Pool cleaning robot and control method therefor

Abstract

Disclosed in the present application are a pool cleaning robot and a control method therefor. The pool cleaning robot comprises a robot body, a buoyancy adjustment unit and a first driving unit, the buoyancy adjustment unit and the first driving unit being arranged on the robot body or connected to the robot body. The buoyancy adjustment unit is arranged to enable the pool cleaning robot to go back and forth between a water surface and a liquid immersion surface; under the action of the buoyancy adjustment unit, when the pool cleaning robot floats to the water surface, the first driving unit is configured to drive the pool cleaning robot to move on the water surface. The pool cleaning robot of the present application is provided with the buoyancy adjustment unit, and the buoyancy adjustment unit can increase or reduce the weight of the pool cleaning robot, such that the pool cleaning robot automatically floats upwards and dives downwards; and when the machine needs to float to the water surface, the machine can automatically float without the need for manually searching the machine and lifting the machine out of the water surface, thereby saving human labor.

Description

Pool cleaning robot and control method thereof

[0001] This application claims priority to the Chinese patent application filed with the Patent Office of China on August 7, 2023, with application number 202310985495.7 and invention name “A pool cleaning robot and its control method”, and the Chinese patent application filed with the Patent Office of China on August 7, 2023, with application number 202322106136.8 and invention name “An underwater cleaning machine”. The entire contents of the above two patent applications are incorporated into this application by reference. Technical Field

[0002] The present application relates to the field of underwater cleaning technology, and in particular to a pool cleaning robot and a control method thereof. Background Art

[0003] Swimming pools generate a lot of garbage during use and need to be cleaned regularly. Existing swimming pools are usually cleaned by pool cleaning machines (also known as pool cleaning robots). However, when the pool cleaning machine finishes its work, when the filter box needs to be cleaned, or when maintenance is required, the pool cleaning machine often stops working and stays at the bottom of the pool. Manual work is required to find the pool cleaning machine and remove it from the pool, which takes a long time and has high labor costs.

[0004] Summary of the Invention

[0005] The embodiments of the present application provide a pool cleaning robot and a control method thereof to solve the above problems existing in the prior art.

[0006] In order to solve the above technical problems, the technical solution adopted by the present invention is as follows: a pool cleaning robot, the pool cleaning robot includes a robot body, a buoyancy adjustment unit and a first driving unit;

[0007] The buoyancy adjustment unit and the first driving unit are provided on the robot body or connected to the robot body;

[0008] The buoyancy adjustment unit is configured to enable the pool cleaning robot to travel back and forth between the water surface and the liquid-submerged surface;

[0009] When the pool cleaning robot is able to float to the water surface under the action of the buoyancy regulating unit, the first driving unit is configured to drive the pool cleaning robot to move on the water surface.

[0010] Furthermore, the buoyancy regulating unit includes a second driving unit, which includes a one-way water inlet system and a one-way drainage system. When the one-way water inlet system is activated, liquid enters the interior of the buoyancy regulating unit, increasing the weight of the pool cleaning robot; when the one-way drainage system is activated, liquid is discharged from the interior of the buoyancy regulating unit, reducing the weight of the pool cleaning robot.

[0011] Furthermore, the one-way water inlet system and the one-way drainage system are independently selected from any one of the following:

[0012] (1) Pump and one-way valve on the pump’s water inlet / outlet pipe;

[0013] (2) One-way pump.

[0014] Furthermore, the first driving unit includes a power part and a driving part; the power part provides power to the driving part, and the driving part generates a driving force for the pool cleaning robot, so that the pool cleaning robot moves on the water surface.

[0015] Furthermore, the power unit includes a motor, a connecting part and a water-displacing part; the motor transmits power to the water-displacing part through the connecting part.

[0016] Furthermore, the water-moving part includes a roller brush and / or a track; under the action of the power part, the roller brush and / or the track moves on the water surface, and the protrusions on the roller brush and / or the track move on the water surface or in the water to generate thrust for the pool cleaning robot.

[0017] Furthermore, the connecting portion includes a driving wheel mounted on the output shaft of the motor; the roller brush is provided with a roller brush wheel directly or indirectly meshed with the driving wheel;

[0018] The crawler is driven by the walking wheels of the pool cleaning robot and moves on the water surface to generate thrust for the pool cleaning robot. The walking wheels are directly or indirectly engaged with the driving wheels.

[0019] Furthermore, the power unit includes a motor and an impeller connected to the motor, and the driving unit includes a drain outlet; the motor drives the impeller to move, and water flows out through the drain outlet;

[0020] The horizontal component of the drainage direction of the drain outlet generates a thrust on the pool cleaning robot, causing the pool cleaning robot to move on the water surface; wherein the horizontal direction is the direction within the plane where the water surface is located.

[0021] Furthermore, the robot body includes a housing and a control unit connected to the housing;

[0022] The buoyancy regulating unit is connected to the housing, and the buoyancy regulating unit is electrically connected to the control unit;

[0023] The first driving unit is electrically connected to the control unit.

[0024] Furthermore, the shell includes an upper shell part and a lower shell part, the lower shell part is provided with a water inlet, and the side opposite to the lower shell part is the upper shell part; when the pool cleaning robot floats on the water surface, at least a portion of the upper shell part is exposed above the water surface; the water inlet is the water inlet of the pool cleaning robot.

[0025] Furthermore, one end of the traveling direction of the pool cleaning robot is the front end of the shell, and the buoyancy adjustment unit is arranged in the middle or rear end of the shell.

[0026] Furthermore, the buoyancy regulating unit includes a regulating unit, the regulating unit includes a water storage tank shell, and a cavity is formed inside the water storage tank shell;

[0027] Under the action of the second driving unit, the volume of the space occupied by the gas and / or liquid in the cavity changes, so that the pool cleaning robot moves back and forth between the water surface and the liquid-immersed surface;

[0028] The cavity volume in the cavity remains unchanged.

[0029] Furthermore, under the action of the driving unit, the volume of the space occupied by the gas and / or liquid in the cavity changes, including:

[0030] Under the action of the second driving unit, liquid is injected into the cavity, the volume of the space occupied by the gas decreases, the weight of the buoyancy adjustment unit increases, and the pool cleaning robot dives to the liquid immersion surface;

[0031] And / or, the liquid is discharged from the cavity, the volume of the space occupied by the gas increases, the weight of the buoyancy adjustment unit decreases, and the pool cleaning robot floats to the water surface.

[0032] Furthermore, the one-way water inlet system and the one-way drainage system each include at least one driving component and at least two transmission parts;

[0033] wherein at least one transmission portion communicates between the drive assembly and the cavity;

[0034] At least one transmission portion connects the driving assembly with the outside.

[0035] Furthermore, the second driving unit is disposed in a sealed chamber, and the sealed chamber and the adjusting unit are sealedly connected via a sealing member; or

[0036] The second driving unit is arranged in the sealing box and is connected to the cavity of the regulating unit through a pipeline, and a sealing structure is provided at the connection of the pipeline.

[0037] Furthermore, the sealing element includes a sealing plate.

[0038] Furthermore, the sealing chamber and the sealing member form a receiving space, and both the sealing chamber and the sealing member are provided with water holes, so that the receiving space is communicated with the cavity and the outside respectively;

[0039] The second drive unit is arranged in the accommodating space, and the second drive unit is respectively connected to the water hole on the sealing chamber and the water hole on the sealing member, so that external liquid enters the cavity under the action of the second drive unit or the water in the cavity is discharged under the action of the second drive unit.

[0040] Furthermore, a sealing structure is provided at the connection between the sealing chamber and the sealing member;

[0041] A sealing structure is provided at the connection between the second driving unit and the water hole;

[0042] A sealing structure is provided at the connection between the adjustment unit and the sealing element.

[0043] Furthermore, a one-way valve or opening for draining water and / or exhausting air is provided in the cavity, so as to limit the amount of liquid added to the cavity during position adjustment.

[0044] Furthermore, the one-way valve or opening is positioned below the upper surface of the cavity. When the valve is submerged in liquid, further injected liquid is discharged from the one-way valve or opening, while gas is trapped between the liquid surface and the upper surface of the cavity.

[0045] When liquid is injected, the side corresponding to the direction in which the liquid level rises is the upper surface of the cavity.

[0046] Furthermore, the water storage tank shell is provided with a safety valve.

[0047] Furthermore, a one-way valve or opening for draining and / or exhausting water is provided in the cavity to limit the amount of liquid added to the cavity during position adjustment. The one-way valve or opening is connected to the installation space of the safety valve so that the safety valve can release pressure.

[0048] The safety valve is installed above the one-way valve or opening.

[0049] Furthermore, a receiving groove is provided on the water storage tank shell extending into the cavity, the receiving groove is communicated with the cavity, a safety valve pressure cap is connected to the receiving groove, and the safety valve is arranged in the space formed by the receiving groove and the safety valve pressure cap.

[0050] Furthermore, a partition plate is provided in the cavity, and the cavity is divided into two communicating cavities;

[0051] When the volume of the cavity occupied by the gas is reduced to reach the required value, the gas-liquid interface is near the partition plate.

