POOL CLEANING ROBOT

Abstract

POOL CLEANING ROBOT The invention relates to a pool cleaning robot belonging to the technical field of pool cleaning. The pool cleaning robot comprises a main body, a water suction module, a movement module, a transmission module, and a front rotating brush. The movement module includes a front wheel and a drive module, the front wheel being located near the front of the main body. The front rotating brush has a first state and a second state. In pool wall cleaning mode, when the main body moves towards the pool wall, the water discharge rate of the water suction module is reduced or stopped until the drive module drives the front rotating brush from its first state to its second state. Figure for the abstract: Fig. 1

Description

Title of the invention: POOL CLEANING ROBOT

[0001] The present invention falls within the technical field of pool cleaning, and relates more particularly to a pool cleaning robot.

[0002] Pool cleaning is an essential process for maintaining the cleanliness and safety of pool water. Regular pool cleaning not only ensures water clarity and hygiene but also extends the lifespan of pool equipment. Pool cleaning is usually carried out primarily by hand or with automatic cleaning equipment. Since manual cleaning is relatively inefficient, automatic cleaning equipment is becoming increasingly popular.

[0003] Automatic pool cleaning equipment draws water containing impurities from the water inlet to the machine's filtration module, where it is filtered to clean the pool. However, the structural arrangement of components such as the filtration module, the water suction module, the drive motor module, the transmission module, and other elements, distributed at various locations and heights on the robot, may prove inefficient. Such an arrangement can lead to a decrease in the robot's cleaning performance.

[0004] For example, in some cases, an irrational spatial arrangement of the components may limit the effective dust collection area of ​​the filtration module. After the water suction module is activated, the water passes through the filtration module to be filtered, but the filtration position of the waste basket is susceptible to clogging. If the filtration module becomes clogged, the front rotating brush may detach from the surface to be cleaned, causing the front rotating brush to lift or the entire robot to rise, which impairs overall cleaning efficiency and complicates operation for the user. In other cases, due to an irrational spatial arrangement of the components, when the automatic pool cleaning device is in pool wall cleaning mode, the robot moves first from the bottom of the pool to the pool wall.However, the front rotating brush may lift up before reaching the pool wall, or, once the robot reaches the pool wall, the contact area between the front rotating brush and the wall may be too small. This results in low friction between the front rotating brush and the pool wall, making it impossible to clean the junction area between the pool floor and the pool wall, which significantly reduces the effectiveness of pool wall cleaning.

[0005] In order to solve the existing technical problem whereby, in automatic pool cleaning robots, the front rotating brush tends to lift prematurely before reaching the pool wall, thus failing to meet users' needs for overall cleaning capacity in pool wall cleaning mode, the present application proposes a pool cleaning robot. Thanks to a rational arrangement of the various components, this robot reduces the probability of the front rotating brush lifting before reaching the pool wall in wall cleaning mode, thereby effectively improving the robot's overall cleaning effect.

[0006] In order to achieve the aforementioned objectives, this application proposes the following technical solutions:

[0007] A first aspect of the embodiments of the present application provides a pool cleaning robot, the pool cleaning robot moves in the water to perform cleaning, the pool cleaning robot comprising:

[0008] a main body, according to the direction of advancement of the robot, the main body comprising a front and a rear, the main body comprising a hull and a receiving chamber, the hull being provided with a water inlet orifice in communication with the receiving chamber, the water inlet orifice being disposed on the lower surface of the hull;

[0009] a water suction module;

[0010] a filtration module, the filtration module being disposed in the receiving chamber, the filtration module comprising a filtration chamber, the filtration module being provided with a dust port, the dust port being in communication with the water inlet port and the filtration chamber, the water suction module being designed to suction a flow of water, so that the water containing impurities passes through the water inlet port and the dust port, passes through the filtration chamber to be filtered, and is then discharged to the outside of the hull;

[0011] a displacement module, said displacement module comprising a front displacement wheel, said front displacement wheel being rotatably mounted on said front;

[0012] a drive module, said drive module being disposed near said front, said drive module comprising a drive motor and a first output gear, said drive motor comprising a motor rotary shaft, said motor rotary shaft being connected to said first output gear;

[0013] a front rotating brush, said front rotating brush being rotatably mounted at said front, said front rotating brush being designed to clean a surface to be cleaned, said front rotating brush comprising a first state and a second state, in said first state, said front rotating brush being in contact with said wall of swimming pool and said pool bottom, in said second state, said front rotating brush being solely in contact with said pool wall;

[0014] a transmission module, said transmission module comprising at least one rotary brush transmission group; said first output gear being connected in transmission to said front rotary brush by said rotary brush transmission group;

[0015] said robot comprising a pool wall cleaning mode, in which, in pool wall cleaning mode, said main body moves towards said pool wall, the discharge flow of said water suction module is reduced or said water suction module is deactivated, until said drive module drives said front rotating brush to move from said first state to said second state.

[0016] It should be further specified that, in this embodiment, the movement module can cause the main body to move in the pool water in a predefined direction, where "in the water" includes both underwater and on the surface of the water. "Underwater" means that the robotic pool cleaner is fully submerged below the waterline, while "on the surface of the water" means that at least part of the robotic pool cleaner is exposed above the waterline. The water suction module is designed to provide a suction force, generating negative pressure at the water inlet of the shell. Once the water suction module is activated, the flow of water containing impurities is drawn through the water inlet, the dust port, and the filtration chamber, where the debris is retained in said filtration chamber, while the filtered water is discharged to the outside of the shell.

[0017] Compared to the prior art, in this embodiment, the drive module and the front drive wheel are both located near the front of the main body. The front rotary brush is connected via a transmission to the first output gear through the rotary brush transmission unit. Thanks to the compact arrangement of the components at the front of the main body, in particular the front rotary brush, the drive motor, and the front drive wheel, as well as their interaction with the transmission module, the space for the filtration module is optimized. Furthermore, the mass at the front rotary brush is increased. After activation of the water intake module, the effective filtration space of the filtration module reduces the likelihood of clogging.Thus, in pool wall cleaning mode, when the main body reaches the pool wall, reducing or stopping the water suction module's discharge flow decreases the suction force at the water inlet, allowing active control of when the rotating brush lifts from the pool floor. This facilitates the transition of the front rotating brush from the first state to the second. second state, increasing the contact area between the front rotating brush and the surface to be cleaned, and thus improving the efficiency of the pool cleaning robot on the edges of the pool bottom when transitioning between the pool wall and the pool bottom.

[0018] A second aspect of the embodiments of the present application provides a pool cleaning robot, which moves in the water to perform cleaning, said pool cleaning robot comprising:

[0019] a main body, according to the direction of advancement of said robot, said main body comprising a front and a rear, said main body comprising a hull and a receiving chamber, said hull being provided with a water inlet orifice in communication with said receiving chamber, said water inlet orifice being disposed on the lower surface of said hull;

[0020] a water suction module, said water suction module being designed to suction a flow of water at said water inlet orifice, so that the water enters said receiving chamber and is then discharged to the outside of said hull;

[0021] a displacement module, said displacement module comprising a front displacement wheel, said front displacement wheel being rotatably mounted on said front;

[0022] a drive module, said drive module being disposed near said front, said drive module comprising a drive motor and a first output gear, said drive motor comprising a motor rotary shaft, said motor rotary shaft being connected to said first output gear;

[0023] a front rotating brush, said front rotating brush being mounted in a rotational manner at said front, said front rotating brush being designed to clean a surface to be cleaned, said front rotating brush comprising a first state and a second state, in said first state, said front rotating brush being in contact with said pool wall and said pool bottom, in said second state, said front rotating brush being solely in contact with said pool wall;

[0024] a transmission module, said transmission module comprising at least one rotary brush transmission group; said first output gear being connected in transmission to said front rotary brush by said rotary brush transmission group;

[0025] said robot comprising a pool wall cleaning mode, in which, in pool wall cleaning mode, said main body moves towards said pool wall, the discharge flow of said water suction module is reduced or said water suction module is deactivated, until said drive module drives said front rotating brush to move from said first state to said second state.

[0026] In this embodiment, the drive module and the front wheel are both located near the front of the main body. The front rotary brush is connected via a transmission to the first output gear through the rotary brush transmission unit. By limiting the position of the front rotary brush, the drive motor, and the front wheel, as well as by the interaction of the various components with the transmission module, the components located at the front of the main body are arranged in a compact manner. This optimizes the space available for the filtration module and increases the mass of the front rotary brush.

[0027] The water suction module draws in the water flow, which passes through the water inlet and the receiving chamber before being discharged, thus creating negative pressure at the water inlet of the robotic pool cleaner. Therefore, in pool wall cleaning mode, when the main body reaches the pool wall, reducing or stopping the discharge flow of the water suction module decreases the negative pressure at the water inlet, thereby reducing the suction force of the robotic pool cleaner on the pool floor or wall.This allows the robotic pool cleaner to actively control when the rotating brush lifts from the pool floor, effectively facilitating the transition of the front rotating brush from its first to its second position. This increases the contact area between the front rotating brush and the surface to be cleaned, thus improving the cleaning of dead zones between the pool floor and the pool wall. Consequently, the cleaning efficiency of the robotic pool cleaner during the transition between the pool wall and the pool floor, especially at the edges of the pool floor, is significantly improved.

