Pool cleaning robot and pool cleaning system

Abstract

A pool cleaning robot and a pool cleaning system comprising same. The pool cleaning robot (1) comprises: a body (100); a filtering device (200) arranged on the body (100), the filtering device (200) being provided with a dirt accommodating space; and a buoyancy control device (800) arranged on the body (100), the buoyancy control device (800) being configured to enable the pool cleaning robot (1) to switch between a first mode and a second mode, wherein when in the first mode, the pool cleaning robot (1) is on the water surface, and when in the second mode, the pool cleaning robot (1) is underwater and in contact with the bottom wall (5) of a pool (4). When the pool cleaning robot (1) is in the first mode, the pool cleaning robot (1) is on the water surface, and can clean floating debris in the pool (4) at this time. When the pool cleaning robot (1) is in the second mode, the pool cleaning robot (1) is underwater and in contact with the bottom wall (5) of the pool (4), and can clean the bottom of the pool (4) at this time. Therefore, the number of pool cleaning robots (1) used can be reduced, thereby reducing use costs.

Description

Pool cleaning robots and pool cleaning systems

[0001] This application claims priority to Chinese Patent Application No. 202420845718.X, filed with the Patent Office of China on April 22, 2024, entitled “Pool Cleaning Robot and Pool Cleaning System Having Same”; Chinese Patent Application No. 202420047759.4, filed with the Patent Office of China on January 8, 2024, entitled “Pool Cleaning Robot”; and Chinese Patent Application No. 202420041728.8, filed with the Patent Office of China on January 8, 2024, entitled “Pool Cleaning Robot”. The entire contents of the above three patent applications are incorporated into this application by reference. Technical Field

[0002] The present application relates to the technical field of pool cleaning, and in particular to a pool cleaning robot and a pool cleaning system. Background Art

[0003] In related technologies, pool cleaning is accomplished by different robots working together. For example, some robots only clean the pool bottom, while others float in the pool to clean floating garbage. This collaborative approach inevitably increases the cost of using robots. Summary of the Invention

[0004] The present application provides a pool cleaning robot that can clean garbage from the pool bottom and liquid surface, thereby reducing the number of cleaning robots and lowering usage costs.

[0005] In order to achieve the above-mentioned objectives, the first aspect embodiment of the present application provides a pool cleaning robot, which includes: a body; a filtering device, which is provided on the body, and the filtering device is provided with a dirt holding space; a snorkeling device, which is provided on the body, and the snorkeling device is used to switch the pool cleaning robot between a first mode and a second mode; wherein, when in the first mode, the pool cleaning robot is on the water surface, and when in the second mode, the pool cleaning robot is underwater and contacts the bottom wall of the pool.

[0006] The second aspect of the present application provides a pool cleaning system, comprising: a base station; the pool cleaning robot described in the first aspect, wherein the pool cleaning robot has a return-to-pile mode, and when the pool cleaning robot is in the return-to-pile mode, it moves toward the base station according to the signal of the camera device.

[0007] The pool cleaning robot of the present invention is equipped with a snorkeling device, which enables the pool cleaning robot to have a first mode and a second mode. When the pool cleaning robot is in the first mode, the pool cleaning robot is at the water surface and can clean floating garbage in the pool. When the pool cleaning robot is in the second mode, the pool cleaning robot is underwater and contacts the bottom wall of the pool, and can clean the bottom of the pool. As a result, the number of pool cleaning robots used can be reduced, thereby reducing usage costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0008] 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.

[0009] FIG1 is a schematic diagram showing the coordination between the pool cleaning system and the pool according to an embodiment of the present application;

[0010] FIG2 is a second schematic diagram of the coordination between the pool cleaning system and the pool according to an embodiment of the present application;

[0011] FIG3 is a third schematic diagram of the coordination between the pool cleaning system and the pool according to an embodiment of the present application;

[0012] FIG4 is a schematic diagram of the structure of a pool cleaning robot according to an embodiment of the present application;

[0013] FIG5 is a second structural diagram of the pool cleaning robot according to an embodiment of the present application;

[0014] FIG6 is a third structural diagram of the pool cleaning robot according to an embodiment of the present application;