[0052] Furthermore, the partition plate is fixedly and detachably connected to the water storage tank shell;

[0053] The partition plate is provided with a through hole, and the separated cavities are connected through the through hole.

[0054] Furthermore, at least one side of the partition plate is provided with a partition portion, which divides the cavity on the corresponding side into at least two communicating chambers.

[0055] Furthermore, the partition is arranged on a side close to the gas medium.

[0056] Furthermore, a plurality of grids are provided on at least one side of the partition plate extending toward the cavity.

[0057] Furthermore, a one-way valve or opening for draining and / or exhausting water is provided in the cavity to limit the amount of liquid added during buoyancy adjustment;

[0058] The partition plate is provided with a mounting hole, which is installed in coordination with the one-way valve or the opening provided in the cavity.

[0059] Furthermore, the pool cleaning robot also includes a signal transmission unit;

[0060] The signal transmission unit is provided on the robot body or connected to the robot body;

[0061] Under the action of the buoyancy adjustment unit, when the pool cleaning robot floats to the surface of the water, the signal transmission unit is configured to perform signal interaction with the control console.

[0062] Furthermore, the signal transmission unit includes: at least one of a wireless signal transceiver, a sound signal transceiver, and an optical signal transceiver;

[0063] The console includes at least one of a mobile phone app, a remote control, and a relay station.

[0064] A method for controlling a pool cleaning robot, which controls the pool cleaning robot to float from a liquid-immersed surface to the liquid surface or to dive from the water surface to the liquid-immersed surface, comprising:

[0065] Obtain data or instructions from the pool cleaning robot to determine whether the pool cleaning robot needs to ascend or descend;

[0066] Control the pool cleaning robot to float up or dive down; and / or

[0067] After surfacing, the pool cleaning robot is controlled to move on the water surface.

[0068] Furthermore, obtaining data or instructions of the pool cleaning robot and determining whether the pool cleaning robot needs to ascend or descend includes:

[0069] Acquire status data of the pool cleaning robot, where the status data is used to indicate the status of the pool cleaning robot;

[0070] When the status data meets the preset conditions, determining whether the pool cleaning robot needs to float up or dive down; or

[0071] Receive instructions to instruct the pool cleaning robot to surface or dive.

[0072] Furthermore, obtaining status data of the pool cleaning robot includes at least one of the following:

[0073] While the pool cleaning robot is moving or stationary, obtaining at least one of the power parameters of the pool cleaning robot;

[0074] While the pool cleaning robot is moving or stationary, obtaining at least one of the operating parameters of the pool cleaning robot;

[0075] While the pool cleaning robot is moving or stationary, obtaining at least one of the time parameters of the pool cleaning robot;

[0076] Acquiring at least one of the cleaning parameters of the pool cleaning robot while the pool cleaning robot is moving or stationary;

[0077] When the pool cleaning robot is moving or stationary, at least one of the warning number parameters of the pool cleaning robot is obtained.

[0078] Furthermore, when the status data meets the preset conditions, determining whether the pool cleaning robot needs to float up or dive down includes any of the following:

[0079] When the power parameter of the pool cleaning robot exceeds a power parameter threshold range, determining that the pool cleaning robot needs to ascend or dive;

[0080] When the operating parameters of the pool cleaning robot exceed the operating parameter threshold range, determining that the pool cleaning robot needs to float up or dive down;

[0081] When the time parameter of the pool cleaning robot exceeds a time parameter threshold range, determining that the pool cleaning robot needs to ascend or descend;

[0082] When the cleaning parameter of the pool cleaning robot exceeds a cleaning parameter threshold range, determining that the pool cleaning robot needs to float up or dive down;

[0083] When the warning parameter of the pool cleaning robot exceeds the warning parameter threshold range, it is determined that the pool cleaning robot needs to float up or dive down.

[0084] Furthermore, the cleaning parameters include at least one of the number of cleaning times, the cleaning area, and the cleaning time.

[0085] Furthermore, controlling the weight of the pool cleaning robot includes controlling the weight of the buoyancy adjustment unit of the pool cleaning robot to reduce or increase the weight of the pool cleaning robot. Under the action of the buoyancy adjustment unit, the pool cleaning robot floats from the liquid immersion surface to the water surface or dives from the water surface to the liquid immersion surface.

[0086] Furthermore, controlling the pool cleaning robot to move on the water surface after surfacing includes: controlling the first driving unit to move to drive the pool cleaning robot to move on the water surface.

[0087] The pool cleaning robot in the present application has a buoyancy adjustment unit, which can store water to increase the weight of the pool cleaning robot, allowing the pool cleaning robot to dive, and can discharge water to reduce the weight of the pool cleaning robot, allowing the pool cleaning robot to float up, so that the pool cleaning robot can automatically float up and dive. When the machine needs to float to the surface of the water, the machine can float up automatically without the need for manual search for the machine and lifting the machine out of the water, thereby reducing manpower labor. BRIEF DESCRIPTION OF THE DRAWINGS

[0088] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0089] FIG1 is a schematic structural diagram of a buoyancy regulating unit according to an embodiment of the present invention;

[0090] FIG2 is a schematic structural diagram of a water storage tank housing assembly according to an embodiment of the present invention;

[0091] FIG3 is a schematic structural diagram of a drive assembly according to an embodiment of the present invention;

[0092] FIG4 is a schematic structural diagram of a buoyancy regulating unit according to an embodiment of the present invention at one angle;

[0093] FIG5 is a schematic structural diagram of a buoyancy regulating unit according to an embodiment of the present invention from another angle;

[0094] FIG6 is a schematic structural diagram of a partition plate at an angle according to an embodiment of the present invention;

[0095] FIG7 is a schematic structural diagram of a partition plate from another angle according to an embodiment of the present invention;

[0096] FIG8 is a schematic cross-sectional view of a buoyancy regulating unit according to an embodiment of the present invention.

[0097] FIG9 is a schematic diagram of a buoyancy adjustment unit installed on a pool cleaning robot according to an embodiment of the present invention;

[0098] FIG10 is a schematic top view of the structure of an underwater cleaning machine according to an embodiment of the present invention;

[0099] FIG11 is a schematic diagram of the three-dimensional structure of an underwater cleaning machine according to an embodiment of the present invention (the buoyancy adjustment unit is located in the middle of the housing);

[0100] FIG12 is a schematic diagram of the top structure of an underwater cleaning machine according to an embodiment of the present invention (the buoyancy adjustment unit is located in the middle of the housing). DETAILED DESCRIPTION

[0101] In order to make the purpose, technical solutions and advantages of this application more clearly understood, the present application is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not intended to limit this application.

[0102] Figure 1 shows a structural schematic diagram of an embodiment of the present invention, which relates to a pool cleaning robot and a control method thereof. The pool cleaning robot has a buoyancy adjustment unit, which can store water to increase the weight of the pool cleaning robot and enable the pool cleaning robot to dive, and can discharge water to reduce the weight of the pool cleaning robot and enable the pool cleaning robot to float, so that the pool cleaning robot automatically floats up and down. When the machine needs to float to the surface of the water, the machine can float automatically without the need for manual search for the machine and lifting the machine out of the water, thereby reducing manpower labor.

[0103] A pool cleaning robot comprises a robot body, a buoyancy adjustment unit 3 and a first drive unit; wherein, the buoyancy adjustment unit 3 and the first drive unit are arranged on the robot body or connected to the robot body; the buoyancy adjustment unit 3 is configured to enable the pool cleaning robot to travel back and forth between the water surface and the liquid-immersed surface, and the buoyancy adjustment unit 3 can adjust the gravity of the pool cleaning robot, thereby controlling the relationship between the gravity and buoyancy of the pool cleaning robot, and further controlling the pool cleaning robot to travel back and forth between the water surface and the liquid-immersed surface; under the action of the buoyancy adjustment unit 3, when the pool cleaning robot is able to float to the water surface, the first drive unit is configured to drive the pool cleaning robot to move on the water surface.

[0104] The first driving unit mentioned above includes a power part and a driving part. The power part provides power to the driving part, and the driving part generates a driving force for the pool cleaning robot, so that the pool cleaning robot moves on the water surface.

[0105] The above-mentioned power unit includes a motor, a connecting part and a water-pumping part. The motor transmits power to the water-pumping part through the connecting part. The motor is connected to the connecting part, and the motor drives the connecting part to move. The connecting part is connected to the driving part through transmission. The connecting part transmits the motor power to the driving part, and the driving part generates thrust to the pool cleaning robot, so that the pool cleaning robot moves on the water surface.

[0106] The connecting part includes a driving wheel meshed with the water-displacing part. The driving wheel is mounted on the output shaft of the motor. The motor rotates, driving the driving wheel to rotate, and the driving part is driven to move through meshing transmission.

