the left edge of the pool robot stays close to or very close to the edge or wall of the pool; similarly, right-edge following mode means that the right edge of the pool robot stays close to or very close to the edge or wall of the pool.

[0057] For example, as in Fig. Figure 4 shows the pool robot in left edge-following mode, with the first opening 115d serving as the liquid inlet and the second opening 115e as the liquid outlet to generate a greater second thrust force towards the left side on the right side of the pool robot. Optionally, the lateral impeller 115c and the lateral electric motor 115b are arranged on the right side of the lateral flow channel 115a near the second opening, so that when the lateral electric motor rotates, the impeller, during rotation, generates a maximum second thrust force towards the left side with the liquid discharged from the liquid outlet. This keeps the left side of the pool robot as close as possible to the pool wall and improves edge following.For example, the outer cover plate of the locomotion mechanism is positioned closer to or closer to the pool wall to improve the edge tracking of the pool robot and the accuracy of the mapping along the edge.

[0058] In another example, the pool robot is in right-edge following mode, with the first opening 115d serving as a liquid discharge opening and the second opening 115e as a liquid inlet, to generate a greater second thrust force towards the right side on the left side of the pool robot. Optionally, the lateral impeller 115c and the lateral electric motor 115b are arranged on the left side of the lateral flow channel 115a near the first opening, so that when the lateral electric motor rotates, the impeller, during its rotation, generates a maximum second thrust force towards the right side from the liquid discharge opening.

[0059] It should be noted that in this invention, "side electric motor" or "side wheel" means that the electric motor or wheel serves to form the "side drive" and that there are no restrictions regarding the shape and position of the motor / wheel itself.

[0060] It should be noted that the terms “side electric motor” and “side impeller”, which are used in the aforementioned embodiments, serve only to simplify the description and to distinguish them from the “main motor” and “main impeller”, respectively.

[0061] In fact, the lateral electric motor is simply an electric motor and the lateral impeller is simply an impeller, without any particular additional significance or limitation. In further embodiments, regardless of whether the pool robot is in left or right edge-following mode, the lateral impeller and the lateral electric motor can be arranged on the left side of the lateral flow channel 115a near the first opening, in the middle position, or on the right side of the lateral flow channel near the second opening. By changing the direction of rotation of the lateral electric motor, the pool robot can be switched between left and right edge-following modes.For example, when the lateral electric motor 115b rotates forward, fluid flows through the first opening into the lateral flow channel and is discharged to the right through the second opening, thereby exerting a second thrust force towards the left side on the pool robot to achieve the left edge-following mode. Conversely, when the lateral electric motor 115b rotates backward, fluid flows through the second opening into the lateral flow channel and is discharged to the left through the first opening, thereby exerting a second thrust force towards the right side on the pool robot to achieve the right edge-following mode.

[0062] When the pool robot is moved laterally (horizontally) along the pool's waterline, it has a left-side movement mode, analogous to the left-side edge-following mode. The arrangement of the lateral electric motor and the lateral impeller in the lateral flow channel corresponds to that of the previously described left-side edge-following mode, which will not be discussed further here. Similarly, the pool robot has a right-side movement mode, analogous to the right-side edge-following mode. The arrangement of the lateral electric motor and the lateral impeller in the lateral flow channel corresponds to that of the previously described right-side edge-following mode, which will not be discussed further here.

[0063] Because the pool robot is equipped with a side-drive component, this component generates a lateral (sideways) thrust force on the robot as it moves laterally (horizontally) along the pool wall to clean the waterline. This second thrust force allows the pool robot to move stably laterally (horizontally) along the waterline, thus improving waterline cleaning.