[0028] A third aspect of the embodiments of the present application provides a pool cleaning robot, said pool cleaning robot moves in the water to perform cleaning, said pool cleaning robot comprising:

[0029] a main body, the main body having a front and a rear, the main body being provided with a detection module, the detection module being designed to detect environmental information, the environmental information including information on the pool wall; in a horizontal direction, the length of said pool cleaning robot is L1, and in a vertical direction, the width of said pool cleaning robot is W1;

[0030] a displacement module, said displacement module comprising a front displacement wheel disposed near said front;

[0031] a drive module, said drive module being disposed near said front, said drive module comprising a drive motor and a first output gear, said drive motor comprising a rotating shaft of the motor, said rotating shaft of the motor being connected to said first output gear;

[0032] a transmission module, the transmission module comprising a transmission group for the rotary brush;

[0033] a front rotating brush, the front rotating brush being mounted in a rotational manner on the front, the front rotating brush being designed to clean a surface to be cleaned, the first output gear being connected in transmission to the front rotating brush via the transmission group of the rotating brush;

[0034] the pool cleaning robot comprising a pool wall cleaning mode, in which, in pool wall cleaning mode, the main body moves towards said pool wall; when the pool wall is a first wall surface, the pool cleaning robot cannot continue to move along the first wall surface towards a waterline, the front drive wheel and the front rotating brush move towards a side away from the first wall surface; when the pool wall is a second wall surface, said front drive wheel and said front rotating brush continue to move along said second wall surface towards the waterline, until said pool cleaning robot reaches the waterline;where, according to the direction of advancement of said robotic pool cleaner, said first wall surface has a concave curved surface, said first wall surface having an inlet opening, the maximum vertical dimension of said inlet opening being L2, the maximum horizontal diameter of said inlet opening being W2, with L2 > L1 and W2 > W1, and the second wall surface being a vertical wall. ;

[0035] It should be further specified that, in this embodiment, the detection module is designed to collect environmental information in the pool. The robotic pool cleaner adjusts its movement and cleaning modes based on the environmental information collected by the detection module. In this embodiment, after the detection module has detected the environmental information, the drive motor and the front drive wheel are both located near the front of the main body. The front drive wheel is connected via the drive to the first output gear through the drive wheel drive assembly, while the front rotating brush is connected via the drive to the first output gear through the rotating brush drive assembly.Thanks to the limited positioning of the front rotating brush, drive motor, and front wheel, as well as the cooperation of the various components with the transmission module, the components at the front of the main body are arranged in a compact manner. Compared to other positions on the pool cleaning robot, This allows for increased mass at the front rotating brush. With this configuration, in pool wall cleaning mode, when the main body reaches the pool wall and it is the first wall surface, the robot cannot continue moving along that first wall surface towards the waterline. In this case, the front drive wheel and the front rotating brush move to a side away from the first wall surface, thus increasing the contact area between the front rotating brush and the pool wall. This allows for efficient cleaning of the junction between the first wall surface and the pool floor, while also reducing the robot cleaner's energy consumption.When the pool wall is a second wall surface, i.e., a vertical wall, reducing or stopping the water suction module's discharge flow decreases the suction force at the water inlet, thus allowing active control of when the rotating brush lifts relative to the pool floor. This facilitates the transition of the front rotating brush from its first to its second position, increasing the contact area between the front rotating brush and the surface to be cleaned, and thus improving the cleaning efficiency of the pool floor edges during the transition between the pool wall and the pool floor.

[0036] A fourth aspect of the embodiments of the present application provides a pool cleaning robot, the pool cleaning robot moves in the water to perform cleaning, the pool cleaning robot comprising:

[0037] a main body, which, depending on the direction of advancement of the robot, has a front and a rear;

[0038] a displacement module, the displacement module comprising a front displacement wheel disposed near said front;

[0039] a drive module, said drive module being disposed near said front, said drive module comprising a drive motor and a first output gear, said drive motor comprising a motor rotary shaft, said motor rotary shaft being connected to said first output gear;

[0040] in a vertical direction, the axis of rotation of the front wheel of displacement is located in a first plane, the lower part of the front wheel of displacement is located in a second plane, and the axis of rotation of said first output gear is located between the first plane and the second plane;

[0041] a transmission module, the transmission module comprising a drive wheel transmission group;

[0042] a front rotary brush, the front rotary brush being rotatably mounted at said front and designed to clean a surface to be cleaned, the first output gear being connected in transmission to said front rotary brush via a rotary brush transmission group, the lines connecting the center of rotation of said first output gear, the center of rotation of said front wheel of displacement, and the center of rotation of said front rotating brush forming three angles, among which the angle having as its vertex the center of rotation of said front wheel of displacement is a first angle [3, with [3 < 150°.

[0043] It should be further specified that, in the present embodiment, said drive motor and said front travel wheel are both located near the front of said main body. Said front travel wheel is transmission-connected to said first output gear via said travel wheel transmission unit, and said front rotary brush is transmission-connected to said first output gear via said rotary brush transmission unit. Said first angle [3] is less than 150°, which makes it possible to concentrate said front rotary brush, said drive motor, said front travel wheel, and said first output gear at the front of said main body and near the lower part of said main body, thus ensuring a compact arrangement of all the components at the front and at the level of said front rotary brush.Thanks to this configuration, when the robotic pool cleaner is in pool floor cleaning mode or pool wall cleaning mode, it is effectively prevented from the front rotating brush lifting unexpectedly from the pool floor. This increases the contact area between the front rotating brush and the surface being cleaned, and improves the cleaning efficiency of dead zones between the pool floor and the pool wall during the transition between the two.

[0044] According to another embodiment of the present application, a pool cleaning robot is provided, capable of moving in the water to perform cleaning, said pool cleaning robot comprising:

[0045] - a main body, according to the direction of advancement of said cleaning robot swimming pool, said main body comprising a front and a rear, said main body comprising a hull and a receiving chamber, said hull being provided with a water inlet orifice in communication with said receiving chamber, said water inlet orifice being disposed on the lower surface of said hull;

[0046] - a detection module, said detection module being disposed on said body principal, said detection module being designed to detect environmental information, said environmental information including information on the pool wall, said detection module including a distance sensor, an image capture sensor, a linear laser, an IMU or an odometer;

[0047] - a water suction module, said water suction module being designed to to draw in a flow of water so that it enters said receiving chamber through said water inlet orifice and is discharged to the outside of said hull;

[0048] - a movement module, said movement module comprising a wheel before movement, said front wheel of movement being mounted in a rotational manner on said front;

[0049] - a training module, said training module being disposed nearby said front, said drive module comprising a drive motor and a first output gear, said drive motor comprising a motor rotary shaft, said motor rotary shaft being connected to said first output gear;

[0050] - a front rotating brush, said front rotating brush being mounted in such a way rotary front audit, said rotary front brush being designed to clean a surface to be cleaned, said rotary front brush comprising a first state and a second state, in said first state, said rotary front brush being in contact with said pool wall and said pool bottom, in said second state, said rotary front brush being solely in contact with said pool wall;

[0051] - a transmission module, said transmission module comprising at least one rotary brush transmission group; said first output gear being connected in transmission to said front rotary brush by said rotary brush transmission group;

[0052] said robot comprising a pool wall cleaning mode, wherein, in pool wall cleaning mode, when it is detected that said pool wall is a first pass, said main body moves towards said pool wall, the discharge flow of said water suction module is reduced or said water suction module is deactivated, until said drive module drives said front rotating brush to move from said first state to said second state, controlling said front rotating brush to successively clean said pool bottom, the junction between said pool wall and said pool bottom, and at least a part of said pool wall of said first pass, said first pass comprising, from said pool bottom to said waterline, a portion of arc-shaped path, said front rotating brush being able to clean at least a portion of said arc-shaped path of said first pass.

[0053] According to the pool cleaning device described in an embodiment of this application, it is provided that in a horizontal direction, the length of said pool cleaning robot is L1, and in a vertical direction, the width of said pool cleaning robot is W1; said first wall surface has an inlet opening, the maximum vertical dimension of said inlet opening is L2, and the maximum horizontal diameter of said inlet opening is W2, with L2 > L1, and W2 > W1; in said first state, said front rotating brush is in contact with said first wall surface and said pool floor, said front rotating brush rotating at the junction between said pool floor and said first wall surface, and cleaning said junction under the effect of the friction force; and in said second state, when said front rotating brush is only in contact with said first wall surface, said main body moves progressively from said inlet opening formed by said first wall surface to a concave arc area of ​​said first wall surface, said front rotating brush moving along said first wall surface to a waterline until it can no longer continue, then said pool cleaning robot moves to a side away from said first wall surface, said front rotating brush moving vertically downwards along said first wall surface until it is no longer in contact with said first wall surface, thus cleaning at least a part of said first wall surface and of said junction between said first wall surface and said pool bottom.

[0054] According to the pool cleaning device described in an embodiment of this application, said robotic pool cleaner further comprises a water suction module. In pool wall cleaning mode, when the front rotating brush is only in contact with the pool wall, the water suction module is activated or its discharge rate is increased.

[0055] In this embodiment, in pool wall cleaning mode, when the front rotating brush is only in contact with the pool wall, increasing the water discharge flow rate of the suction module improves the overall suction force at the lower part of the pool cleaning robot, thereby increasing the contact area between the front rotating brush and the pool wall, and strengthening the friction between the front rotating brush and said pool wall. This improves the cleaning efficiency of the front rotating brush on said pool wall, while also increasing the stability of the movement of said main body on said pool wall, thus preventing said pool cleaning robot from slipping from the pool wall to the bottom of the pool.