[0107] The pool cleaning robot includes walking wheels, which rotate to enable the pool cleaning robot to walk. The above-mentioned water-moving part includes a roller brush 5 and / or a crawler track 6. Under the action of the power part, the roller brush 5 and / or the crawler track 6 move on the water surface or in the water. The protrusions on the roller brush 5 and / or the crawler track 6 move on the water surface or in the water to generate thrust on the pool cleaning robot. The roller brush 5 is provided with a roller brush 5 wheel directly or indirectly combined with the driving wheel. The roller brush 5 wheels are arranged at both ends of the roller brush 5. The roller brush 5 wheels can be directly meshed with the driving wheel for transmission connection. The driving wheel drives the roller brush 5 wheels to rotate, thereby causing the roller brush 5 to rotate. Alternatively, the roller brush 5 wheels can also be meshed with the driving wheel through multiple gear transmission structures. Through multiple gear transmission structures, The structure transmits power so that the driving wheel can drive the roller brush 5 to rotate; the track 6 is installed on the walking wheel, and the track 6 is driven by the walking wheel of the pool cleaning robot to move on the water surface, generating a thrust to the pool cleaning robot, and pushing the pool cleaning robot to walk on the water surface; the walking wheel is directly or indirectly engaged with the driving wheel, and the walking wheel and the driving wheel can be directly engaged and connected to drive the walking wheel to move, or the walking wheel and the driving wheel are engaged and connected through multiple gear transmission structures, and the multiple gear transmission structures transmit power to realize the movement of the walking wheel.

[0108] The power unit includes a motor and an impeller. The motor is connected to the impeller. The motor drives the impeller to rotate. When the pool cleaning robot is working, the sewage generated by scrubbing is sucked out.

[0109] The driving part includes a drain outlet 4, which is provided on the shell of the pool cleaning robot and is formed by an opening of the shell. The drain outlet 4 corresponds to the impeller. The water sucked by the impeller is discharged from the drain outlet 4 after filtration. The drain outlet 4 is arranged at an angle and is inclined from the shell of the pool cleaning robot toward the rear end. The component of the drainage direction of the drain outlet 4 in the horizontal direction generates a thrust on the pool cleaning robot, so that the pool cleaning robot moves on the water surface; wherein, the horizontal direction is the direction within the plane where the water surface is located.

[0110] The above-mentioned robot body includes a shell 8 and a control unit connected to the shell 8, and the control unit is installed in the shell 8; the buoyancy adjustment unit 3 is connected to the shell 8, and the buoyancy adjustment unit 3 can be located in the shell 8 or outside the shell 8, and the buoyancy adjustment unit 3 is electrically connected to the control unit, and the control unit controls the movement of the buoyancy adjustment unit 3; the first drive unit is electrically connected to the control unit, and the control unit controls the movement of the first drive unit.

[0111] The above-mentioned shell 8 includes an upper shell part and a lower shell part. The lower shell part is provided with a water inlet. When the impeller rotates for suction, water enters from the water inlet. The side opposite to the lower shell part is the upper shell part. When the pool cleaning robot floats on the water surface, at least a part of the upper shell part is exposed above the water surface.

[0112] In some feasible embodiments, the water inlet is a water inlet of a pool cleaning robot;

[0113] One end of the travel direction of the pool cleaning robot is the front end of the shell 8, and the buoyancy adjusting unit 3 is arranged in the middle or rear end of the shell 8. The buoyancy adjusting unit 3 can be located in the middle position of the shell 8, or the buoyancy adjusting unit 3 can be located at the rear end of the shell, or the buoyancy adjusting unit 3 can be located at any position between the middle and the rear end of the shell 8, or the buoyancy adjusting unit 3 can be located at any position between the front end and the middle of the shell 8; the front end of the shell 8 includes the end that first approaches the water surface when the pool cleaning robot climbs the wall for cleaning.

[0114] The pool cleaning robot moving back and forth between the water surface and the liquid-immersed surface includes the pool cleaning robot floating from the liquid-immersed surface to the water surface and / or the pool cleaning robot diving from the water surface to the liquid-immersed surface. The pool cleaning robot floating from the liquid-immersed surface to the water surface includes the pool cleaning robot floating from the liquid-immersed surface to the water surface and remaining on the water surface.

[0115] As shown in Figures 1-10, the buoyancy adjustment unit 3 includes an adjustment unit 1 and a second drive unit 2;

[0116] The regulating unit 1 includes at least one cavity for injecting or discharging liquid. Under the action of the second driving unit 2, liquid enters the cavity, or the liquid in the cavity is discharged, compressing or releasing the air in the cavity, and the volume of the space occupied by the gas in the cavity changes, thereby causing the gravity of the buoyancy regulating unit 3 to change, thereby adjusting the relationship between gravity and buoyancy of the pool cleaning robot; the control unit controls the start and stop of the second driving unit 2.

[0117] A partition plate 13 is provided in the cavity, and the partition plate 13 is provided with a plurality of through holes 130. The cavity is divided into at least two interconnected cavities, so that the liquid or air in one cavity enters the other cavity, separating the space where the liquid is located from the space where the air is located. The setting positions of the plurality of through holes 130 are selected according to actual needs, and can be symmetrically arranged on the partition plate 13 or asymmetrically arranged on the partition plate 13; as the liquid is added, when the liquid level approaches the first drain port 132, the partition plate 13 contacts the liquid entering the cavity, and slows down the shaking of the liquid in the cavity during the operation of the pool cleaning robot, thereby ensuring the overall stability of the pool cleaning robot and the stability of the running trajectory, and the running trajectory does not deviate.

[0118] When the second driving unit 2 is working, the volume of the cavity remains unchanged. The cavity is a cavity with a fixed volume. The volume occupied by the air in the cavity is changed by injecting liquid.

[0119] In some feasible embodiments, the partition plate 13 corresponds to the position of the liquid level when the volume of the liquid in the cavity is the largest, and controls the volume of the cavity for storing the liquid in the cavity. After the liquid enters the cavity, the air in the cavity is squeezed and enters the gas cavity through the through hole 130 on the partition plate 13, thereby separating the air from the liquid.

[0120] In some feasible embodiments, the partition plate is fixedly and detachably mounted within the cavity (e.g., via a fixed and detachable connection to the water storage tank housing). As shown in Figures 6-8, at least one side of the partition plate 13 is provided with a grille 131. Grille 131 is provided on at least one side of the partition plate 13 facing the liquid, protruding from the side. The provision of grille 131 can mitigate liquid level fluctuations and improve the stability of the buoyancy regulating unit 3. Alternatively, grilles 131 may be provided on both sides of the partition plate 13. The placement of grille 131 is selected based on actual needs and is not specifically required herein.

[0121] There are multiple grilles 131 , which are sequentially arranged along the length and width directions of the partition plate 13 and arranged on any side surface of the partition plate 13 .

[0122] In some embodiments, the grille 131 is a plate-like structure of a certain length. The shape of the grille 131 is preferably arc-shaped. On one side of the partition plate 13, in the middle of the partition plate 13, multiple grilles 131 are concentrically arranged. Multiple layers of grilles 131 are arranged in the radial direction. Along the length and width of the partition plate 13, on both sides of the middle of the partition plate 13, multiple grilles 131 are arranged in sequence. The spacing can be equal or uneven, depending on actual needs. No specific requirements are set here. Preferably, along the width direction, the multiple grilles 131 are located on the same arc.

[0123] On the other side of the partition plate 13 , the partition plate 13 is configured as a plurality of grille 131 installation areas. In each installation area, a plurality of grilles 131 are concentrically arranged, and multiple layers of grilles 131 are arranged along the radial direction. Through holes 130 can be arranged between adjacent grilles 131 .

[0124] A divider is provided between adjacent installation areas. This divider is a support plate that protrudes from the side of the divider plate 13. The height of the support plate is less than the distance between the side of the divider plate 13 and the side wall of the cavity. This ensures that the free end of the support plate does not contact the side wall of the cavity, allowing air to circulate freely within the space corresponding to each installation area. The divider plate is provided with a mounting hole for mating with the first drain port 132.

[0125] In some feasible embodiments, under the action of the second driving unit 2 , the volume of the space occupied by the gas in the cavity changes, including: under the action of the second driving unit 2 , liquid is injected into the cavity or discharged from the cavity.

[0126] The buoyancy regulating unit 3 includes a second driving unit 2, and the second driving unit 2 includes a one-way water inlet system and a one-way drainage system. When the one-way water inlet system is activated, liquid enters the interior of the buoyancy regulating unit 3, increasing the weight of the pool cleaning robot; when the one-way drainage system is activated, liquid is discharged from the interior of the buoyancy regulating unit 3, reducing the weight of the pool cleaning robot.

[0127] In some feasible embodiments, the one-way water inlet system and the one-way drainage system both include a pump and a one-way valve provided on the water inlet pipe of the pump; or, the one-way water inlet system and the one-way drainage system both include a one-way pump capable of maintaining pressure.

[0128] Specifically, the above-mentioned one-way water inlet system and one-way drainage system both include at least one drive component 230 and at least two transmission parts. One drive component 230 and two transmission parts can construct a drive structure 23, that is, the one-way water inlet system and the one-way drainage system both have at least one drive structure 23. The setting of the drive component 230 provides power for the flow of liquid, and the setting of the transmission part guides the flow of liquid; wherein, at least one transmission part connects the drive component 230 and the cavity to establish a communication channel between the drive component 230 and the cavity, and at least one transmission part connects the drive component 230 and the outside to establish a communication channel between the drive component 230 and the outside, so that the external liquid flows along the transmission part, the drive component 230 and the transmission part, enters the cavity or is discharged from the cavity.