[0064] In one embodiment, the side drive component 115 is located as shown in Fig.Figure 4 shows the first water inlet below the 6000 control housing and in the second intake chamber, thus maintaining the compact structure of the pool robot. The first water inlet is connected to the first inlet at the bottom of the filter cassette, with the first water inlet and the lateral flow channel being offset in the direction of travel of the pool robot. For example, when the pool robot is moving along the pool floor or wall, the lateral flow channel is located in front of the first water inlet. When both the main pump and the lateral electric motor are switched on, neither the liquid entering nor the liquid exiting the lateral flow channel affects the amount of water entering the filter cassette through the first water inlet.Alternatively, in another embodiment, the lateral flow channel is located closer to the first handle than the first water inlet or the filter cassette.

[0065] In further embodiments, both the main pump and the control housing are located in the second receiving chamber in the direction of travel of the pool robot, while the filter cassette is located in the first receiving chamber, thus making the weight of the second receiving chamber greater than that of the first. This prevents the pool robot from rearing up as it travels along the pool floor from a horizontal surface upwards to an inclined surface or from an inclined surface downwards to a horizontal surface.

[0066] Alternatively, in some embodiments, the side drive component 115 is located in or below the second receiving chamber and is arranged horizontally offset from the control housing in order to avoid increasing the height of the pool robot. Simultaneously, the lateral flow channel is arranged horizontally offset from the filter cassette, so that neither the liquid entering nor the liquid exiting the lateral flow channel affects the pool fluid entering the filter cassette through the first water inlet. This ensures that the pool robot cleans the pool floor, the pool walls, and the waterline while simultaneously providing the lateral thrust function.

[0067] In another embodiment, when the pool robot is standing on a horizontal surface, at least part of the first projection of the lateral flow channel on the horizontal plane is offset from at least part of the second projection of the filter cartridge on the horizontal plane. For example, the first projection is offset from the second projection so that the arrangement of the side drive component of the pool robot does not impair the capacity of the filter cartridge for dirt. The first water inlet is located on the bottom of the pool robot and is connected to the lower opening of the dust cartridge, such that the third projection of the first water inlet on the horizontal plane is offset from the second projection of the lateral flow channel; or at least part of the third projection and at least part of the second projection do not overlap.

[0068] The aforementioned transverse direction can be defined as the direction indicated by the connecting line of the midpoints of the two lateral edges of the swimming pool robot 1000.

[0069] In some embodiments, when the pool robot is moved along the pool wall, for example when cleaning the waterline, the side-drive component can cause the pool robot to perform a lateral (sideways) movement to the left or right along the pool wall to clean the waterline crosswise. Furthermore, the pool robot can simultaneously perform a left or right movement while moving upwards or downwards, thus increasing the pool robot's range of motion.

[0070] In some embodiments, when the pool robot is moved along the pool wall, both the main pump and the side-mounted electric motor of the side-drive component are switched on. The main pump primarily serves to generate the initial thrust so that the pool robot adheres to the pool wall and does not fall; the side-drive component primarily serves to generate the secondary thrust to move the pool robot laterally (horizontally) along the waterline of the pool wall and clean the waterline.

[0071] In some embodiments, the pool robot further comprises a second water inlet 1032, which is arranged on the front part 10011 (i.e., front shell) or on the rear part 10012 (i.e., rear shell) of the main body (i.e., the main body of the pool robot). The second water inlet 1032, the filter cartridge, the main impeller of the main pump, and the first water outlet 1041 are connected sequentially to form a second water path used for cleaning the water surface. In one embodiment, the second water inlet 1032 is arranged on the front side wall of the main body. The pool robot cleans the water surface by moving forward when cleaning at the water surface. In another embodiment, the second water inlet 1032 is arranged on the rear side wall of the main body. The pool robot cleans the water surface by moving backward when cleaning at the water surface.

[0072] The filter cartridge is equipped with a first inlet (10511a) and a second inlet (10511b). The first inlet is connected to the first water inlet, allowing liquid from the water surface to enter the filter cartridge through the first water inlet and be filtered. The second inlet is connected to the second water inlet, allowing liquid from the water surface to enter the filter cartridge through the second water inlet and be filtered.