[0056] According to the pool cleaning device described in an embodiment of this application, said transmission module further comprises a drive wheel transmission group. Said first output gear is connected in transmission to said front drive wheel via said drive wheel transmission group. Said rotary brush transmission group comprises an internal gear, the first output gear being located inside said front drive wheel, the internal gear being disposed on the inner wall of the front drive wheel, said first output gear meshing with the internal gear for transmission.

[0057] It should be further specified that the first output gear is located inside the front wheel of the travel wheel and meshes with the internal gear to drive the rotation of the front wheel relative to the main body, thus enabling the relative movement of said main body. Furthermore, this configuration allows for a more precise positioning of the first output gear, thereby concentrating said drive motor and the first output gear on the side of said front wheel, thus improving the spatial integration effect at the front of the main body.

[0058] According to the pool cleaning device described in an embodiment of the present application, the rotary brush transmission group comprises a first external gear, a second external gear and a rotary brush transmission gear, the first external gear being disposed inside the front travel wheel and rotating coaxially and in the same direction as the front travel wheel, the external diameter of said first external gear being less than the internal diameter of the internal gear, said rotary brush transmission gear being disposed on the axis of rotation of the front rotary brush, the second external gear being disposed between the first external gear and the rotary brush transmission gear, the second external gear meshing with said first external gear and the rotary brush transmission gear.

[0059] It should be further specified that the first external gear, the second external gear, and the rotary brush transmission gear are all located at the front of the main body. The direction of rotation of the first output gear is the same as that of the front rotary brush and the front travel wheel; that is, the first output gear, the front rotary brush, and the front travel wheel rotate simultaneously either clockwise or counterclockwise. This facilitates control of the rotation direction of the front rotary brush and allows the robot to calculate the rotation direction of the front travel wheel, as well as to measure the robot's mileage.

[0060] According to the pool cleaning device described in an embodiment of the present application, in a vertical direction, the center of rotation of the front travel wheel is located in a first plane, the lower part of the front travel wheel is located in a second plane, and the centers of rotation of the front travel wheel, of the second external gear and of said transmission gear of the rotating brush are all located between the first plane and the second plane, the center of rotation of the first output gear being located in the first plane or between the first plane and the second plane.

[0061] It should be further specified that the front drive wheel, the second external gear, the first output gear, and the rotary brush transmission gear are brought closer to the second plane. This further improves the stability of the front part of the main body close to the lower part and further promotes the lifting of the front rotating brush.

[0062] According to the pool cleaning device described in an embodiment of the present application, in a vertical direction, the center of rotation of the front travel wheel is located in a first plane, the lower part of the front travel wheel is located in a second plane, and the centers of rotation of the front travel wheel, the second external gear and the transmission gear of the rotating brush are all located between the first plane and the second plane, the axis of rotation of said first output gear being located above the first plane in a vertical upward direction.

[0063] It should be further specified that, in the present embodiment, the front travel wheel, the second external gear, and the rotary brush transmission gear are close to the second plane. The first output gear is located above the first plane and is connected via transmission to the internal gear, so that the first output gear, the front rotary brush, and the front travel wheel rotate simultaneously clockwise or simultaneously counterclockwise. This facilitates control of the rotation direction of the front rotary brush and allows the robot to calculate the rotation direction of the front travel wheel, as well as to measure the robot's mileage.

[0064] According to the pool cleaning device described in an embodiment of this application, the first external gear and the front travel wheel are formed from a single piece.

[0065] It should be further specified that, in the present embodiment, an internal gear is disposed on the inner wall of the front wheel, and the center of rotation of said front wheel is provided with the first external gear. Thanks to the transmission connection between said first external gear and said internal gear, when the first output gear drives the rotation of said internal gear, synchronous rotation of said first external gear and said front wheel is achieved, thereby improving the stability of the transmission module during the transmission process.

[0066] According to the pool cleaning device described in an embodiment of this application, the first external gear and the front drive wheel are removably connected. The rotary brush transmission unit further includes a second output gear. The second output gear is located on the motor's rotating shaft at an axial distance from the first output gear along said motor's rotating shaft. The first and second output gears rotate in the same direction. The second output gear is connected to the first external gear.

[0067] It should be further specified that, in the present embodiment, the front travel wheel and the first external gear are removably connected. When maintenance of the front travel wheel is required, it is not necessary to disassemble said first external gear, which improves the convenience of maintenance of the travel module. Thanks to the transmission connection between the second output gear and said first external gear, the first output gear, the front rotating brush, and the front travel wheel rotate simultaneously clockwise or simultaneously counterclockwise. This facilitates control of the rotation direction of the front rotating brush and allows the robot to calculate the rotation direction of the front travel wheel, as well as to measure the robot's mileage.

[0068] According to the pool cleaning device described in an embodiment of the present application, in a vertical direction, the first wall surface has an upper part, said upper part being located inside the inlet opening, and the distance between said upper part and the horizontal plane of the pool bottom is L3, with L3 > L2.

[0069] In the present embodiment, when L3 > L2, the robotic pool cleaner cannot clean the curved surface between the top of the first wall surface and the top of the inlet opening. The front drive wheel and the front rotating brush move to a side away from the first wall surface.

[0070] According to the pool cleaning device described in an embodiment of this application, in a vertical upward direction, the curvature of the first wall surface gradually increases.

[0071] In this embodiment, due to the progressive increase in curvature of the first wall surface, the front rotating brush gradually moves away from the first wall surface, thereby reducing the friction force between the front rotating brush and the first wall surface. After identifying the state of the first pool wall, the detection module can control the movement of the front drive wheel and the front rotating brush to a side away from the first wall surface.

[0072] The pool cleaning device described in an embodiment of this application comprises a main body, a water suction module, a filtration module, a drive module, a transmission module, and a front rotating brush. The drive module comprises a front drive wheel. The drive module and the front drive wheel are arranged near the front of said main body. Said front rotating brush comprises a first state and a second state. In pool wall cleaning mode, when The main body moves towards the pool wall, the discharge rate of the water suction module is reduced or the module is deactivated, until the movement of the module causes the front rotating brush to pass from the first state to the second state. Compared to the prior art, the robotic pool cleaner proposed by this application increases the effective filtration area of ​​the filtration module, prevents the front rotating brush from lifting before reaching the pool wall, and increases the contact area between the front rotating brush and the surface to be cleaned when the robotic pool cleaner moves from the pool floor to the pool wall, thus improving the overall cleaning effect of the robotic pool cleaner.

[0073] In order to better explain the technical solutions of this application or the prior art, the figures necessary for describing the embodiments or the prior art will be briefly introduced below. Obviously, the figures described below are only a few examples of this application. For a person skilled in the art, other figures can also be derived from these figures without creative effort.

[0074] [Fig.1] Fig.1 is a structural diagram of a pool cleaning robot according to an embodiment of the present application;

[0075] [Fig.2] Fig.2 is a partial cross-sectional structural diagram of a cleaning robot swimming pool according to a method of implementation of the present request;

[0076] [Fig.3] Fig.3 is a diagram of a state of a pool cleaning robot according to a method of implementation of the present application, showing the front rotating brush not in contact with the pool wall;

[0077] [Fig.4] Fig.4 is a diagram of a state of a pool cleaning robot according to an embodiment of the present application, showing the front rotating brush in contact with the pool wall;

[0078] [Fig.5] The [Fig.5] is a diagram of another state of a pool cleaning robot according to an embodiment of the present application, showing the front rotating brush in contact with the pool wall;

[0079] [Fig.6] Fig.6 is a state diagram of a pool cleaning robot according to a mode of the execution of this request, showing the front rotating brush only in contact with the pool wall;

[0080] [Fig.7] Fig.7 is a state diagram of a pool cleaning robot according to a mode of the execution of this request, showing the front rotating brush in contact with the first wall surface and the bottom of the pool;

[0081] [Fig.8] Fig.8 is a diagram of a state of a robotic pool cleaner according to an embodiment of the present application, showing the front rotating brush only in contact with the first wall surface;

[0082] [Fig.9] Fig.9 is a state diagram of a pool cleaning robot according to a mode of the execution of the present application, showing the pool cleaning robot sliding along the first wall surface, with reference to [Fig.1 1];

[0083] [Fig. 10] The [Fig. 10] is a state diagram of a pool cleaning robot according to an embodiment of the present application, showing the front rotating brush only in contact with the second wall surface and moving towards the waterline;

[0084] [Fig. 11] The [Fig. 11] is a partial diagram of the transmission connection state of the first output gear and the transmission module according to an embodiment of the present application;

[0085] [Fig. 12] The [Fig. 12] is a simplified diagram of the transmission connection state of the first output gear and the transmission module, with reference to the [Fig. 11]

[0086] [Fig. 13] The [Fig. 13] is a diagram of another embodiment of the present application, showing another transmission connection state of the first output gear and the transmission module of a robotic pool cleaner;

[0087] [Fig. 14] The [Fig. 14] is a simplified diagram of another embodiment of the present application, showing another transmission connection state of the first output gear and the transmission module of a robotic pool cleaner.