[0015] FIG7 is a fourth structural diagram of the pool cleaning robot according to an embodiment of the present application;

[0016] FIG8 is a fifth structural diagram of the pool cleaning robot according to an embodiment of the present application;

[0017] FIG9 is a schematic diagram of the walking module of the pool cleaning robot according to an embodiment of the present application in contact with the surface of the pool;

[0018] FIG10 is a schematic diagram of the walking module of the pool cleaning robot according to an embodiment of the present application being separated from the surface of the pool;

[0019] FIG11 is a schematic diagram showing the structure of the pool cleaning robot according to an embodiment of the present application when the cover is in an open position;

[0020] FIG12 is a second structural schematic diagram of the pool cleaning robot according to an embodiment of the present application when the cover is in the open position;

[0021] FIG13 is a schematic structural diagram of the pool cleaning robot according to an embodiment of the present application when the cover is in a closed position;

[0022] FIG14 is a schematic diagram showing the separation of the filter module and the body of the pool cleaning robot according to an embodiment of the present application;

[0023] FIG15 is a second schematic diagram of the separation of the filter module and the body of the pool cleaning robot according to an embodiment of the present application;

[0024] FIG16 is a schematic structural diagram of a pool cleaning robot according to an embodiment of the present application;

[0025] FIG17 is a third schematic diagram of the separation of the filter module and the body of the pool cleaning robot according to an embodiment of the present application;

[0026] FIG18 is a sixth structural diagram of the pool cleaning robot according to an embodiment of the present application;

[0027] FIG19 is a seventh structural diagram of the pool cleaning robot according to an embodiment of the present application;

[0028] FIG20 is an eighth structural diagram of the pool cleaning robot according to an embodiment of the present application;

[0029] FIG21 is a cross-sectional view of the pool cleaning robot according to an embodiment of the present application. DETAILED DESCRIPTION

[0030] 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.

[0031] The first embodiment of the present application provides a pool cleaning robot, as shown in Figures 1 to 6 , the pool cleaning robot 1 of the present application embodiment includes a body 100, a filtering device 200, a walking device 300, and a snorkeling device 800. The pool 4 may be a swimming pool.

[0032] The body 100 is provided with a water inlet 110 and a water outlet 120. The filter device 200 is provided on the body 100. The filter device 200 has a dirt storage space and is in communication with the water inlet 110 and the water outlet 120, respectively. Liquid in the pool 4 flows into the filter device 200 from the water inlet 110, and the filtered liquid is discharged from the water outlet 120. The water inlet 110 and the water outlet 120 can be provided on opposite sides of the body 100.

[0033] For example, as shown in Figures 7 and 8 , in the direction of movement of the pool cleaning robot 1, the front end of the body 100 is the front end, and the rear end of the body 100 is the rear end. The water inlet 110 is provided on the front end surface of the body 100, and the water outlet 120 is provided on the rear end surface of the body 100. The filter device 200 is located between the water inlet 110 and the water outlet 120. In this way, the liquid in the pool 4 can more easily enter the filter device 200 through the water inlet 110 and also more easily flow out of the filter device 200 through the water outlet 120.

[0034] Alternatively, the water inlet 110 is provided on the bottom surface of the body 100 , and the water outlet 120 is provided on the end surface at the rear end of the body 100 . When the pool cleaning robot 1 cleans the bottom wall 5 of the pool 4 , garbage on the bottom wall 5 of the pool 4 can enter the filter device 200 through the water inlet 110 on the bottom surface of the body 100 , and then flow out of the filter device 200 from the water outlet 120 .

[0035] Of course, the bottom surface of the fuselage 100 and the end surface of the front end of the fuselage 100 can be provided with a water inlet 110, that is, the fuselage 100 has at least two water inlets 110, and the water inlets 110 are distributed on different sides of the fuselage 100.

[0036] The walking device 300 is disposed on the body 100 and is configured to contact the bottom wall 5 and / or side walls 6 of the pool 4. The walking device 300 may include wheels or tracks. The walking device 300 contacts the bottom wall 5 of the pool 4, generating friction. When the walking device 300 rotates relative to the body 100, the pool cleaning robot 1 moves along the bottom wall 5 of the pool 4, thereby cleaning trash from the bottom wall 5 of the pool 4. The walking device 300 contacts the side walls 6 of the pool 4, generating friction. When the walking device 300 rotates relative to the body 100, the pool cleaning robot 1 moves along the side walls 6 of the pool 4, thereby cleaning trash from the side walls 6 of the pool 4.