[0073] The pool robot further comprises two first drive devices 116, arranged symmetrically on the two sides of the main body. The first drive device includes a drive flow channel, an impeller, and an electric motor. One of the two openings of the drive flow channel is a front opening, while the other is a rear opening. When the pool robot cleans the water surface by moving forward, the electric motor drives the impeller, causing fluid to enter the drive flow channel through the front opening, pass over the impeller, and be discharged through the rear opening. The discharged fluid generates a forward thrust force on the pool robot, which propels it to move across the water surface. Alternatively, by varying the rotational speeds of the wheels of the two first drive devices, the pool robot can be steered or rotated across the water surface.

[0074] When the pool robot is moved laterally (horizontally) along the pool wall's waterline to clean it, both the main pump and the side-mounted electric motor are switched on. Additionally, the two front drive units can be activated. The different rotational speeds of the wheels of these two drive units exert a lateral force on the pool robot, thus driving or assisting its lateral movement and further improving the cleaning effect of the waterline.

[0075] In further embodiments, the pool robot comprises a swimming chamber 111 arranged in the main body and a pump. The swimming chamber is connected via a line to an air inlet section 113, which has an air inlet. When the pool robot stops at the waterline, the air inlet of the air inlet section is exposed above the water surface. The pump draws or injects external air into the air inlet, thereby increasing the volume of gas in the swimming chamber so that the force of gravity on the pool robot is less than the buoyancy. This allows the pool robot to change from adhering to the pool wall to hovering on the water surface. When the pool robot is hovering on the water surface, the two first drive devices propel the pool robot to move along the water surface and clean it.The side drive component improves the edge cleaning of the pool robot at the water surface.

[0076] The swimming pool robot includes a control system that can capture various data from the swimming pool robot 1000 and analyze and process the captured data to control the various components of the swimming pool robot 1000, such as a microcontroller, an embedded control system, or a special integrated circuit (ASIC).

[0077] At least one distance sensor 1009 is located on any side of the main body. The distance sensor 1009 is used to detect the distance between objects in the target area and the pool robot. The distance sensor can be a time-of-flight (TOF) sensor, an ultrasonic sensor, a line laser, an LDS, or similar. One or more distance sensors can be located on one side of the main body. If at least two distance sensors are present on one side of the main body, the types of distance sensors can be the same or different. For example, two distance sensors can be present on one side of the main body, one being an infrared sensor and the other an ultrasonic sensor, or both being infrared sensors, or both being ultrasonic sensors.

[0078] In one embodiment, the swimming pool robot 1000 further comprises one or more image acquisition elements 1010, which serve to capture images of the target area. The captured images are processed by a control component to control the movements of the swimming pool robot 1000. The image acquisition element can be a camera, a camcorder, an image sensor, or the like. For example, the image acquisition element 1010 serves to capture the environment of the target area, recognize image features, and perform functions such as positioning, target recognition, mapping, and obstacle avoidance based on the image features. By comparing images of successive frames, for example, the positioning accuracy can be corrected, which may be caused by slippage, tipping over of the swimming pool robot 1000, or cumulative errors of the inertial measurement unit of the swimming pool robot 1000.During operation, the Pool Robot 1000 can continuously capture images. If the Pool Robot 1000 determines that mapping is complete and an identical image is found in the historical data, it can reposition itself if it has lost its location. Furthermore, specific targets can be identified and determined, indicating whether they are debris to be cleaned or obstacles to be avoided.

[0079] In one embodiment, the swimming pool robot comprises three image acquisition elements 1010, which are arranged distributed in the horizontal direction. In one embodiment, the three image acquisition elements have lenses of the same size. In another embodiment, among the three image acquisition elements 1010, the lens size of the middle image acquisition element is larger than that of the image acquisition elements on the two sides.

[0080] The distance sensors 1009 and / or image capture elements 1010 enable the cleaning path of the swimming pool robot 1000 to be planned and prevent climbing, slipping, tipping over or collisions with obstacles, so that the swimming pool robot 1000 can clean the target area regularly and safely, thus effectively improving the cleaning efficiency and effect of the swimming pool robot 1000.