[0088] List of figure references

[0089] 10, main body;

[0090] 101, front; 102, rear; 103, hull; 131, water inlet; 132, water outlet water outlet; 104, receiving chamber; 105, detection module;

[0091] 11, water suction module;

[0092] 12, filtration module; 121, filtration chamber; 122, dust port;

[0093] 13, displacement module;

[0094] 1301, drive motor; 1311, motor rotary shaft; 1312, first gear exit;

[0095] 1302, front wheel of displacement;

[0096] 14, transmission module;

[0097] 141, drive wheel transmission group; 1411, internal gear;

[0098] 142, rotary brush transmission group; 1421, first external gear; 1422, second external gear; 1423, rotary brush transmission gear; 1424, second output gear;

[0099] 15, front rotating brush;

[0100] 16, first wall surface; 161, entrance opening; 17, second wall surface;

[0101] 100, first state; 200, second state; 300, waterline; 400, pool wall; 500, pool bottom; [3, first angle;

[0102] 18, foreground; 19, background.

[0103] In order to make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the embodiments of this utility model will be described below clearly and fully with reference to the drawings. It is understood that the embodiments described constitute only a part, and not the entirety, of the embodiments of this utility model. Based on the embodiments of this utility model, all other embodiments obtained by a person skilled in the art without creative effort also fall within the scope of protection of this utility model.

[0104] According to the present embodiment, in the pool wall cleaning mode 400 of the pool cleaning robot, when moving the pool cleaning robot towards the pool wall 400, it is possible to reduce the probability that the front rotating brush 15 will lift up before reaching the pool wall 400, to increase the effective space of the filtration chamber 121 of the filtration module 12, to avoid clogging of the filtration module 12, and to increase the contact area between the front rotating brush 15 and the surface to be cleaned, thus improving the cleaning efficiency of the front rotating brush 15 on the pool wall 400 or on the edges between the pool wall 400 and the pool bottom 500.

[0105] During the operation of the robotic pool cleaner, the front rotating brush 15 agitates the dirt on the surface to be cleaned. With the rotation of the front rotating brush 15, the water flow containing the impurities is directed towards the filtration module 12. The water suction module 11 generates a suction force, allowing the water flow containing impurities to pass through the water inlet 131 and the dust port 122, then be filtered in the filtration chamber 121 before being discharged outside the housing 103. In this process, if the filtration chamber 121 of the filtration module 12 is obstructed, it will not be able to meet the need for filtration of impurities in the water. This will also result in the inability of the water suction module 11 to generate negative pressure at the water inlet port 131, thus preventing the pool cleaning robot from effectively cleaning the pool wall 400.In pool wall cleaning mode 400, the robot could slip off the pool wall 400, resulting in ineffective cleaning.

[0106] Embodiment 1

[0107] A first aspect of the embodiments of the present application provides a pool cleaning robot, the pool cleaning robot moves in the water to perform cleaning, the pool cleaning robot comprising:

[0108] a main body 10, depending on the direction of advancement of the robot, the main body 10 has a front 101 and a rear 102. The main body 10 has a hull 103 and a receiving chamber 104. The hull 103 is provided with a water inlet orifice 131 in communication with the receiving chamber 104. The water inlet 131 is located on the lower surface of the hull 103;

[0109] a water suction module 11;

[0110] a filtration module 12, the filtration module 12 is disposed in the receiving chamber 104 and near the rear 102 of the hull 103. The filtration module 12 has a filtration chamber 121. The filtration module 12 is provided with a dust port 122, the dust port 122 is in communication with the water inlet port 131 and the filtration chamber 121. The water suction module 11 is designed to suction the water flow, allowing the water flow containing impurities to pass through the water inlet port 131 and the dust port 122, then to be filtered in the filtration chamber 121 before being discharged to the outside of the hull 103;

[0111] a displacement module 13, said displacement module 13 includes a front displacement wheel 1302, said front displacement wheel 1302 is rotatably mounted at the front 101;

[0112] a drive module, said drive module is near the front 101, said drive module includes a drive motor 1301 and a first output gear 1312, said drive motor 1301 includes a motor rotary shaft 1311, said motor rotary shaft 1311 is connected to the first output gear 1312;

[0113] a front rotating brush 15, said front rotating brush 15 is mounted in a rotational manner at the front 101, said front rotating brush 15 is designed to clean a surface to be cleaned, said front rotating brush 15 comprises a first state 100 and a second state 200, in said first state 100, said front rotating brush 15 is in contact with the pool wall 400 and the pool bottom 500, in said second state 200, said front rotating brush 15 is only in contact with said pool wall 400;

[0114] a transmission module 14, said transmission module 14 includes at least one transmission group for the rotary brush 142; said first output gear 1312 is connected in transmission to said front rotary brush 15 via said transmission group for the rotary brush 142;

[0115] The robot includes a pool wall cleaning mode 400. In the pool wall cleaning mode 400, the main body 10 moves towards said pool wall 400, the discharge flow of the water suction module 11 is reduced or said water suction module 11 is deactivated, until the drive module causes the front rotating brush 15 to move from the first state 100 to the second state 200.

[0116] In this embodiment, the displacement module 13 can cause the main body 10 to move in the pool water in a predefined direction, where "In the water" includes underwater and on the surface of the water. "Underwater" means that the robotic pool cleaner is completely submerged below the waterline 300, and "at the water's surface" means that the robotic pool cleaner is at least partially exposed above the waterline 300. The water suction module 11 is designed to provide suction force, generating negative pressure at the water inlet 131 on the shell 103. Once the water suction module 11 is activated, the water stream containing impurities is drawn through the water inlet 131, the dust port 122, and the filter chamber 121. The debris in the water is retained in the filter chamber 121, and the water stream filtered through the filter chamber 121 is discharged to the outside of the shell 103.In some embodiments, a water outlet 132 is disposed on the hull 103, and the filtered water flow is discharged through the water outlet 132 to the outside of the hull 103. The water outlet 132 may be disposed on the top of the hull 103 or at other positions on the hull 103. In this and other embodiments, the position of the water outlet 132 relative to the hull 103 is not limited. Technicians in the field may adjust the position of the outlet according to actual requirements, which is within the scope of the embodiments of this application. Furthermore, the water suction module 11 provides the suction force for the water flow from the water inlet 131 to the water outlet 132.

[0117] In this embodiment, as illustrated in Figures 1, 2, and 14, the drive motor 1301 and the front drive wheel 1302 are both close to the front 101 of the main body 10. The front drive wheel 1302 is connected via transmission to the first output gear 1312 through the rotary brush transmission unit 142, and the front rotary brush 15 is connected via transmission to the first output gear 1312 through the drive wheel transmission unit 141. By limiting the position of the front rotary brush 15, the drive motor 1301, and the front drive wheel 1302, as well as the cooperation of the transmission connection of the transmission module 14, the various components at the front 101 of the main body 10 are arranged compactly, thus increasing the space for the filtration module 12 and the mass at the level of the front rotating brush 15.Once the water suction module 11 is activated, the filtration space of the filtration module 12 can effectively reduce the probability of clogging of the filtration module 12. In the pool wall cleaning mode 400, after the main body 10 has moved towards the pool wall 400, reducing or stopping the discharge flow of the water suction module 11 can decrease the suction force at the water inlet port 131, thus actively controlling the moment when the rotating brush is activated. lifts relative to the bottom of the pool 500, helping the front rotating brush 15 to move from the first state 100 to the second state 200, increasing the contact area between the front rotating brush 15 and the surface to be cleaned, and thus improving the cleaning efficiency of the pool cleaning robot on the edges of the pool bottom 500 when transitioning between the pool wall 400 and the pool bottom 500, better cleaning dead areas between the pool bottom and the pool wall.

[0118] In addition, the filtration module 12 is located near the rear 102 of the main body 10, and the front rotating brush 15 and the drive module are located near the front 101 of the main body 10, thus providing more space for the filtration module 12 in the receiving chamber 104. We will now describe in detail, with reference to the figures in the description, the different states of the pool cleaning robot in pool wall cleaning mode 400, when the pool cleaning robot starts climbing the wall and cleaning the pool wall 400.

[0119] As illustrated in [Fig. 3], the front rotating brush 15 is not in contact with the pool wall 400. In this embodiment, the water suction module 11 draws in the water flow entering through the water inlet 131 located at the bottom of the shell 103, and the water flow is then discharged through the water outlet 132 located at the top of the shell 103. The drive module rotates the front rotating brush 15 relative to the main body 10. The front rotating brush 15 agitates the water flow towards the water inlet 131, and debris, particularly that on the surface of the pool bottom 500, is lifted by the front rotating brush 15. Negative pressure is generated at the water inlet 131 by the action of the water suction module 11, and the flow rate the evacuation at the water outlet 132 is relatively high. As illustrated in [Fig.[2] The waste in the water passes through the water inlet 131 and the dust inlet 122 into the filtration chamber 121. The impurities in the water are retained in the filtration chamber 121, located at the rear, and the filtered water stream is discharged through the outlet. As mentioned previously, the transmission module 14 and the drive module are close to the front 101 of the main body 10, which allows for a large effective filtration area for the filtration chamber 121, thus reducing the risk of clogging and increasing the impurity retention space.