[0129] In some feasible implementations, preferably, the exterior includes a location where the external liquid is located;

[0130] In some feasible implementations, preferably, the transmission portion includes a channel or a delivery pipe.

[0131] In some feasible implementations, the one-way water inlet system and the one-way drainage system each include a driving assembly 230 and two transmission parts, the two transmission parts being transmission part I and transmission part II;

[0132] Among them, the transmission part I connects the driving component 230 and the cavity, and the transmission part II connects the driving component 230 and the outside. Under the action of the driving component 230, the liquid enters the cavity from the outside through the transmission part I and the transmission part II. Under the action of the driving component 230, the liquid is discharged from the cavity to the outside through the transmission part II and the transmission part I.

[0133] The driving assembly 230 may be a one-way pump, or the driving assembly 230 may be a pump with a one-way valve provided on the transmission part I or the transmission part II.

[0134] In some feasible implementations, the second drive unit includes two drive assemblies 230, corresponding to the one-way drainage system and the one-way water inlet system respectively. The two drive assemblies 230 are drive assembly I and drive assembly II respectively. Each drive assembly 230 is connected to two transmission parts, the transmission part aI and the transmission part bI connected to the drive assembly I (forming a one-way water inlet system), and the transmission part aII and the transmission part bII connected to the drive assembly II (forming a one-way drainage system);

[0135] When there are two drive assemblies 230, the two drive assemblies 230 act alternately, one set of drive assemblies 230 is used to transport the external liquid (water) into the cavity, and the other set of drive assemblies 230 is used to transport the liquid (water) in the cavity to the outside;

[0136] Among them, the transmission part aI connects the driving component I and the cavity, and the transmission part bI connects the driving component I and the outside. Under the action of the driving component I, the liquid enters the cavity from the outside through the transmission part bI and the transmission part aI (one-way water inlet system);

[0137] The transmission part aII connects the driving component II and the cavity, and the transmission part bII connects the driving component II and the outside. Under the action of the driving component II, the liquid is discharged from the cavity to the outside through the transmission part aII and the transmission part bII (one-way drainage system).

[0138] The second drive unit 2 is arranged in the sealed chamber 21, which protects the second drive unit 2 to prevent the second drive unit 2 from being damaged by contact with liquid. The sealed chamber 21 and the adjustment unit 1 are connected through a seal, and the sealed chamber 21 and the adjustment unit 1 are respectively located on both sides of the seal.

[0139] In some feasible embodiments, the second driving unit 2 is placed in a sealed box, which is connected to the cavity of the regulating unit 1 via a pipe. The connection between the pipe and the sealed box / cavity is sealed.

[0140] In some feasible embodiments, preferably, the sealing member includes a sealing plate 20 .

[0141] In some feasible embodiments, the sealing connection between the sealing member and other components may be a surface seal or a line seal.

[0142] After the liquid enters the cavity, it is located in the space between the seal and the partition 13. When the pool cleaning robot is not in a stationary state, the liquid level in the cavity will fluctuate. The sealed chamber 21 and the seal are connected to form a storage space. The sealed chamber 21 and the seal are both provided with water holes 22, so that the storage space is connected to the cavity and the outside, respectively, so that the transmission part is connected to the cavity and the outside, and it is also convenient for the installation of the transmission part. The second drive unit 2 is arranged in the storage space. The second drive unit 2 is connected to the water hole 22 on the sealed chamber 21 and the water hole 22 on the seal, respectively, so that external liquid can enter the cavity under the action of the second drive unit 2 or water in the cavity can be discharged under the action of the second drive unit 2. The drive assembly 230 is installed in the storage space. One end of one transmission part is connected to the drive assembly 230 and the other end is connected to the water hole 22 on the seal. The other transmission part is connected to the drive assembly 230 and the other end is connected to the water hole 22 on the sealed chamber 21.

[0143] A sealing structure is provided at the connection between the sealing chamber 21 and the sealing component, so that the sealing chamber 21 and the sealing component form a sealed space to protect the second drive unit 2; a sealing structure is provided at the connection between the second drive unit 2 and the water hole 22, that is, the connection between the transmission part and the water hole 22 on the sealing component and the connection between the transmission part and the water hole 22 on the sealing chamber 21 are both provided with sealing structures to avoid liquid leakage.

[0144] A one-way valve or opening for drainage and / or exhaust is provided in the cavity, which is used to limit the amount of liquid added to the cavity during position adjustment. The position of the one-way valve or opening is set below the upper surface of the cavity. When the valve (one-way valve or opening) is immersed in liquid, the continuously injected liquid will be discharged from the one-way valve or opening, and at the same time, gas is sealed between the liquid surface and the upper surface of the cavity; when liquid is injected, the side corresponding to the rising direction of the liquid level is the upper surface of the cavity.

[0145] The water storage tank housing 11 of the regulating unit 1 is equipped with a safety valve 10 to regulate the pressure within the cavity and relieve pressure when the pressure within the cavity is excessive. The one-way valve or opening is connected to the installation space of the safety valve to facilitate pressure relief; the safety valve is installed above the one-way valve or opening.

[0146] The above-mentioned water storage tank shell 11 (extending into the cavity) is provided with a first drain port 132 (pressure relief port), which is connected to the installation space of the safety valve so that the safety valve can relieve pressure. A drainage channel 110 (pressure relief channel) is provided on the inner wall of the cavity. The drainage channel 110 is formed by extending from the inner wall of the cavity toward the interior of the cavity. The drainage channel 110 has a certain length, which is selected and set according to actual needs. The free end of the drainage channel 110 corresponds to the first drain port 132. The drainage channel 110 is an inward extension of the water storage tank shell and is plugged into the first drain port 132, so that the drainage channel 110 is connected to the cavity. The port communicating with the interior of the cavity is the first drain port 132. The position of the first drain port 132 ensures the height of the liquid level in the cavity, ensures the total amount of liquid entering the cavity, and quantitatively determines the amount of liquid entering the cavity, thereby ensuring that the buoyancy adjustment unit 3 provides a corresponding gravity value. At the same time, the configuration of the drainage channel 110 defines the installation position of the partition plate 13 in the cavity. The partition plate 13 is provided with a mounting hole, which is installed in conjunction with the first drain port 132 outside the drainage channel 110 (in some embodiments, the mounting hole is installed in conjunction with the first drain port 132). The installation position of the partition plate 13 is determined during installation. In some embodiments, the partition plate 13 is detachably connected to the water storage tank housing 11.

[0147] On the outer wall of the cavity (the outer wall of the shell that is concave toward the cavity), a receiving groove is provided at a position corresponding to the drainage channel 110. The receiving groove is connected to the drainage channel 110, and the side wall of the receiving groove is the surface of the outer wall. The safety valve is installed in the receiving groove, and one end of the safety valve partially extends into the drainage channel 110. The safety valve is fixed to the water storage tank shell 11 (such as the receiving groove) via a safety valve cap 12; the safety valve cap is sealed to the safety valve. The safety valve is sealed to the water storage tank shell (such as the receiving groove). The safety valve is placed between the safety valve pressure cap and the water storage tank shell 11. The safety valve is fixedly installed by a detachable fixed connection between the safety valve pressure cap and the water storage tank shell 11, preferably a screw connection. The safety valve pressure cap is sealed to the safety valve, and the safety valve is sealed to the water storage tank shell 11. The safety valve pressure cap 12 blocks the safety valve, installing the safety valve in the receiving groove, so that the safety valve does not fall out of the receiving groove. The safety valve pressure cap 12 is detachably connected to the receiving groove, which can be connected by screws, plug-in, or other detachable connection methods. It can be selected according to actual needs and no specific requirements are made here. During the buoyancy adjustment process, such as when controlling the pool cleaning robot to dive, liquid is injected into the cavity, the volume occupied by the gas in the cavity decreases, and the pressure in the cavity increases. When the liquid level rises to the height of the first drain port 132 or higher than the height of the first drain port 132, the internal gas pressure is greater than the safety valve opening pressure, the safety valve opens, and the liquid is discharged from the safety valve through the first drain port 132, and the injection of liquid is stopped. When the gas pressure in the cavity is not greater than the safety valve opening pressure, the safety valve is closed. When the liquid is discharged, the volume of the liquid in the cavity decreases, the volume occupied by the gas increases, and the gas pressure in the cavity continues to decrease until the discharge of the liquid stops. During the entire drainage process, the safety valve is in a closed state.

[0148] The above-mentioned regulating unit 1 includes a water storage tank shell 11, and a cavity is formed in the water storage tank shell 11 for storing liquid and gas; the second driving unit is connected to the water storage tank shell 11 and is configured as follows: under the action of the second driving unit, the liquid is transported into the water storage tank shell 11, and the weight of the pool cleaning robot increases. As the liquid continues to be transported into the water storage tank shell 11, the gravity of the pool cleaning robot is greater than the buoyancy, and the device dives; under the action of the second driving unit 2, the liquid in the water storage tank shell 11 is discharged, and the weight of the pool cleaning robot decreases. As the liquid in the water storage tank shell 11 continues to be discharged, the gravity of the pool cleaning robot is less than the buoyancy, and the device floats.