[0081] In some designs, the pool robot can detect and clean dirt on its way to the starting point of the planned cleaning path, thereby increasing the dirt cleaning efficiency.

[0082] In one embodiment, both the distance sensor 1009 and the image acquisition element 1010 serve to detect obstacles. Based on the detection results, the pool robot performs obstacle avoidance, thereby reducing the probability of collisions or getting stuck during operation.

[0083] In one embodiment, the distance sensor 1009 is located below the image acquisition element 1010 in the vertical direction of the swimming pool robot.

[0084] In one embodiment, the image acquisition element 1010 is located below the second water inlet 1032 and above the distance sensor 1009 in the vertical direction of the swimming pool robot.

[0085] In one embodiment, the swimming pool robot 1000 further comprises one or more additional lights, wherein the additional light 1011 serves to regulate the brightness of the recording area of ​​the image recording element 1010.

[0086] In one embodiment, the swimming pool robot comprises several auxiliary lights 1011 arranged around the image acquisition element 1010. For illustration, it is described that the image acquisition element 1010 comprises two auxiliary lights 1011. One of the two auxiliary lights 1011 is arranged on one side of the image acquisition element 1010, while the other auxiliary light 1011 is arranged on the opposite side of the image acquisition element 1010.

[0087] In one embodiment, the center of at least one additional light 1011 and the center of the image acquisition element 1010 are at the same height.

[0088] In one embodiment, the center of at least one additional light 1011 and the center of the image acquisition element 1010 are not at the same height.

[0089] The image acquisition element 1010 and the auxiliary light 1011 can be arranged on either side of the main body; for example, the image acquisition element can be oriented in the direction of travel of the pool robot 1000. The image acquisition element 1010 and the auxiliary light 1011 can also be located on the side of the main body where the second water inlet 1032 is located. If dirt is present in the field of view of the image acquisition element 1010, the pool robot 1000 can be moved precisely to the area of ​​dirt and clean it with pinpoint accuracy, thus improving the cleaning performance of the pool robot 1000. In some embodiments, if dirt is detected in the field of view of the image acquisition element 1010, the control component can locate the dirt and plan a movement path based on its position.The pool robot 1000 moves along the planned path so that the first water inlet 1031 and / or the second water inlet 1032 come close to the dirt. When the second water inlet 1032 is close to the dirt, the second cover plate 10511d on the second water inlet 1032 opens to suck the dirt into the filter cassette 1051. This eliminates the need to activate the cleaning component, thus maximizing energy savings. Simultaneously, the movement of the pool robot 1000 along the planned path prevents dirt from entering the blind spot of the image capture element 1010.

[0090] In some embodiments, the control system can determine the brightness of the environment surrounding the image capture element 1010 based on the brightness of the images captured by the image capture element 1010 and adjust the auxiliary brightness of the auxiliary light 1011 accordingly. Adjusting the auxiliary light 1011 can include switching it on, switching it off, dimming its brightness, or increasing its brightness. For example, if the image capture element 1010 is in a low-light or backlit environment, the brightness of the auxiliary light 1011 is increased based on the degree of brightness or backlighting to improve the clarity of the images captured by the image capture element 1010.If the image capture element 1010 is located in a brightly lit environment, the auxiliary light 1011 is switched off or its brightness is reduced to minimize the power consumption of the pool robot 1000 without affecting the clarity of the images captured by the image capture element 1010. In some embodiments, the control system can adjust the exposure parameters of the image capture element 1010 based on the exposure level of the images captured by the image capture element 1010 to improve the image quality of the image capture element 1010.

[0091] In some embodiments, the auxiliary light 1011 is switched off when at least one of the following conditions is met: a fault of the swimming pool robot, an interruption of the cleaning task, the completion of the cleaning task, the swimming pool robot leaving the pool, a nearly vertical position of the swimming pool robot with the side with the auxiliary light facing upwards.

[0092] In some embodiments, the control system uses the captured images to identify target objects in the target area and their type, and performs appropriate processing methods based on the type of target object, such as obstacle avoidance, cleaning, or controlling a docking point.