[0120] As illustrated in [Fig. 4], the front rotating brush 15 is in contact with the pool wall 400 and the pool floor 500, i.e., the front rotating brush 15 is in the first state 100. Unlike the state illustrated in [Fig. 3], the discharge flow rate of the water suction module 11 is reduced, which decreases the negative pressure at the water inlet orifice 131. The front drive wheel 1302 and the front rotating brush 15 continue to rotate, thus allowing the brush The front rotating brush 15 cleans the junction area between the pool wall 400 and the pool floor 500, i.e. the edges of the pool floor 500. In this state, there is a friction force between the front rotating brush 15 and the pool wall 400. When the drive module drives the front rotary brush 15 to continue moving towards the pool wall 400 via the rotary brush transmission group 142, it is easier for the front rotary brush 15 to lift itself from the bottom of the pool 500 and move along the pool wall 400 towards the waterline 300.

[0121] As illustrated in [Fig. 5], this state differs from that illustrated in [Fig. 4] in that the water suction module 11 is deactivated, i.e., the discharge flow rate of the water suction module 11 is zero. When the drive module drives the front rotating brush 15 to continue moving towards the pool wall 400 via the rotating brush transmission group 142, compared to the state of the water suction module 11 illustrated in [Fig. 4], the robotic pool cleaner can more easily lift the front rotating brush 15 from the bottom of the pool 500. Technicians in the field can adjust the operating state of the water suction module 11 as illustrated in Figures 4 or 5 according to different pool situations in pool wall cleaning mode 400.For example, when the edge zone between the pool wall 400 and the pool bottom 500 contains a lot of debris, the state of the water suction module 11 is adjusted as shown in [Fig. 4] to reduce the discharge flow rate, but the discharge flow rate is not zero. In another case, when the pool wall 400 has a complex shape and the pool cleaning robot has difficulty climbing, the state of the water suction module 11 of the pool cleaning robot is adjusted as shown in [Fig. 5] to deactivate the water suction module 11.

[0122] As illustrated in [Fig. 6], this state differs from those illustrated in Figures 4 and 5 in that the front rotating brush 15 is only in contact with the pool wall 400, i.e., the front rotating brush 15 is in the second state 200. In the states illustrated in Figures 4 and 5, the drive module continues to drive the front rotating brush 15 in rotation, thus allowing the front rotating brush 15 to move from the first state 100 to the second state 200. The front rotating brush 15 rotates relative to the pool wall 400 and agitates the debris on the pool wall 400 towards the water inlet 131, thereby cleaning the pool wall 400.

[0123] Furthermore, in one embodiment, the pool cleaning robot also includes a water suction module 11. In pool wall cleaning mode 400, when the front rotating brush 15 is only in contact with the pool wall 400, the water suction module 11 is activated or the discharge flow rate of the water suction module 11 is increased.

[0124] In this embodiment, in pool wall cleaning mode 400, when the front rotating brush 15 is only in contact with the pool wall 400, the increased discharge flow rate of the water suction module 11 improves the overall suction force at the bottom of the robot, thereby increasing the contact area between the front rotating brush 15 and the pool wall 400, and strengthening the friction force between the front rotating brush 15 and the pool wall 400. This improves the cleaning efficiency of the front rotating brush 15 on the pool wall 400, and increases the stability of the movement of the main body 10 on the pool wall 400, thus preventing the robot from slipping from the pool wall 400 to the bottom of the pool 500.

[0125] Embodiment 2

[0126] A second aspect of the embodiments of the present application provides a pool cleaning robot, which moves in the water to perform cleaning, said pool cleaning robot comprising:

[0127] a main body 10, according to the direction of advancement of the robot, said main body 10 has a front 101 and a rear 102, said main body 10 has a hull 103 and a receiving chamber 104, said hull 103 is provided with a water inlet orifice 131 in communication with said receiving chamber 104, said water inlet orifice 131 is disposed on the lower surface of said hull 103;

[0128] a water suction module 11, said water suction module 11 is designed to suction the water flow at the water inlet port 131 into said receiving chamber 104, and then discharge it outside said hull 103;

[0129] a displacement module 13, said displacement module 13 includes a front displacement wheel 1302, said front displacement wheel 1302 is rotatably mounted at the front 101;

[0130] a drive module, said drive module is near the front 101, said drive module includes a drive motor 1301 and a first output gear 1312, said drive motor 1301 includes a motor rotary shaft 1311, said motor rotary shaft 1311 is connected to the first output gear 1312;

[0131] a front rotating brush 15, said front rotating brush 15 is mounted in a rotational manner on said front 101, said front rotating brush 15 is designed to clean a surface to be cleaned, said front rotating brush 15 comprises a first state 100 and a second state 200, in said first state 100, said front rotating brush 15 is in contact with said pool wall 400 and said pool bottom 500, in said second state 200, said front rotating brush 15 is only in contact with said pool wall 400;

[0132] a transmission module 14, said transmission module 14 includes at least one transmission group for the rotary brush 142; said first output gear 1312 is connected in transmission to said front rotary brush 15 via said transmission group for the rotary brush 142;

[0133] The robot includes a pool wall cleaning mode 400. In the pool wall cleaning mode 400, the main body 10 moves towards said pool wall 400, the discharge flow of the water suction module 11 is reduced or said water suction module 11 is deactivated, until the drive module causes the front rotating brush 15 to move from the first state 100 to the second state 200.

[0134] Unlike embodiment 1, in embodiment 2, the function of the water suction module 11 is redefined. The water suction module 11 serves only to draw the water flow at the water inlet 131 into the receiving chamber 104 and then discharge it outside the shell 103. No technology related to the filtration module 12 is introduced here. For related technologies, refer to the previous embodiment or other existing technologies. In this embodiment, no further description is given concerning the filtration module 12. The descriptions of the states and functions of the robotic pool cleaner in pool wall cleaning mode 400 can be found in the previous embodiment. Below, only a brief description of the advantages of this embodiment compared to the prior art is given.

[0135] In this embodiment, compared to the prior art, the drive module and the front travel wheel 1302 are both close to the front 101 of the main body 10. The front rotary brush 15 is connected in transmission to said first output gear 1312 via the rotary brush transmission unit 142. Thanks to the limiting of the position of the front rotary brush 15, the drive motor 1301 and the front travel wheel 1302, as well as the cooperation of the transmission connection of the various components with the transmission module 14, the various components at the front 101 of the main body 10 are arranged in a compact manner, thus increasing the space available for the filtration module 12 and the mass at the level of the front rotary brush 15.After being drawn in by the water suction module 11, the water flow passes through the water inlet 131 and the receiving chamber 104 before being discharged, thus creating negative pressure at the water inlet 131 of the pool cleaning robot. Therefore, in pool wall cleaning mode 400, after the main body 10 has moved towards the pool wall 400, reducing or stopping the discharge flow from the water suction module 11 can decrease the negative pressure at the water inlet 131, thereby reducing the suction force of the robot. Pool cleaning robot on the pool floor 500 or the pool wall 400. Therefore, the pool cleaning robot can actively control the moment when the rotating brush lifts relative to the pool floor 500, effectively helping the front rotating brush 15 to move from the first state 100 to the second state 200, thus increasing the contact area between the front rotating brush 15 and the surface to be cleaned, and improving the cleaning efficiency of the pool cleaning robot on the edges of the pool floor 500 during the transition between the pool wall 400 and the pool floor 500.

[0136] Embodiment 3

[0137] A third aspect of the embodiments of the present application provides a pool cleaning robot, said pool cleaning robot moves in the water to perform cleaning, said pool cleaning robot comprising:

[0138] a main body 10, the main body 10 has a front 101 and a rear 102, and the main body 10 is equipped with a detection module 105. The detection module 105 is configured to detect environmental information, said environmental information including information relating to the pool wall 400. In a horizontal direction, the length of the pool cleaning robot is L1, and in a vertical direction, the width of the pool cleaning robot is W1;

[0139] a displacement module 13, said displacement module 13 includes a front displacement wheel 1302 disposed near the front 101;

[0140] a drive module, said drive module is near the front 101, said drive module includes a drive motor 1301 and a first output gear 1312, said drive motor 1301 includes a motor rotary shaft 1311, said motor rotary shaft 1311 is connected to the first output gear 1312;

[0141] a transmission module 14, the transmission module 14 comprising a transmission group for the rotary brush 142;

[0142] a front rotary brush 15, the front rotary brush 15 is rotatably mounted on the front 101, said front rotary brush 15 being designed to clean a surface to be cleaned, said front rotary brush 15 being connected in transmission to the first output gear 1312 via a rotary brush transmission group 142;

[0143] The pool cleaning robot includes a pool wall cleaning mode 400. In said pool wall cleaning mode 400, said main body 10 moves towards said pool wall 400. In the case where said pool wall 400 is a first wall surface 16, and the robot cannot continue moving along the first wall surface 16 towards said waterline 300, said front drive wheel 1302 and said front rotating brush 15 move to one side away from the first wall surface 16. In the case where said pool wall 400 is a second wall surface 17, said front drive wheel 1302 and said front rotating brush 15 continue to move along said second wall surface 17 towards said waterline 300, until the robot reaches said waterline 300. In the direction of advancement of the robot, said first wall surface 16 has a curved surface concave inwards and has an inlet opening 161, said inlet opening 161 having a maximum vertical dimension L2 and a maximum horizontal dimension W2, with L2 > L1 and W2 > W1, said second wall surface 17 is a vertical wall.