[0149] The partition plate 13 is fixedly installed in the water storage tank shell 11, dividing the space in the water storage tank shell 11 into two spaces. The shape of the partition plate 13 is adapted to the internal cross-sectional shape of the water storage tank shell 11 so that the partition plate 13 can be installed in the water storage tank shell 11. The partition plate 13 is fixedly connected to the water storage tank shell 11, and can be connected by bolts and other connecting parts, or can be integrally formed, or riveted, or other fixed connection methods. The selection is made according to actual needs, and no specific requirements are made here.

[0150] The above-mentioned liquid can be water.

[0151] The pool cleaning robot also includes a filter unit 7, which is disposed within a housing 8. Water to be cleaned enters the filter unit 7 through the water inlet and is filtered by the filter unit 7 before being discharged from the water outlet. The filter unit 7 can be disposed adjacent to the buoyancy adjustment unit 3. In a preferred embodiment, the filter unit 7 is removably disposed within the housing 8.

[0152] The control unit can be arranged in a sealed box, which is arranged in the shell 8. The sealed box protects the control unit to prevent the control unit from direct contact with water. The sealed box is detachably connected to the shell 8; the sealed box is arranged in the shell 8 near one end of the roller brush 5.

[0153] In some feasible embodiments, the sealing box, the filter unit 7, and the buoyancy adjustment unit 3 are arranged in sequence from the front end to the rear end of the pool cleaning robot, that is, the sealing box, the filter unit 7 and the buoyancy adjustment unit 3 are arranged in sequence from the front end to the rear end of the pool cleaning robot.

[0154] When the buoyancy regulating unit 3 is arranged in the middle of the shell 8, as shown in Figures 11 and 12, the buoyancy regulating unit 3 is located between the filter unit 7 and the sealing box, and the buoyancy regulating unit 3 is detachably connected to the shell 8 to facilitate the installation, disassembly and maintenance of the buoyancy regulating unit 1.

[0155] The pool cleaning robot also includes a signal transmission unit for transmitting signals; the signal transmission unit is arranged on the robot body or connected to the robot body; under the action of the buoyancy adjustment unit 3, when the pool cleaning robot floats to the water surface, the signal transmission unit is configured to interact with the console for signals, and the control unit receives the signal transmitted by the signal transmission unit and controls the actions of the first drive unit and the second drive unit 2 according to the received signal.

[0156] When the pool cleaning robot floats to the surface of the water, the signal transmission unit is located near the water surface. In some feasible embodiments, when the pool cleaning robot floats to the surface of the water, the signal transmission unit is located above the water surface or below the water surface.

[0157] The signal transmission unit and the console perform signal interaction including at least one of wireless signal interaction, sound signal interaction, and optical signal interaction, and the console transmits signals to the signal transmission unit.

[0158] The signal transmission unit includes: at least one of a wireless signal transceiver, a sound signal transceiver, and an optical signal transceiver, which is selected according to actual needs and no specific requirements are made here.

[0159] The above-mentioned console includes at least one of a mobile phone app, a remote control, and a relay station. The selection is made according to actual needs and no specific requirements are made here.

[0160] The following is a description of a specific embodiment.

[0161] A pool cleaning robot, as shown in FIG1-8, includes a buoyancy adjustment unit 3, which includes:

[0162] The regulating unit 1 comprises at least one cavity for storing water and gas;

[0163] The second driving unit 2 is connected to the regulating unit 1 and is configured as follows:

[0164] Under the action of the second driving unit 2, water is transported to the cavity of the regulating unit 1, and the water is stored in the cavity of the regulating unit 1. The weight of the buoyancy regulating unit 3 increases, and the pool cleaning robot dives;

[0165] Under the action of the second driving unit 2, the water in the cavity of the adjusting unit 1 is discharged, the weight of the buoyancy adjusting unit 3 is reduced, and the pool cleaning robot floats up.

[0166] When the pool cleaning robot needs to dive, the second drive unit 2 operates to suck the external water and draw the external water into the cavity of the regulating unit 1. The cavity of the regulating unit 1 stores the water, and the weight of the buoyancy regulating unit 3 increases, thereby increasing the weight of the pool cleaning robot, causing the pool cleaning robot to dive automatically; when the pool cleaning robot needs to float, the second drive unit 2 operates to suck out the water in the cavity of the regulating unit 1 and discharge it to the outside, thereby reducing the weight of the buoyancy regulating unit 3, thereby reducing the weight of the pool cleaning robot, causing the pool cleaning robot to float automatically.

[0167] Specifically, a sealing structure is provided on the outside of the above-mentioned second drive unit 2 to protect the second drive unit 2. The sealing structure includes a connected sealing chamber 21 and a sealing member. The sealing chamber 21 and the sealing member constitute a accommodating space. The sealing chamber 21 and the sealing member are both provided with water holes 22, so that the accommodating space is respectively connected with the cavity and the outside of the adjustment unit 1. The sealing chamber 21 is a box structure with space inside and an opening at one end. The sealing member is a sealing plate 20 (the sealing plate can be a plate-like structure or other structures). The sealing plate 20 is installed at the open end of the sealing chamber 21. The sealing chamber 21 and the sealing plate 20 are detachably connected and can be connected by connecting parts such as bolts, or can be plug-in, or threaded, or other detachable connection methods. The selection is made according to actual needs, and no specific requirements are made here.

[0168] The sealing plate 20 is connected to the adjusting unit 1, and the sealing chamber 21 and the adjusting unit 1 are respectively located on both sides of the sealing plate 20. The adjusting unit 1 and the sealing plate 20 are detachably connected and can be connected by bolts and other connecting parts, or can be plugged in, or threaded, or other detachable connection methods. The selection is made according to actual needs, and no specific requirements are made here.

[0169] The setting of the water hole 22 on the sealing plate 20 enables the sealing chamber 21 to be connected with the cavity of the regulating unit 1, and external water can enter the cavity of the regulating unit 1 through the water hole 22 and be stored in the cavity of the regulating unit 1. The water in the regulating unit 1 can also be discharged through the water hole 22 on the sealing plate 20.

[0170] The setting of the water hole 22 on the sealing chamber 21 facilitates the discharge of water in the cavity of the regulating unit 1 through the water hole 22 on the sealing plate 20 and the water hole 22 on the sealing chamber 21, and the entry of external water into the cavity of the regulating unit 1 through the water hole 22 on the sealing chamber 21 and the water hole 22 on the sealing plate 20.

[0171] The above-mentioned second drive unit 2 includes a one-way water inlet system and a one-way drainage system. The one-way water inlet system and the one-way drainage system each include at least one set of drive structures 23. Multiple sets of drive structures 23 are arranged in the accommodation space formed by the sealing chamber 21 and the sealing plate 20. The drive structures 23 are respectively connected to the water holes 22 on the sealing chamber 21 and the water holes 22 on the sealing plate 20, so that external water can enter the cavity of the regulating unit 1 under the action of the drive structures 23, or the water in the cavity of the regulating unit 1 can be discharged under the action of the drive structures 23. The drive structure 23 provides power for the flow of water. The drive structure 23 can be installed in the sealing chamber 21 or on the sealing plate 20. The installation position is selected according to actual needs. The sealing chamber 21 and the sealing plate 20 protect the multiple sets of drive structures 23 to prevent the multiple sets of drive structures 23 from contacting with external water and causing damage.

[0172] The setting of the driving structure 23 can connect the water hole 22 on the sealing chamber 21 and the water hole 22 on the sealing plate 20 to form a passage. External water enters the cavity of the regulating unit 1 through the water hole 22 on the sealing chamber 21, the driving structure 23 and the water hole 22 on the sealing plate 20. The water in the cavity of the regulating unit 1 is discharged to the outside through the water hole 22 on the sealing plate 20, the driving structure 23 and the water hole 22 on the sealing chamber 21, thereby adjusting the weight of the buoyancy regulating unit 3 and realizing the automatic floating and diving of the pool cleaning robot.

[0173] The driving structure 23 includes a driving component 230 and at least two transmission parts connected to the driving component 230. The multiple transmission parts are configured as follows: the other end of one group of transmission parts is connected to the water hole 22 on the sealing chamber 21, and the other end of the other group of transmission parts is connected to the water hole 22 on the sealing plate 20. Under the action of the driving component 230, water flows along the transmission parts, enters the cavity of the regulating unit 1 from the outside or is discharged from the cavity of the regulating unit 1.

[0174] In this embodiment, the transmission portion is a water pipe 231 .

[0175] In this embodiment, the driving component 230 can be a water pump, and the water inlet and the water outlet (the water inlet and the water outlet of the buoyancy adjustment unit 3) are respectively connected to the water pipe 231; or, the driving component 230 can also be a motor. In this case, an impeller is installed on the output shaft of the motor, and a water tank is provided at the connection between the two sets of water pipes 231. The impeller is located in the water tank. The motor drives the impeller to rotate, sucking water into the water tank and discharging it from the water tank to realize the flow of water.