[0093] In some models, the pool robot, upon detecting fixed objects such as ladders, drains, wall lights, steps, or obstacles like toys or stones, will either avoid them or proceed slowly. Upon detecting debris such as fallen leaves or debris on platforms, the pool robot can perform a cleaning action. When it detects obstacles such as a base station, and upon receiving a return command, the pool robot will navigate to the docking point.

[0094] In some embodiments, the control system uses the captured images to recognize the size (or coverage area) and / or position of target objects within the target area and determines the obstacle avoidance method of the pool robot based on this size and / or position. For example, after recognizing the size and position of a target object, the pool robot is controlled to avoid the target object's area in order to achieve precise obstacle avoidance.

[0095] In some embodiments, when it is detected that a target object needs cleaning, a suitable cleaning method is executed based on the specific type of target object. If the target object is identified as cleanable, the pool robot can perform the cleaning based on a preset cleaning strategy. For example, for a target object such as a platform with a large surface area, the pool robot can clean the surface of the platform based on a preset cleaning strategy. If the target object is identified as dirt, the pool robot can remove this dirt. The positional information of the dirt can be detected, and the pool robot travels to the dirt's location to remove it. Precise localization of the dirt's position can improve the accuracy of dirt removal and the cleaning efficiency.

[0096] In some embodiments, the pool robot executes the cleaning strategy corresponding to the type of dirt detected. For example, if the dirt is identified as leaves, the pool robot can travel a preset distance after reaching the location of the leaves. Leaves are easily pushed aside by the waves created by the pool robot's movement. Traveling an additional distance can improve leaf removal. Alternatively, different cleaning strategies can be executed based on the density of the dirt distribution. For example, if the density of the dirt distribution in a particular area exceeds a preset density threshold, all the dirt in that area can be considered accumulated dirt, and a cleaning zone for this accumulated dirt is defined.A cleaning path is planned for this area of ​​accumulated dirt, and the pool robot can clean the area of ​​accumulated dirt once or several times by moving back and forth along the planned cleaning path.

[0097] In some embodiments, the control system uses the captured images to detect the turbidity of the water and / or the degree of contamination of the target area and executes appropriate cleaning methods based on this information. The turbidity of the water can be slightly, moderately, or heavily turbid. The degree of contamination of the target area can include the amount of dirt, the distribution area of ​​the dirt, or the concentration density of the dirt. For example, an area is considered heavily contaminated if the amount of dirt in a given area is high. An area is considered heavily contaminated if the dirt is densely distributed within a given area. An area is considered heavily contaminated if the distribution area of ​​the dirt covers a large proportion of the area.The criteria for distinguishing between the turbidity of the water and the pollution level of the target area are not defined here.

[0098] Depending on the water's turbidity level, a corresponding cleaning mode can be selected. For example, in highly turbid water, the number of cleaning cycles or the cleaning power of the pool robot is increased (e.g., by increasing the brush rotation speed or the main pump output). Similarly, depending on the level of soiling in the target area, a corresponding cleaning method is used. This might involve increasing the number of cleaning cycles or the cleaning power in heavily soiled areas, or selectively cleaning heavily soiled areas during the cleaning process, while less soiled areas are cleaned less frequently or not at all to reduce the energy consumption of the cleaning process.

[0099] In some embodiments, one or more of the following parameters can be displayed in the user interface of an app: type, number, position, size, distribution area of ​​the target object, turbidity of the water, pollution level of the target area, cleaning status of the target object (e.g., to be cleaned, in cleaning, cleaning complete).

[0100] In some implementations, the control system can create a map of the pool based on the captured images and update the map in real time with target objects detected during operation to improve the effectiveness of the mapping. The map is displayed in the app's user interface.

[0101] In some embodiments, the swimming pool robot stores information such as type, size and position of the target objects recognized from the recorded images and plans subsequent cleaning paths, obstacle avoidance paths, etc. based on this information.