[0144] Embodiment 3 differs from embodiment 2 in that it does not emphasize the influence of the water suction module 11 on the cleaning status of the robotic pool cleaner, but rather the fact that the main body 10 is equipped with a detection module 105. Thanks to said detection module 105, it is possible to detect environmental information in the pool, including information relating to the pool wall 400. The detection module 105 makes it possible to detect and control the cleaning mode of the robotic pool cleaner, thus achieving intelligent cleaning and further reducing energy consumption.

[0145] By way of example, the detection module 105 includes distance sensors, image capture sensors, linear lasers, an inertial measurement unit (IMU) or odometers arranged on the main body 10. Thanks to the IMU, it is possible to detect the robot's movement posture, or thanks to the odometer, to detect the distance traveled by the robot, in order to judge the movement distance or the position of the pool cleaning robot.

[0146] It should be further specified that, in this embodiment, the detection module 105 is designed to collect environmental information in the pool. The pool cleaning robot adjusts the movement and cleaning modes of the main body 10 according to the environmental information collected by the detection module 105. In this embodiment, after the detection module 105 has detected the environmental information, the drive motor 1301 and the front drive wheel 1302 are both close to the front 101 of the main body 10. The front drive wheel 1302 is transmission-connected to the first output gear 1312 via a drive wheel transmission assembly 141, and the front rotating brush 15 is transmission-connected to the first output gear 1312 via a rotating brush transmission assembly 142.

[0147] Thanks to the limitation of the position of the front rotating brush 15, the drive motor 1301 and the front travel wheel 1302, as well as the cooperation of the transmission connections of the various components with the module of Transmission 14, the various components located at the front 101 of the main body 10 are arranged in a compact manner. Compared to other positions of the pool cleaning robot, this allows for an increased mass at the level of the front rotating brush 15.

[0148] Next, in pool wall cleaning mode 400, after the main body 10 has moved towards the pool wall 400, if the pool wall 400 is a first wall surface 16, the robot cannot continue moving along the first wall surface 16 towards the waterline 300. The front drive wheel 1302 and the front rotating brush 15 move to a side away from the first wall surface 16, thus increasing the contact area between the front rotating brush 15 and the pool wall 400. This allows the junction area between the first wall surface 16 and the pool floor 500 to be cleaned, while effectively reducing the energy consumption of the cleaning robot.

[0149] Furthermore, in pool wall cleaning mode 400, after the main body 10 has moved towards the pool wall 400, if the pool wall 400 is a second wall surface 17, i.e., the pool wall 400 is a vertical wall, reducing or stopping the discharge flow of the water suction module 11 allows the suction force at the water inlet 131 to be decreased. This allows the timing of the rotary brush lifting relative to the pool floor 500 to be actively controlled, thus helping the front rotary brush 15 to transition from the first state 100 to the second state 200. This increases the contact area between the front rotary brush 15 and the surface to be cleaned, thereby improving the cleaning efficiency of the robotic pool cleaner on the edges of the pool floor 500 during the transition between the pool wall 400 and the pool floor 500.

[0150] Below, for embodiment 3, a detailed description is given of the different cleaning states of the pool cleaning robot in pool wall cleaning mode 400 for the first wall surface 16 and the second wall surface 17.

[0151] As illustrated in [Fig. 7], a diagram showing the state of the pool cleaning device where the front rotating brush 15 is in contact with both the first wall surface 16 and the pool floor 500, the drive assembly 13 continues to move the main body 10 towards the first wall surface 16. The front rotating brush 15 is in contact with the first wall surface 16. The sensing module 105 detects in real time information relating to the pool wall 400, such as information on the angle of inclination of the pool wall 400 relative to the pool floor 500, or the distance traveled by the main body 10 along the pool wall 400. The front rotating brush 15 rotates at the junction between the pool floor 500 and the first wall surface 16. Under the effect of the frictional force of the front rotating brush 15, the junction between the first wall surface 16 and the floor The 500 pool can be cleaned satisfactorily. When the front rotating brush 15 rotates to the position shown in [Fig. 8], where the front rotating brush 15 is only in contact with the first wall surface 16, the main body 10 gradually moves from the inlet opening 161 formed by the first wall surface 16 towards the concave curved area of ​​the first wall surface 16. Since L2 > L1 and W2 > W1, as shown in [Fig. 9], after the robotic pool cleaner has moved a certain distance along the first wall surface 16 towards the waterline 300, it cannot continue moving towards the waterline 300. The robotic pool cleaner then moves to a side away from the first wall surface 16.As an example, the front rotating brush 15 moves along the first wall surface 16 in a downward vertical direction, until the front rotating brush 15 is no longer in contact with the first wall surface 16. Thus, even when the pool cleaning robot in pool wall cleaning mode 400 has to clean the first wall surface 16, it is possible to guarantee effective cleaning of at least part of the first wall surface 16 as well as the junction area between the first wall surface 16 and the pool bottom 500.

[0152] Furthermore, according to the pool cleaning device described in an example of an embodiment of the present application, in the vertical direction, the first wall surface 16 has an upper part located inside the inlet opening 161. The distance between this upper part and the horizontal plane of the pool bottom 500 is L3, where L3 > L2.

[0153] In this embodiment, when L3 > L2, the pool cleaning robot cannot clean the curved surface located between the top of the first wall surface 16 and the top of the inlet opening 161. The front displacement wheel 1302 and the front rotating brush 15 then move towards a side away from the first wall surface 16.

[0154] According to the pool cleaning device described in an embodiment of this application, in an upward vertical direction, the curvature of the first wall surface 16 gradually increases.

[0155] In this embodiment, due to the progressive increase in the curvature of the first wall surface 16, the front rotating brush 15 gradually moves away from the first wall surface 16, which reduces the friction force between the front rotating brush 15 and the first wall surface 16. After identifying the state of the first pool wall 400, the detection module 105 can control the movement of the front travel wheel 1302 and the front rotating brush 15 towards a side away from the first wall surface 16.

[0156] As illustrated in [Fig. 10], unlike the cleaning states illustrated in Figures 7 to 9, the pool wall 400 is here a second wall surface 17, the The second wall surface 17 is a vertical wall. The front rotating brush 15 is in contact with the second wall surface 17. The drive assembly moves the front rotating brush 15 from the bottom of the pool 500 along the second wall surface 17 towards the waterline 300, thus cleaning the second wall surface 17.

[0157] Embodiment 4

[0158] A fourth aspect of the embodiments of the present application provides a pool cleaning robot, the pool cleaning robot moves in the water to perform cleaning, the pool cleaning robot comprising:

[0159] a main body 10, in the direction of advancement of the robot, the main body 10 has a front 101 and a rear 102;

[0160] a displacement module 13, the displacement module 13 includes a front displacement wheel 1302 disposed near the front 101;

[0161] a drive module, said drive module is near the front 101, said drive module includes a drive motor 1301 and a first output gear 1312, said drive motor 1301 includes a motor rotary shaft 1311, said motor rotary shaft 1311 is connected to the first output gear 1312;

[0162] In a vertical direction, the axis of rotation of the front displacement wheel 1302 is located in a first plane 18, and the lower part of said front displacement wheel 1302 is located in a second plane 19. The axis of rotation of the first output gear 1312 is located between said first plane 18 and said second plane 19;

[0163] a transmission module 14, the transmission module 14 includes a drive wheel transmission group 141;

[0164] a front rotary brush 15, the front rotary brush 15 is rotatably mounted on the front 101 and is designed to clean a surface to be cleaned. The first output gear 1312 is connected in transmission to said front rotary brush 15 by means of a rotary brush transmission group 142. The lines connecting the center of rotation of the first output gear 1312, the center of rotation of the front travel wheel 1302 and the center of rotation of the front rotary brush 15 form three angles, among which the angle having as its vertex the center of rotation of the front travel wheel 1302 is a first angle [3, where [3 < 150°.

[0165] Embodiment 4 differs from embodiment 1 in that it does not emphasize the influence of the water suction module 11 and the filtration module 12 on the robotic pool cleaner. For related technologies, reference can be made to embodiment 1 or other existing technologies. In this embodiment, no further description is given concerning the filtration module 12 and the water suction module 11. The descriptions of the states and of The functions of the robotic pool cleaner in pool wall cleaning mode 400 can be compared to previous embodiments. Below, only a brief description of the advantages of this embodiment compared to the prior art is given.

[0166] As illustrated in Figures 11 and 12, it should be further specified that, in this embodiment, the drive motor 1301 and the front travel wheel 1302 are both close to the front 101 of the main body 10. The front travel wheel 1302 is connected in transmission to the first output gear 1312 via a travel wheel transmission unit 141, and the front rotary brush 15 is connected in transmission to the first output gear 1312 via a rotary brush transmission unit 142. This makes it possible to maintain the first angle [3 < 150°, and thus to concentrate the front rotary brush 15, the drive motor 1301, the front travel wheel 1302 and the first output gear 1312 at the front 101 of the main body 10 and near the lower part of the main body 10.This arrangement ensures a compact layout of the various components at the level of the front rotating brush 15 and the front 101 of the main body 10. Thus, when the robot is in pool bottom cleaning mode 500 or pool wall cleaning mode 400, it is possible to effectively prevent the front rotating brush 15 from accidentally lifting relative to the pool bottom 500. This helps to increase the contact area between the front rotating brush 15 and the surface to be cleaned, thereby improving the cleaning efficiency of the pool cleaning robot on the edges of the pool bottom 500 during the transition between the pool wall 400 and the pool bottom 500.