[0176] In some feasible embodiments, the driving structure 23 can be a group, through the forward and reverse driving of the driving component 230, the external water can enter the cavity of the regulating unit 1, and the water in the cavity can be discharged to the outside.

[0177] In this embodiment, preferably, the number of drive components 230 is two, one is a one-way water inlet system, and the other is a one-way drainage system. Each drive component 230 is connected to two water pipes 231, which are a water inlet pipe and a water outlet pipe respectively. The number of water holes 22 on the sealing plate 20 is two, and the number of water holes 22 on the sealing chamber 21 is also two. The water inlet pipe on one drive component 230 is connected to a water hole 22 on the sealing chamber 21, and the water outlet pipe is connected to a water hole 22 on the sealing plate 20. This group of drive structures 23 is used to suck external water into the cavity of the regulating unit 1. Under the action of the drive component 230, the external water passes through the sealing chamber 21. The water in the cavity of the regulating unit 1 is discharged through the water hole 22 on the sealing plate 20, and the water flows along the water inlet pipe, flows out from the water outlet pipe, and enters the cavity of the regulating unit 1 through the water hole 22 on the sealing plate 20. The water is stored in the cavity of the regulating unit 1; the water inlet pipe on the other driving component 230 is connected to the water hole 22 on the sealing plate 20, and the water outlet pipe is connected to the water hole 22 on the sealing chamber 21. This group of driving structures 23 is used to discharge the water in the cavity of the regulating unit 1. The water in the cavity of the regulating unit 1 flows along the water inlet pipe through the water hole 22 on the sealing plate 20, flows out from the water outlet pipe, and is discharged to the outside through the water hole 22 on the sealing chamber 21; the two groups of driving structures 23 act alternately to realize water storage and drainage of the regulating unit 1.

[0178] In order to protect the second drive unit 2, the accommodating space formed by the sealing chamber 21 and the sealing plate 20 is a closed space. A sealing structure is provided at the connection between the sealing chamber 21 and the sealing plate 20 for sealing. The sealing structure can be a sealing ring or sealant.

[0179] In order to prevent water from leaking at the connection between the water pipe 231 and the water hole 22 when water flows in the water pipe 231, the connection between the water pipe 231 and the water hole 22 is sealed. A sealing structure is provided at the connection between the water pipe 231 and the water hole 22, which can be a sealing ring or sealant.

[0180] The above-mentioned regulating unit 1 includes a water storage tank shell 11, a partition arranged in the water storage tank shell 11, a safety valve 10 arranged on the water storage tank shell 11, and a safety valve pressure cap 12 connected to the outer wall of the water storage tank shell 11. The water storage tank shell 11 is used to store water, and the safety valve 10 is used to relieve pressure. The water storage tank shell 11 is a box structure with at least one cavity provided therein for storing water. One end is open, and a sealing plate 20 is installed at the open end of the water storage tank shell 11. In order to prevent water leakage at the connection between the sealing plate 20 and the water storage tank shell 11, a sealing structure is provided at the connection between the water storage tank shell 11 and the sealing plate 20. The sealing structure can be a sealing ring or a sealant.

[0181] The partition plate 13 is fixedly installed in the internal cavity of the water storage tank shell 11, dividing the internal space of the water storage tank shell 11 into two spaces. The space between the partition plate 13 and the sealing plate 20 is used to store water entering the water storage tank shell 11. A first drain outlet 132 extending inward is provided on the inner wall of the water storage tank shell 11. The partition plate 13 is fixedly connected to the inner wall of the water storage tank shell 11 by bolts and other connecting parts.

[0182] The safety valve 10 can be installed on the side wall of the water storage tank shell 11 opposite the sealing plate 20, or the safety valve 10 can also be installed on the peripheral side wall, depending on actual needs. The safety valve 10 is installed in a receiving groove formed by the shell wall of the water storage tank shell 11 and extends into the interior of the water storage tank shell 11. The safety valve 10 is used to control the pressure inside the water storage tank shell 11. When the pressure inside the water storage tank shell 11 is too high, the safety valve 10 opens to drain and relieve pressure, thereby preventing excessive pressure inside the water storage tank shell 11 from preventing external water from entering the water storage tank shell 11, and also preventing excessive pressure inside the water storage tank shell 11 from causing deformation or damage to the water storage tank shell 11.

[0183] A receiving groove is protruding (or concave) on the outer side wall of the top of the water storage tank shell 11, and a drainage channel 110 is provided at a corresponding position on the inner wall of the water storage tank shell 11. The drainage channel 110 is connected to the receiving groove. The safety valve 10 is installed in the receiving groove, and one end of the safety valve 10 extends into the drainage channel 110. A safety valve pressure cap 12 is fastened to the free end of the receiving groove. The safety valve pressure cap 12 is connected to the receiving groove by threads. The other end of the safety valve 10 passes through the through hole on the safety valve pressure cap 12 and extends to the outside of the space formed by the safety valve pressure cap 12 and the receiving groove. The safety valve is installed in the space formed by the safety valve pressure cap 12 and the receiving groove.

[0184] In this embodiment, the safety valve 10 is a commercially available product and is selected according to actual needs. No specific requirements are made here. The connection between the safety valve and the drainage channel 110 of the water storage tank shell 11 is sealed to prevent water leakage.

[0185] A pool cleaning robot includes a robot body, a control unit, and the aforementioned buoyancy adjustment unit 3. The robot body includes a housing 8, the buoyancy adjustment unit 3 is connected to the housing 8, the housing 8 is connected to the control unit, and the control unit is connected to the buoyancy adjustment unit 3. The control unit is electrically connected to a drive assembly 230, controlling the movement of the drive assembly 230 and simultaneously supplying energy to the drive assembly 230 to maintain its continuous movement. The buoyancy adjustment unit 3 is detachably connected to the housing 8; the control unit includes a control board housed in a sealed box mechanically connected to the housing 8.

[0186] When the pool cleaning robot needs to be cleaned or maintained during operation, water is stored in the water storage tank shell 11, and the pool cleaning robot needs to float. The control unit controls one of the drive structures 23 to operate, and the drive assembly 230 to operate. The water in the water storage tank shell 11 enters the water inlet pipe of the drive assembly 230 through the water hole 22 on the sealing plate 20, flows along the water inlet pipe, and is discharged from the water outlet pipe through the water hole 22 on the sealing tank 21 to the outside. The weight of the buoyancy adjustment unit 3 is reduced, so that the weight of the entire pool cleaning robot is reduced. When the gravity of the pool cleaning robot is less than the buoyancy it receives, the pool cleaning robot automatically floats.

[0187] When the pool cleaning robot has finished cleaning or maintenance, it needs to dive to the bottom of the swimming pool to perform cleaning work. The control unit controls another set of drive structures 23 to operate, and the drive assembly 230 operates. The external water enters the water inlet pipe of the drive assembly 230 through the water hole 22 on the sealing chamber 21, flows along the water inlet pipe, and is discharged from the water outlet pipe through the water hole 22 on the sealing plate 20, and enters the water storage tank shell 11 for storage. The weight of the buoyancy adjustment unit 3 increases, which increases the weight of the entire pool cleaning robot. When the gravity of the pool cleaning robot is greater than the buoyancy it receives, the pool cleaning robot automatically dives, realizing the automatic ascent and descent of the pool cleaning robot.

[0188] A method for controlling a pool cleaning robot, which controls the pool cleaning robot to float from a liquid-immersed surface to the liquid surface or to dive from the water surface to the liquid-immersed surface, comprising:

[0189] Obtain data or instructions from the pool cleaning robot to determine whether the pool cleaning robot needs to ascend or descend;

[0190] Control the pool cleaning robot to float up or dive down; and / or

[0191] After surfacing, the pool cleaning robot is controlled to move on the water surface.

[0192] Herein, rising or diving includes the pool cleaning robot moving back and forth between the liquid submerged surface and the water surface.

[0193] The process of obtaining data or instructions from the pool cleaning robot and determining whether the pool cleaning robot needs to ascend or descend includes:

[0194] Acquire status data of the pool cleaning robot, where the status data is used to indicate the status of the pool cleaning robot;

[0195] When the status data meets the preset conditions, determining whether the pool cleaning robot needs to float up or dive down; or

[0196] Receive instructions to instruct the pool cleaning robot to surface or dive.

[0197] Wherein, obtaining status data of the pool cleaning robot includes at least one of the following:

[0198] While the pool cleaning robot is moving or stationary, obtaining at least one of the power parameters of the pool cleaning robot;

[0199] While the pool cleaning robot is moving or stationary, obtaining at least one of the operating parameters of the pool cleaning robot;

[0200] While the pool cleaning robot is moving or stationary, obtaining at least one of the time parameters of the pool cleaning robot;

[0201] Acquiring at least one of the cleaning parameters of the pool cleaning robot while the pool cleaning robot is moving or stationary;

[0202] When the pool cleaning robot is moving or stationary, at least one of the warning number parameters of the pool cleaning robot is obtained.