[0102] In some embodiments, the swimming pool robot uses the captured images to recognize whether the cleaning of dirt is complete and, after completing the cleaning of a specific area or specific dirt, cleans other areas or other dirt in order to increase the effectiveness of the dirt cleaning.

[0103] In some embodiments, the swimming pool robot can track dirt through the image acquisition element to prevent dirt from entering the blind spot of the image acquisition element 1010's field of view and not being cleaned.

[0104] In some embodiments, the image capture element remains switched on during operation of the swimming pool robot.

[0105] In some embodiments, after detecting dirt through the images captured by the image capture element, the swimming pool robot immediately goes to clean it, and after cleaning it can move randomly or follow a preset path until dirt is detected again.

[0106] In some embodiments, the image acquisition element 1010 is activated in a specific cleaning mode. Once activated, this specific cleaning mode can be executed alone or after the completion of a regular cleaning mode. There are no restrictions in this regard. The regular cleaning mode is a mode in which the image acquisition element 1010 is not activated.

[0107] In some embodiments, the specific cleaning mode includes the fact that the 1000 pool robot follows a preset cleaning path, such as an arc or loop pattern, to clean the target area in patrol mode. During cleaning in patrol mode, when a specific target, such as fallen leaves and other debris, is detected, the pool robot moves to that target to clean it. After cleaning is complete, the 1000 pool robot can return to its original cleaning path by reversing or similar means and continue patrolling along the preset cleaning path. The assessment of whether a specific target has been cleaned can be performed in various ways. For example, the control system can directly detect whether the target has been removed, or an assessment condition can be preset, which is considered fulfilled when the condition is met. The assessment condition could be, for example,This could be a time condition, whereby the cleaning is considered complete if the pool robot 1000 remains at the specific target for a preset time. The specific content of the assessment condition is not restricted here.

[0108] In some embodiments, the distance between adjacent sub-paths of the preset cleaning path can be dynamically adjusted in the specific cleaning mode. For example, if the pool robot does not detect any dirt on a preset number of consecutive adjacent sub-paths, the distance between the adjacent sub-paths to be patrolled is increased, e.g., from a first path distance to a second path distance, where the second path distance is greater than the first. If the pool robot detects dirt on a preset number of consecutive adjacent sub-paths, or detects multiple dirt spots on a single sub-path, the distance between the adjacent sub-paths to be patrolled is adjusted from the second path distance back to the first path distance, or to any distance smaller than the second path distance.In this way, cleaning effectiveness and efficiency can be improved simultaneously.

[0109] In some embodiments, the specific cleaning mode includes a termination condition, which may be either the completion of the patrol of the target area or the end of the cleaning time estimated based on the area of ​​the target area. The area of ​​the target area can be estimated after mapping.

[0110] In some embodiments, the specific cleaning mode also includes a platform cleaning function, where the platform is an area within the target zone that is higher than the pool floor and has steps. For example, the platform cleaning process includes the following: During patrol cleaning, the 1000 pool robot detects a platform using images captured by the image capture element and can be controlled to travel directly to and clean the platform. Alternatively, the platform's position information can be recorded, and after the patrol cleaning is complete, the 1000 pool robot is controlled to clean the platform based on this recorded position information. The recorded position information can be the platform's coordinates on the generated map of the target zone or other location data.The Pool Robot 1000 can reach the platform by moving in an arc pattern based on the direction of the recorded platform position relative to the end position until it reaches the platform, or by directly planning a path based on the recorded position information and the end position. There are no restrictions in this regard.

[0111] In some embodiments, the 1000-liter pool robot can climb the platform steps after reaching the platform and then clean the platform surface. If the current platform area is smaller than the preset movable area of ​​the 1000-liter pool robot (e.g., smaller than the base area of ​​the 1000-liter pool robot) and there are additional steps, the 1000-liter pool robot can continue climbing until cleaning is complete on a specific platform area. After cleaning is complete, the 1000-liter pool robot can leave the platform by reversing or turning to perform subsequent tasks, such as moving to the next preset platform, continuing other cleaning tasks, or returning to a specific position.