[0167] A more detailed description of certain structural components is given below. These structural components can be selectively applied to embodiments 1, 2, 3, and 4. Their use improves the cleaning efficiency of the robotic pool cleaner described in embodiments 1, 2, 3, and 4.

[0168] According to the pool cleaning device described in an embodiment of this application, the pool cleaning robot further includes a water suction module 11. In pool wall cleaning mode 400, when the front rotating brush 15 is only in contact with the pool wall 400, the water suction module 11 is activated or its discharge rate is increased.

[0169] In this embodiment, in pool wall cleaning mode 400, when the front rotating brush 15 is only in contact with the pool wall 400, the increased discharge flow rate of the water suction module 11 improves the overall suction force at the bottom of the robot, thus increasing the contact area between the front rotating brush 15 and the pool wall 400, and strengthening the friction force between the front rotating brush 15 and the pool wall 400. This improves the cleaning efficiency of the front rotating brush 15 on the pool wall 400, and increases the stability of the movement of the main body 10 on the pool wall 400, thus preventing the robot from slipping from the pool wall 400 to the pool bottom 500.

[0170] According to the pool cleaning device described in an embodiment of this application, the transmission module 14 further comprises a drive wheel transmission group 141. The first output gear 1312 is connected in transmission to said front drive wheel 1302 via said drive wheel transmission group 141. The rotary brush transmission group 142 comprises an internal gear 1411. The first output gear 1312 is located inside said front drive wheel 1302, and the internal gear 1411 is disposed on the inner wall of said front drive wheel 1302. The first output gear 1312 meshes with the internal gear 1411 to provide the transmission.

[0171] It should be further specified that the first output gear 1312 is located inside said front wheel of displacement 1302 and meshes with the internal gear 1411 to drive the rotation of said front wheel of displacement 1302 relative to said main body 10, thereby causing the relative displacement of said main body 10. This also makes it possible to further limit the position of the first output gear 1312, thereby concentrating said drive motor 1301 and the first output gear 1312 on the side of said front wheel of displacement 1302, improving the spatial integration effect of the front 101 of said main body 10.

[0172] According to the pool cleaning device described in an embodiment of this application, the rotary brush transmission group 142 comprises a first external gear 1421, a second external gear 1422, and a rotary brush transmission gear 1423. The first external gear 1421 is located inside said front drive wheel 1302 and rotates coaxially in the same direction and about the same axis as said front drive wheel 1302. The outside diameter of the first external gear 1421 is smaller than the inside diameter of the internal gear 1411. The rotary brush transmission gear 1423 is located on the axis of rotation of said front rotary brush 15.The second external gear 1422 is arranged between the first external gear 1421 and the rotary brush transmission gear 1423, and the second external gear 1422 meshes with the first external gear 1421 and the rotary brush transmission gear 1423 to ensure transmission.

[0173] It is necessary to specify further that the first external gear 1421, the second external gear 1422 and the rotary brush transmission gear

[0174] 1423 are all concentrated at the front 101 of said main body 10. This allows that The direction of rotation of the first output gear 1312 is the same as that of the front rotary brush 15 and the front travel wheel 1302; that is, the first output gear 1312, the front rotary brush 15, and the front travel wheel 1302 rotate simultaneously clockwise or simultaneously counterclockwise. This facilitates control of the direction of rotation of the front rotary brush 15, while also allowing the robot to calculate the direction of rotation of the front travel wheel 1302 and to measure the robot's mileage.

[0175] As illustrated in Figures 2 and 11, according to the pool cleaning device described in an embodiment of the present application, in a vertical direction, the center of rotation of the front drive wheel 1302 is located in a first plane 18, and the lower part of said front drive wheel 1302 is located in a second plane 19. The center of rotation of the front drive wheel 1302, the center of rotation of the second external gear 1422, and the center of rotation of the transmission gear of the rotary brush 1423 are all located between said first plane 18 and said second plane 19. The center of rotation of the first output gear 1312 is located in said first plane 18 or between said first plane 18 and said second plane 19.

[0176] It should be further specified that bringing the front travel wheel 1302, the second external gear 1422, the first output gear 1312, and the transmission gear of the rotary brush 1423 closer to the second plane 19 further improves the stability of the front 101 of the main body 10 near its lower part, and further promotes the lifting of the front rotary brush 15.

[0177] According to the pool cleaning device described in an embodiment of this application, in a vertical direction, the center of rotation of the front drive wheel 1302 is located in said first plane 18, and the lower part of said front drive wheel 1302 is located in said second plane 19. The center of rotation of the front drive wheel 1302, the center of rotation of the second external gear 1422, and the center of rotation of the transmission gear of the rotary brush 1423 are all located between said first plane 18 and said second plane 19. In an upward vertical direction, the axis of rotation of the first output gear 1312 is located above said first plane 18.

[0178] As illustrated in [Fig. 13], it should be further specified that, in this embodiment, the front drive wheel 1302, the second external gear 1422, and the rotary brush transmission gear 1423 are close to the second plane 19. The first output gear 1312 is located above said first plane 18 and is transmission-connected to the internal gear 1411, thus enabling the The first output gear 1312, connected to the front rotating brush 15 and the front travel wheel 1302, allows the robot to rotate simultaneously clockwise or counterclockwise. This facilitates control of the rotation direction of the front rotating brush 15, while also enabling the robot to calculate the rotation direction of the front travel wheel 1302 and measure the robot's mileage.

[0179] According to the pool cleaning device described in an embodiment of this application, the first external gear 1421 is formed in one piece with the front travel wheel 1302.

[0180] It should be further specified that, in this embodiment, the internal gear 1411 is arranged on the inner wall of the front travel wheel 1302, and the center of rotation of the front travel wheel 1302 is provided with the first external gear 1421. Thanks to the transmission connection between the first external gear 1421 and the internal gear 1411, when the first output gear 1312 drives the rotation of the internal gear 1411, the first external gear 1421 and the front travel wheel 1302 rotate synchronously, thus improving the stability of the transmission module 14 during the transmission process.

[0181] According to the pool cleaning device described in an embodiment of this application, a first external gear 1421 is removably connected to the front drive wheel 1302. The transmission unit for the rotary brush 142 further includes a second output gear 1424. The second output gear 1424 and the first output gear 1312 are arranged along the rotating axis of the drive motor 1311 of the drive motor 1301, at an axial distance from each other. The first output gear 1312 and the second output gear 1424 rotate in the same direction, and the second output gear 1424 is in drive with the first external gear 1421.

[0182] As illustrated in [Fig. 13], it should be further specified that, in this embodiment, the front travel wheel 1302 is removably connected to the first external gear 1421. When the front travel wheel 1302 requires maintenance, it is not necessary to disassemble the first external gear 1421, thus improving the convenience of servicing the entire travel assembly 13. Thanks to the transmission connection between the second output gear 1424 and the first external gear 1421, the front rotary brush 15 and the front travel wheel 1302 rotate simultaneously clockwise or simultaneously counterclockwise. This facilitates control of the direction of rotation of the front rotary brush 15, while also allowing the robot to calculate the direction of rotation of the front travel wheel 1302 and to measure the robot's mileage.

[0183] In this embodiment, the pool cleaning device comprises a main body 10, a water suction module 11, a filtration module 12, a drive assembly 13, a transmission module 14, and a front rotary brush 15. The drive assembly 13 includes a front drive wheel 1302, and the drive assembly and the front drive wheel 1302 are arranged near the front 101 of the main body 10. The front rotary brush 15 has a first state 100 and a second state 200. In pool wall cleaning mode 400, when the main body 10 moves toward the pool wall 400, the discharge flow rate of the water suction module 11 is reduced or deactivated until the drive assembly 13 causes the front rotary brush 15 to change from the first state 100 to the second state 200. 200.Compared to the prior art, the pool cleaning device according to this embodiment makes it possible to increase the effective filtration space of the filtration module 12, to prevent the front rotating brush 15 from lifting prematurely when encountering the pool wall 400, and to increase the contact area between the front rotating brush 15 and the surface to be cleaned when the pool cleaning robot moves from the pool bottom 500 to the pool wall 400, thus improving the overall cleaning efficiency of the pool cleaning robot.

[0184] In this description, the various embodiments are described progressively. Each embodiment highlights the differences compared to the other embodiments. Similar parts between the various embodiments may be consulted for reference.

[0185] In the description of this application, it is necessary to understand that the terms "center," "longitudinal," "transverse," "length," "width," "thickness," "top," "bottom," "front," "back," "left," "right," "vertical," "horizontal," "top," "base," "inside," "outside," etc., indicate an orientation or positional relationship based on the orientation or positional relationship illustrated in the figures. This is solely intended to facilitate and simplify the description of this application and does not indicate or suggest that the apparatus or element mentioned must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be interpreted as a limitation of this application.

[0186] In the description of this application, it is necessary to understand that the terms "include" and "have," as well as their variants, are intended to cover a non-exclusive inclusion. For example, a process, method, system, product, or device that comprises a series of steps or units is not limited to those explicitly listed, but may include other steps or units not explicitly listed or inherent in such processes, methods, products, or devices.

[0187] Unless clearly stated otherwise, the terms "installation," "connection," "joining," "fixing," etc., are to be interpreted broadly. For example, they may mean a fixed connection or a removable connection, or integration; they may mean a direct connection or an indirect connection via an intermediary; they may mean an internal connection between two elements or an interaction relationship between two elements. For an ordinary person in the technical field, the aforementioned terms in this application may be understood according to specific circumstances. Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and are not to be interpreted as indicating or suggesting relative importance or an implied quantity of the stated technical features.