[0203] Wherein, when the status data meets the preset conditions, determining whether the pool cleaning robot needs to float up or dive down includes any of the following:

[0204] When the power parameter of the pool cleaning robot exceeds a power parameter threshold range, determining that the pool cleaning robot needs to ascend or dive;

[0205] When the operating parameters of the pool cleaning robot exceed the operating parameter threshold range, determining that the pool cleaning robot needs to float up or dive down;

[0206] When the time parameter of the pool cleaning robot exceeds a time parameter threshold range, determining that the pool cleaning robot needs to ascend or descend;

[0207] When the cleaning parameter of the pool cleaning robot exceeds a cleaning parameter threshold range, determining that the pool cleaning robot needs to float up or dive down;

[0208] When the warning parameter of the pool cleaning robot exceeds the warning parameter threshold range, it is determined that the pool cleaning robot needs to float up or dive down.

[0209] The above-mentioned cleaning parameters include at least one of the number of cleaning times, the cleaning area, and the cleaning time.

[0210] Among them, controlling the pool cleaning robot to float or dive includes:

[0211] Control the weight of the pool cleaning robot to reduce or increase the weight of the pool cleaning robot.

[0212] The above-mentioned control of the weight of the pool cleaning robot includes controlling the weight of the buoyancy adjustment unit 3 of the pool cleaning robot to reduce or increase the weight of the pool cleaning robot. Under the action of the buoyancy adjustment unit 3, the pool cleaning robot floats from the liquid immersion surface to the water surface or dives from the water surface to the liquid immersion surface.

[0213] After floating, controlling the pool cleaning robot to move on the water surface includes: the control unit sends a command, the first driving unit is actuated, and the pool cleaning robot is driven to move on the water surface.

[0214] Specifically, regarding the ascent or descent of the above-mentioned pool cleaning robot, the control method of the pool cleaning robot can be divided into two stages:

[0215] Phase 1: Data / command acquisition. Specifically, when the pool cleaning robot receives a command to ascend or descend, the control unit issues a command, activating the second drive unit 2 of the buoyancy adjustment unit 3 to inject liquid into the cavity or drain liquid from the cavity, causing the pool cleaning robot to ascend or descend. The command to ascend or descend can be remotely controlled, such as through a mobile app or remote controller. If the user wishes to ascend or descend, they can remotely control the robot to initiate the ascent or descent.

[0216] The above stage may further include the control unit acquiring data of the pool cleaning robot and determining whether the pool cleaning robot needs to float up or dive down according to the acquired data, specifically:

[0217] When the pool cleaning robot has no power or is insufficiently charged or needs to be charged, the parameter indicating the power level of the pool cleaning robot transmitted to the control unit exceeds a threshold range, and it is determined that the pool cleaning robot needs to ascend or descend;

[0218] When the pool cleaning robot encounters an operating problem, such as getting stuck, or needs to change its operating mode, the operation-related parameters transmitted to the control unit exceed the threshold range, and it is determined that the pool cleaning robot needs to float up or dive down;

[0219] When the time of the pool cleaning robot transmitted to the control unit exceeds a threshold range, determining that the pool cleaning robot needs to ascend or descend;

[0220] When the pool cleaning robot issues an early warning or the early warning parameter transmitted to the control unit exceeds a threshold range, it is determined that the pool cleaning robot needs to float up or dive down.

[0221] The second stage: controlling the pool cleaning robot to float up or dive down. Specifically, controlling the weight of the pool cleaning robot includes controlling the weight of the buoyancy adjustment unit 3 of the pool cleaning robot to reduce or increase the weight of the pool cleaning robot. The buoyancy adjustment unit 3 is used to drive the pool cleaning robot to float from the liquid immersion surface to the water surface or dive from the water surface to the liquid immersion surface.

[0222] Due to the adoption of the above technical solution, the buoyancy regulating unit comprises a regulating unit, which has at least one cavity. Through the action of the second driving unit, the volume change of the gas in the cavity is adjusted, thereby adjusting the gravity of the buoyancy regulating unit to achieve automatic floating and diving.

[0223] The regulating unit includes a water storage tank housing 11 having at least one cavity for storing water. A safety valve is provided on the water storage tank housing 11 to control the pressure inside the water storage tank housing 11, thereby preventing the water storage tank housing 11 from being deformed or damaged due to excessive pressure inside the water storage tank housing 11, and ensuring that water can enter the water storage tank housing 11.

[0224] The second drive unit 3 has multiple drive structures, and also has a sealing chamber and a sealing plate. The sealing chamber and the sealing plate form a sealed accommodation space. The multiple drive structures are arranged in the sealed accommodation space. The sealing chamber and the sealing plate protect the drive structures to prevent damage caused by contact with water.

[0225] The utility model has multiple drive structures, and the multiple drive structures act alternately, and can draw external water into the water storage tank shell, and can also discharge the water in the water storage tank shell 11 to the outside. The drive structure has a drive component and a water inlet and outlet water pipe, and the water inlet and outlet water pipes are respectively connected to the water through hole on the sealing chamber and the water through hole on the sealing plate. The drive component acts to make the external water flow along the water inlet pipe and the water outlet pipe and enter the water storage tank shell 11, or make the water in the water storage tank shell 11 flow along the water inlet pipe and the water outlet pipe and be discharged to the outside, adjust the weight of the buoyancy adjustment unit 3, and then adjust the weight of the pool cleaning robot. According to the relationship between the weight of the pool cleaning robot and the buoyancy it receives, the pool cleaning robot can automatically float and dive, and float to the surface when the machine needs to be cleaned or maintained. There is no need to manually find the machine or lift the machine to the surface, which reduces manual labor, reduces labor costs, improves work efficiency, and improves the degree of automation.

[0226] The same or similar numbers in the drawings of this embodiment correspond to the same or similar parts; in the description of this application, it should be understood that if the terms "upper", "lower", "left", "right", etc. indicate an orientation or position relationship, they are based on the orientation or position relationship shown in the drawings. This is only for the convenience of describing this application and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation. Therefore, the terms describing the position relationship in the drawings are only used for illustrative purposes and cannot be understood as a limitation on this patent. For ordinary technicians in this field, the specific meanings of the above terms can be understood according to specific circumstances.

[0227] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present application should be included in the scope of protection of the present application.

Claims

1. A pool cleaning robot, wherein: The pool cleaning robot comprises a robot body, a buoyancy adjustment unit and a first driving unit; The buoyancy adjustment unit and the first driving unit are arranged on the robot body or connected to the robot body; The buoyancy adjustment unit is configured to enable the pool cleaning robot to travel back and forth between the water surface and the liquid submerged surface; When the pool cleaning robot is able to float to the water surface under the action of the buoyancy regulating unit, the first driving unit is configured to drive the pool cleaning robot to move on the water surface.

2. The pool cleaning robot according to claim 1, wherein: The buoyancy regulating unit includes a second driving unit, and the second driving unit includes a one-way water inlet system and a one-way drainage system. When the one-way water inlet system is activated, liquid enters the interior of the buoyancy regulating unit, increasing the weight of the pool cleaning robot; when the one-way drainage system is activated, liquid is discharged from the interior of the buoyancy regulating unit, reducing the weight of the pool cleaning robot.

3. The pool cleaning robot according to claim 2, wherein: The one-way water inlet system and the one-way drainage system are independently selected from any one of the following: (1) Pump and one-way valve installed on the pump’s water inlet / outlet pipe; (2) One-way pump.

4. The pool cleaning robot according to claim 1, wherein: The first driving unit includes a power part and a driving part; the power part provides power to the driving part, and the driving part generates a driving force for the pool cleaning robot, so that the pool cleaning robot moves on the water surface.

5. The pool cleaning robot according to claim 4, wherein: The power unit includes a motor, a connecting unit and a water-displacing unit; the motor transmits power to the water-displacing unit through the connecting unit.

6. The pool cleaning robot according to claim 5, wherein: The water-repelling part includes a roller brush and / or a crawler track; under the action of the power part, the roller brush and / or crawler track moves on the water surface or in the water, and the protrusions on the roller brush and / or crawler track move on the water surface or in the water to generate thrust for the pool cleaning robot.

7. The pool cleaning robot according to claim 6, wherein: The connecting part includes a driving wheel, which is mounted on the output shaft of the motor; The roller brush is provided with a roller brush wheel directly or indirectly meshed with the driving wheel; The crawler is driven by the walking wheels of the pool cleaning robot to move on the water surface, generating a thrust on the pool cleaning robot, and the walking wheels are directly or indirectly meshed with the driving wheels.

8. The pool cleaning robot according to claim 4, wherein: The power unit includes a motor and an impeller connected to the motor, and the driving unit includes a drain port; the motor drives the impeller to move, and water flows out through the drain port; The component of the drainage direction of the drainage port in the horizontal direction generates a thrust on the pool cleaning robot, so that the pool cleaning robot moves on the water surface; wherein the horizontal direction is a direction within the plane where the water surface is located.

9. The pool cleaning robot according to claim 2, wherein: The robot body includes a shell and a control unit connected to the shell; The buoyancy regulating unit is connected to the housing, and the buoyancy regulating unit is electrically connected to the control unit; The first driving unit is electrically connected to the control unit.