[0112] In some embodiments, the user can choose whether the image capture element 1010 is activated or, if activated, whether the images captured by the image capture element are used for cleaning. For example, this can be done via function keys on a communication device connected to the pool robot 1000 or on the main unit, allowing the corresponding functions of the image capture element 1010 to be switched on or off. Alternatively, the pool robot 1000 can decide whether to activate the image capture element 1010 based on an assessment of the target area environment and / or its own parameters. For example, the image capture element 1010 is switched off when preset conditions are met, such as...A complex environment in the target area or insufficient remaining battery power of the pool robot 1000 may prevent the activation of the image capture element 1010 in the target area. This increases the flexibility and efficiency of the cleaning process.

Claims

[1] Swimming pool robots, characterized by that it includes the following: a main body; two locomotion mechanisms, each located on opposite sides of the main body; and a side drive component, wherein the side drive component comprises the following: a lateral flow channel that has a liquid inlet and a liquid outlet; a lateral impeller arranged in the lateral flow channel; and a lateral electric motor configured to drive the lateral wheel; wherein the fluid discharge opening is located on one of the propulsion mechanisms, so that the lateral flow channel is connected to the outside world. [2] Swimming pool robot according to claim 1, characterized by, that the fluid inlet is located on the other propulsion mechanism, so that the lateral flow channel connects the two propulsion mechanisms. [3] Swimming pool robot according to claim 1 or 2, characterized by , that each of the locomotion mechanisms comprises two wheels and a track, the track running around the two wheels, forming an area between the two wheels and the track; wherein at least part of the lateral flow channel lies in the area. [4] Swimming pool robot according to claim 3, characterized by , that the propulsion mechanism further comprises an outer cover plate which covers at least the two wheels; wherein the fluid inlet and fluid outlet are each arranged on the outer cover plates of the two propulsion mechanisms. [5] Swimming pool robot according to claim 3, characterized by, that the propulsion mechanism further comprises an outer cover plate which covers at least the two wheels; wherein the outer cover plate is provided with a bypass hole or a bypass grid, through which the fluid inlet and the fluid outlet are connected to the outside world. [6] Swimming pool robot according to claim 3, characterized by , that the locomotion mechanism further comprises an outer cover plate which covers at least the two wheels; wherein the outer cover plate is provided with a bypass hole or a bypass grid, wherein fluid can flow from the outside through the bypass hole or bypass grid of one of the outer cover plates into the lateral flow channel, and fluid from the lateral flow channel can exit the swimming pool robot through the bypass hole or bypass grid of the other outer cover plate. [7] Swimming pool robot according to any one of claims 3 to 6, characterized by that the outer cover plate covers at least part of the area between the two wheels. [8] Swimming pool robot according to claim 1, characterized by , that each of the locomotion mechanisms includes the following: two wheels; a caterpillar track that runs around the two wheels, forming an area between the two wheels and the caterpillar track; and an outer cover plate, which at least serves to cover the two wheels; wherein the liquid discharge opening is arranged on an outer cover plate, or wherein an outer cover plate is provided with an opening such that the liquid discharge opening is connected to the outside world through the opening. [9] Swimming pool robot according to claim 8, characterized by that at least part of the lateral flow channel lies within that area. [10] Swimming pool robot according to claim 9, characterized by , that when the swimming pool robot is projected from one side of the swimming pool robot towards the other side or along the transverse direction of the swimming pool robot onto a vertical surface, the projection of the opening or the liquid discharge opening lies within the projection of the area. [11] Swimming pool robot according to one of claims 8 to 10, characterized by that the outer cover plate also serves to cover at least part of the area. [12] Swimming pool robot according to any one of claims 8 to 11, characterized by that the opening is an escape hole or an escape grate. [13] Swimming pool robot according to any one of claims 1 to 12, characterized by , that the main body comprises a first receiving chamber; wherein the swimming pool robot further comprises the following: a filter cassette that is at least partially located in the first recording chamber; wherein the liquid inlet is connected to the first receiving chamber, so that liquid from the first receiving chamber can flow into the lateral