[0188] Finally, it should be noted that the above embodiments are used only to illustrate the technical solutions of this application, and not to limit them. Although this application has been described in detail with reference to the aforementioned embodiments, ordinary people familiar with the technical field should understand that the technical solutions described in the aforementioned embodiments may still be modified, or that some or all of the technical features may be replaced in an equivalent manner. Such modifications or replacements do not deviate from the essence of the corresponding technical solutions within the scope of the technical solutions of the various embodiments of this application.

Claims

Demands

1. Pool cleaning robot, characterized in that said pool cleaning robot moves in the water to perform a cleaning, said pool cleaning robot comprising: - a main body, according to the direction of advancement of said pool cleaning robot, said main body comprising a front and a rear, said main body comprising a shell and a receiving chamber, said shell being provided with a water inlet orifice in communication with said receiving chamber, said water inlet orifice being disposed on the lower surface of said shell; - a water suction module;- a detection module, said detection module being disposed on said main body, said detection module being designed to detect environmental information, said environmental information including information on the pool wall, said detection module including one of the following: a distance sensor, an image capture sensor, a linear laser, an IMU or an odometer;said robot comprising a pool wall cleaning mode, wherein, in pool wall cleaning mode, said detection module detects the relative position of said main body with respect to said pool wall, said main body moving towards said pool wall, the discharge flow of said water suction module being reduced or said water suction module being deactivated, thereby reducing the suction force at said water inlet orifice, so that the front part of said main body rises from the bottom of the pool to come into contact with said pool wall.

2. Pool cleaning robot, characterized in that said pool cleaning robot can move in the water to perform a cleaning, said pool cleaning robot comprising: - a main body, according to the direction of advancement of said pool cleaning robot, said main body comprising a front and a rear, said main body comprising a shell and a receiving chamber, said shell being provided with a water inlet orifice in communication with said receiving chamber, said water inlet orifice being disposed on the lower surface of said shell; - a detection module, said detection module being disposed on said main body, said detection module being designed to detect environmental information, said environmental information including information on the pool wall, said detection module including one of the following: a distance sensor, an image capture sensor, a linear laser, an IMU or an odometer; - a water suction module, said water suction module being designed to suction a flow of water so that it enters said receiving chamber through said water inlet orifice and is discharged to the outside of said hull; - a displacement module, said displacement module comprising a front displacement wheel, said front displacement wheel being rotatably mounted on said front; - a drive module, said drive module being disposed near said front, said drive module comprising a drive motor and a first output gear, said drive motor comprising a motor rotary shaft, said motor rotary shaft being connected to said first output gear; - a front rotating brush, said front rotating brush being mounted in a rotational manner at said front, said front rotating brush being designed to clean a surface to be cleaned, said front rotating brush comprising a first state and a second state, in said first state, said front rotating brush being in contact with said pool wall and said pool bottom, in said second state, said front rotating brush being solely in contact with said pool wall; - a transmission module, said transmission module comprising at least one rotary brush transmission group; said first output gear being connected in transmission to said front rotary brush by said rotary brush transmission group; said robot including a pool wall cleaning mode, wherein, in pool wall cleaning mode, said main body moves towards said pool wall, the discharge flow rate of said water suction module is reduced or said water suction module is deactivated, until said module the drive causes said front rotating brush to move from said first state to said second state, when said pool wall is a first wall surface, said pool cleaning robot not being able to continue moving along the first wall surface towards a waterline, said front drive wheel and said front rotating brush move to a side away from the first wall surface, when said pool wall is a second wall surface, said front drive wheel and said front rotating brush continue moving along said second surface towards said waterline, until said pool cleaning robot reaches said waterline, where, according to the direction of advancement of said pool cleaning robot, said first wall surface is a concave curved surface and said second wall surface is a vertical wall.

3. Pool cleaning robot according to claim 2, characterized in that, in a horizontal direction, the length of said pool cleaning robot is L1, and in a vertical direction, the width of said pool cleaning robot is W1; said first wall surface has an inlet opening, the maximum vertical dimension of said inlet opening is L2, and the maximum horizontal diameter of said inlet opening is W2, with L2 > L1, and W2 > W1; in said first state, said front rotating brush is in contact with said first wall surface and said pool bottom, said front rotating brush rotating at the junction between said pool bottom and said first wall surface, and cleaning said junction under the effect of the friction force;in said second state, when said front rotating brush is only in contact with said first wall surface, said main body moves progressively from said entry opening formed by said first wall surface to a concave arc area of ​​said first wall surface, said front rotating brush moving along said first wall surface to a waterline until it can no longer continue, then said pool cleaning robot moves to a side away from said first wall surface, said front rotating brush moving vertically downwards along said first wall surface; until no longer in contact with said first wall surface, thus cleaning at least part of said first wall surface and of said junction between said first wall surface and said pool bottom.

4. Pool cleaning robot according to claim 2, characterized in that: in a vertical direction, the axis of rotation of said front drive wheel is located in a first plane, the lower part of said front drive wheel is located in a second plane, and the axis of rotation of said first output gear is located between said first plane and said second plane; the centers of rotation of said first output gear, of said front drive wheel and of said front rotating brush form three angles, among which the angle having as its vertex the center of rotation of said front drive wheel is a first angle [3, with [3 < 150°.

5. Pool cleaning robot according to any one of claims 2 to 4, characterized in that, in pool wall cleaning mode, when said front rotating brush is in contact with said pool wall, said water suction module is activated or its discharge flow rate is increased.

6. Pool cleaning robot according to any one of claims 2 to 4, characterized in that said transmission module further comprises a drive wheel transmission group, said first output gear being connected in transmission to said front drive wheel by said drive wheel transmission group, said rotating brush transmission group comprising an internal gear, said first output gear being arranged inside said front drive wheel, said internal gear being disposed on the internal wall of said front drive wheel, said first output gear meshing with said internal gear.

7. A robotic pool cleaner according to claim 6, characterized in that said rotary brush transmission group comprises a first external gear, a second external gear, and a rotary brush transmission gear, said first external gear being disposed inside said front drive wheel and rotating coaxially and in the same direction that the said front wheel of displacement, the external diameter of the said first external gear being less than the internal diameter of the said internal gear, the said rotary brush transmission gear being disposed on the axis of rotation of the said front rotary brush, the said second external gear being disposed between the said first external gear and the said rotary brush transmission gear, the said second external gear meshing with the said first external gear and the said rotary brush transmission gear.

8. Pool cleaning robot according to claim 7, characterized in that, in a vertical direction, the center of rotation of said front drive wheel is located in a first plane, the lower part of said front drive wheel is located in a second plane, and the centers of rotation of said front drive wheel, said second external gear and said rotating brush transmission gear are all located between said first plane and said second plane, the center of rotation of said first output gear being located in said first plane or between said first plane and said second plane.

9. Pool cleaning robot according to claim 7, characterized in that, in a vertical direction, the center of rotation of said front drive wheel is located in a first plane, the lower part of said front drive wheel is located in a second plane, and the centers of rotation of said front drive wheel, said second external gear and said rotating brush transmission gear are all located between said first plane and said second plane, the axis of rotation of said first output gear being located above said first plane in an upward vertical direction.

10. Pool cleaning robot, characterized in that said pool cleaning robot can move in the water to perform a cleaning, said pool cleaning robot comprising: - a main body, according to the direction of advancement of said pool cleaning robot, said main body comprising a front and a rear, said main body comprising a shell and a receiving chamber, said shell being provided with a water inlet orifice in communication with said receiving chamber, said water inlet orifice being disposed on the lower surface of said shell; - a detection module, said detection module being disposed on said main body, said detection module being designed to detect environmental information, said environmental information including information on the pool wall, said detection module including a distance sensor, an image capture sensor, a linear laser, an IMU or an odometer; - a water suction module, said water suction module being designed to suction a flow of water so that it enters said receiving chamber through said water inlet orifice and is discharged to the outside of said hull; - a displacement module, said displacement module comprising a front displacement wheel, said front displacement wheel being rotatably mounted on said front; - a drive module, said drive module being disposed near said front, said drive module comprising a drive motor and a first output gear, said drive motor comprising a motor rotary shaft, said motor rotary shaft being connected to said first output gear; - a front rotating brush, said front rotating brush being mounted in a rotational manner at said front, said front rotating brush being designed to clean a surface to be cleaned, said front rotating brush comprising a first state and a second state, in said first state, said front rotating brush being in contact with said pool wall and said pool bottom, in said second state, said front rotating brush being solely in contact with said pool wall; - a transmission module, said transmission module comprising at least one rotary brush transmission group; said first output gear being connected in transmission to said front rotary brush by said rotary brush transmission group; said robot including a pool wall cleaning mode, wherein, in pool wall cleaning mode, when it is detected that said pool wall is a first pass, said main body moves towards said pool wall, the discharge flow rate of said water suction module is reduced or said water suction module is deactivated, until said drive module drives said front rotary brush to move from said first state to said second state, controlling said front rotary brush to successively clean said pool bottom, the junction between said pool wall and said pool bottom, and at least a part of said pool wall of said first course, said first course comprising, from said pool bottom to said waterline, a part of an arc-shaped path, said front rotary brush being able to clean at least a part of said arc-shaped path of said first course.

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