10. The pool cleaning robot according to claim 9, wherein: The shell includes an upper shell part and a lower shell part, the lower shell part is provided with a water inlet, and the side opposite to the lower shell part is the upper shell part; when the pool cleaning robot floats on the water surface, at least a part of the upper shell part is exposed above the water surface; the water inlet is the water inlet of the pool cleaning robot.

11. The pool cleaning robot according to claim 9, wherein: One end of the traveling direction of the pool cleaning robot is the front end of the shell, and the buoyancy regulating unit is arranged in the middle or rear end of the shell.

12. The pool cleaning robot according to claim 9, wherein: The buoyancy regulating unit comprises a regulating unit, and the regulating unit comprises a water storage tank shell, and a cavity is formed inside the water storage tank shell; Under the action of the second driving unit, the volume of the space occupied by the gas and / or liquid in the cavity changes, so that the pool cleaning robot moves back and forth between the water surface and the liquid submerged surface; The cavity volume of the cavity remains unchanged.

13. The pool cleaning robot according to claim 12, wherein: Under the action of the second driving unit, the volume of the space occupied by the gas and / or liquid in the cavity changes, including: Under the action of the second driving unit, liquid is injected into the cavity, the volume of the space occupied by the gas decreases, the weight of the buoyancy adjustment unit increases, and the pool cleaning robot dives to the liquid immersion surface; And / or, the liquid is discharged from the cavity, the volume of the space occupied by the gas increases, the weight of the buoyancy adjustment unit decreases, and the pool cleaning robot floats to the water surface.

14. The pool cleaning robot according to claim 12, wherein: The one-way water inlet system and the one-way drainage system each include at least one driving component and at least two transmission parts; wherein at least one transmission portion communicates between the drive assembly and the cavity; At least one transmission portion connects the driving assembly with the outside.

15. The pool cleaning robot according to any one of claims 12 to 14, wherein: The second driving unit is disposed in a sealed chamber, and the sealed chamber is sealedly connected to the adjustment unit via a sealing member; or The second driving unit is arranged in the sealing box and connected to the cavity of the regulating unit through a pipeline, and a sealing structure is provided at the connection of the pipeline.

16. The pool cleaning robot of claim 15, wherein: The sealing member includes a sealing plate.

17. The pool cleaning robot of claim 15, wherein: The sealing chamber and the sealing member form a receiving space, and the sealing chamber and the sealing member are both provided with water holes, so that the receiving space is communicated with the cavity and the outside respectively; The second driving unit is arranged in the accommodating space, and the second driving unit is respectively connected to the water through hole on the sealing chamber and the water through hole on the sealing member, so that external liquid enters the cavity under the action of the second driving unit or water in the cavity is discharged under the action of the second driving unit.

18. The pool cleaning robot of claim 17, wherein: A sealing structure is provided at the connection between the sealing chamber and the sealing member; A sealing structure is provided at the connection between the second driving unit and the water hole; A sealing structure is provided at the connection between the adjusting unit and the sealing member.

19. The pool cleaning robot of claim 12, wherein: A one-way valve or opening for draining water and / or exhausting air is arranged in the cavity, and is used to limit the amount of liquid added to the cavity during position adjustment.

20. The pool cleaning robot of claim 19, wherein: The one-way valve or opening is located below the upper surface of the cavity, and when the valve is submerged in liquid, the liquid that continues to be injected will be discharged from the one-way valve or opening, and gas is sealed between the liquid surface and the upper surface of the cavity; When liquid is injected, the side corresponding to the direction in which the liquid level rises is the upper surface of the cavity.

21. The pool cleaning robot of claim 12, wherein: The water storage tank shell is provided with a safety valve.

22. The pool cleaning robot of claim 21, wherein: A one-way valve or opening for draining and / or exhausting air is provided in the cavity, which is used to limit the amount of liquid added to the cavity during position adjustment, and the one-way valve or opening is connected to the installation space of the safety valve so that the safety valve can release pressure; The safety valve is arranged above the one-way valve or the opening.

23. The pool cleaning robot of claim 21, wherein: The water storage tank shell is extended into the cavity to be provided with a receiving groove, the receiving groove is communicated with the cavity, a safety valve pressure cap is connected to the receiving groove, and the safety valve is arranged in the space formed by the receiving groove and the safety valve pressure cap.

24. The pool cleaning robot of claim 12, wherein: A partition plate is provided in the cavity, and the cavity is divided into at least two interconnected cavities; When the volume of the cavity occupied by the gas is reduced to reach a required value, the gas-liquid interface is near the partition plate.

25. The pool cleaning robot of claim 24, wherein: The partition plate is fixedly and detachably connected to the water storage tank shell; The partition plate is provided with a through hole, and the separated cavities are connected through the through hole.

26. The pool cleaning robot of claim 24, wherein: At least one side of the partition plate is provided with a partition portion, which divides the cavity on the corresponding side into at least two communicating chambers.

27. The pool cleaning robot of claim 26, wherein: The partition is arranged on a side close to the gas medium.

28. The pool cleaning robot of claim 26, wherein: At least one side of the partition plate is provided with a plurality of grids extending toward the cavity.

29. The pool cleaning robot of claim 24, wherein: A one-way valve or opening for draining and / or exhausting air is provided in the cavity, and is used to limit the amount of liquid added during buoyancy adjustment; The partition plate is provided with a mounting hole, which is installed in cooperation with the one-way valve or the opening provided in the cavity.

30. The pool cleaning robot of claim 1, wherein: The pool cleaning robot also includes a signal transmission unit; The signal transmission unit is disposed on the robot body or connected to the robot body; Under the action of the buoyancy regulating unit, when the pool cleaning robot floats to the water surface, the signal transmission unit is configured to perform signal interaction with the control console.

31. The pool cleaning robot of claim 30, wherein: The signal transmission unit includes: at least one of a wireless signal transceiver, a sound signal transceiver, and an optical signal transceiver; the console includes at least one of a mobile phone App, a remote controller, and a relay station.

32. A method for controlling a pool cleaning robot according to any one of claims 1 to 31, wherein: Controlling the pool cleaning robot to float from a liquid submerged surface to a liquid surface or to dive from a water surface to a liquid submerged surface comprises: Acquire data or instructions of the pool cleaning robot to determine whether the pool cleaning robot needs to float up or dive down; Controlling the pool cleaning robot to float or dive; and / or After floating up, the pool cleaning robot is controlled to move on the water surface.

33. The control method of the pool cleaning robot according to claim 32, wherein: Acquiring data or instructions of the pool cleaning robot and determining whether the pool cleaning robot needs to float up or dive down comprises: Acquiring status data of the pool cleaning robot, wherein the status data is used to indicate the status of the pool cleaning robot; When the state data meets the preset conditions, determining that the pool cleaning robot needs to float up or dive down; or Receive instructions to instruct the pool cleaning robot to float up or dive down.

34. The control method of the pool cleaning robot according to claim 33, wherein: Acquiring the status data of the pool cleaning robot includes at least one of the following: When the pool cleaning robot is moving or stationary, obtaining at least one of the power parameters of the pool cleaning robot; While the pool cleaning robot is moving or stationary, obtaining at least one of the operating parameters of the pool cleaning robot; While the pool cleaning robot is moving or stationary, obtaining at least one of the time parameters of the pool cleaning robot; While the pool cleaning robot is moving or stationary, obtaining at least one of the cleaning parameters of the pool cleaning robot; When the pool cleaning robot is moving or stationary, at least one of the warning number parameters of the pool cleaning robot is obtained.

35. The control method of the pool cleaning robot according to claim 33, wherein: When the state data meets the preset conditions, determining that the pool cleaning robot needs to float up or dive down includes any of the following: When the power parameter of the pool cleaning robot exceeds a power parameter threshold range, determining that the pool cleaning robot needs to float up or dive down; When the operating parameter of the pool cleaning robot exceeds the operating parameter threshold range, determining that the pool cleaning robot needs to float up or dive down; When the time parameter of the pool cleaning robot exceeds a time parameter threshold range, determining that the pool cleaning robot needs to float up or dive down; When the cleaning parameter of the pool cleaning robot exceeds a cleaning parameter threshold range, determining that the pool cleaning robot needs to float up or dive down; When the warning parameter of the pool cleaning robot exceeds a warning parameter threshold range, it is determined that the pool cleaning robot needs to float up or dive down.

36. The control method of the pool cleaning robot according to claim 34, wherein: The cleaning parameters include at least one of the number of cleaning times, the cleaning area, and the cleaning time.

37. The control method of the pool cleaning robot according to claim 32, wherein: Controlling the weight of the pool cleaning robot includes controlling the weight of a buoyancy adjusting unit of the pool cleaning robot to reduce or increase the weight of the pool cleaning robot. Under the action of the buoyancy adjusting unit, the pool cleaning robot floats from a liquid immersion surface to the water surface or dives from the water surface to the liquid immersion surface.

38. The control method of the pool cleaning robot according to claim 32, characterized in that: Controlling the pool cleaning robot to move on the water surface after floating includes: controlling the first driving unit to move to drive the pool cleaning robot to move on the water surface.

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