flow channel. [14] Swimming pool robot according to any one of claims 1 to 12, characterized by , that the main body comprises a first receiving chamber and a second receiving chamber; wherein the swimming pool robot further comprises the following: a filter cassette that is at least partially located in the first recording chamber; a main pump, which is at least partially located in the second receiving chamber; wherein the main pump serves to pump liquid from the swimming pool into the filter cassette and to expel the filtered liquid from the main body by the main pump; wherein the liquid inlet is connected to the second receiving chamber, so that liquid from the second receiving chamber can flow into the lateral flow channel. [15] Swimming pool robot according to any one of claims 1 to 12, characterized by , that the main body includes a second receiving chamber; wherein the swimming pool robot further includes the following: a power supply component located in the second receiving chamber, wherein the power supply component serves to power the swimming pool robot; wherein the liquid inlet is connected to the second receiving chamber, so that liquid from the second receiving chamber can flow into the lateral flow channel. [16] Swimming pool robot according to any one of claims 1 to 15, characterized by that a grid is arranged at the liquid discharge opening. [17] Swimming pool robot according to any one of claims 1 to 16, characterized by , that the swimming pool robot includes the following: a filter cartridge that is at least partially located in the main body; a first water inlet located on the underside of the main body; a first water outlet, which is located at least partially on the top of the main body; a main pump located inside the main body; wherein the first water inlet, the filter cassette, the main pump and the first water outlet are sequentially fluidically connected to form a cleaning water path. [18] Swimming pool robot according to claim 17, characterized by , that when the pool robot is moving along the bottom of the pool, at least part of the lateral flow channel is located in front of the first water inlet; and / or when the pool robot is on a horizontal plane, at least part of the first projection of the lateral flow channel on the horizontal plane does not coincide with at least part of the second projection of the filter cassette on the horizontal plane. [19] Swimming pool robot according to claim 17 or 18, characterized by , that the swimming pool robot further comprises a first handle with which the user can lift the swimming pool robot; wherein the lateral flow channel is closer to the first handle than the first water inlet or the filter cassette. [20] Swimming pool robot according to any one of claims 1 to 19, characterized by , that the swimming pool robot also includes the following: at least one image capture element used for capturing images; at least one distance sensor, which serves at least to detect the distance between the swimming pool robot and an object; wherein, in the vertical direction of the swimming pool robot, the distance sensor is arranged below the image capture element. [21] Swimming pool robot according to claim 20, characterized by, that the swimming pool robot further includes at least one additional light, which serves at least to regulate the brightness of the recording area of ​​the image recording element. [22] Swimming pool robot according to claim 21, characterized by that at least one additional light source is positioned close to the image capture element. [23] Swimming pool robot according to claim 21 or 22, characterized by that there are at least two additional lights, wherein the two additional lights are arranged essentially symmetrically on two sides of the image capture element. [24] Swimming pool robot according to any one of claims 1 to 23, characterized by , that the swimming pool robot includes the following: a filter cartridge that is at least partially located in the main body; a second water inlet located on a side wall of the main body; a first water outlet, which is located at least partially on the top of the main body; a main pump located inside the main body; wherein the second water inlet, the filter cassette, the main pump and the first water outlet are sequentially fluidically connected to form a cleaning water path; wherein, in the vertical direction of the swimming pool robot, the image acquisition element is located below the second water inlet and above the distance sensor. [25] Swimming pool robot according to claim 24, characterized by that the second water inlet, the image capture element and the distance sensor are all located on a front side wall of the main body. [26] Swimming pool robot according to any one of claims 1 to 13, characterized by , wherein the swimming pool robot further comprises a main pump, wherein the main pump is in operation during the cleaning mode of the swimming pool robot. [27] Swimming pool robot according to claim 26, characterized by, that the main pump comprises a main motor and a main impeller, the main motor being configured to drive the main impeller.

Images