[0037] The snorkeling device 800 is provided on the body 100 and is used to switch the pool cleaning robot 1 between a first mode and a second mode. When the pool cleaning robot 1 is in the first mode, the pool cleaning robot 1 is at the water surface. When the pool cleaning robot 1 is in the second mode, the pool cleaning robot 1 is underwater and in contact with the bottom wall of the pool. The snorkeling device 800 can switch the pool cleaning robot 1 between the walking mode and the floating mode by changing its own gravity, volume, or output power. It should be noted that by changing the output power of the snorkeling device, different driving forces can be applied to the pool cleaning robot 1 in the vertical direction.

[0038] The pool cleaning robot 1 of the embodiment of the present application is equipped with a snorkeling device 800, which enables the pool cleaning robot 1 to have a first mode and a second mode. When the pool cleaning robot 1 is in the first mode, the pool cleaning robot 1 is on the water surface and can clean floating garbage in the pool 4. When the pool cleaning robot 1 is in the second mode, the pool cleaning robot 1 is underwater and contacts the bottom wall 5 of the pool 4, and can clean the bottom of the pool 4. As a result, the number of pool cleaning robots 1 used can be reduced, thereby reducing usage costs.

[0039] In some embodiments, the pool cleaning robot 1 further includes a garbage identification device 400, which is disposed on the body 100 and is used to identify garbage located at the liquid surface 7 of the pool and / or at the bottom wall 5 of the pool 4. For example, the garbage identification device 400 may be disposed on the upper surface of the body 100, or at the front end of the body 100, or at the rear end of the body 100, or at the side of the body 100, or at the lower surface of the rear end of the body 100, and is used to identify garbage located at the liquid surface 7 of the pool 4. The garbage identification device 400 may be a camera or other imaging device capable of capturing images, or may be a sensor capable of detecting objects, such as an ultrasonic sensor, an infrared sensor, or an optical sensor.

[0040] Specifically, the pool cleaning robot 1 can have a walking mode (second mode) and a floating mode (first mode). When the pool cleaning robot 1 is in the walking mode, the walking device 300 is used to contact the bottom wall 5 or side wall 6 of the pool 4. At this time, the pool cleaning robot 1 mainly cleans the garbage at the bottom of the pool 4; when the pool cleaning robot 1 is in the floating mode, the pool cleaning robot 1 floats in the liquid of the pool 4 or floats on the liquid surface 7, that is, the walking device 300 does not contact the bottom wall 5 and side wall 6 of the pool 4. When the pool cleaning robot 1 is in the floating mode, the pool cleaning robot 1 mainly cleans the garbage floating in the pool 4.

[0041] When the pool cleaning robot 1 is in walking mode and starts to clean the garbage at the bottom of the pool 4, the garbage identification device 400 is used to identify whether there is garbage on the liquid surface 7. If there is garbage, the pool cleaning robot 1 moves directly upward to the garbage. The movement direction of the pool cleaning robot 1 is mainly vertical, so the movement stroke on the liquid surface 7 is short, avoiding large fluctuations in the liquid surface 7 and improving the garbage cleaning efficiency.

[0042] In some embodiments, when the pool cleaning robot 1 is in the first mode, the camera device is used to capture an image of the liquid surface of the pool 4 and / or the camera device is used to capture an image of the bottom wall of the pool 4. This allows the pool cleaning robot 1 to better plan a cleaning path based on the distribution of garbage on the liquid surface and / or the bottom of the pool.

[0043] In some embodiments of the present application, as shown in Figures 1 to 3 (the dotted lines in the figures indicate the field of view boundaries of the garbage identification device 400), the garbage identification device 400 can be fixedly connected to the pool cleaning robot 1, and the garbage identification device 400 is arranged on one of the front end surface, rear end surface or side surface of the body 100, that is, the garbage identification device 400 is arranged on the surface of one side in the horizontal direction of the body 100, and the garbage identification device 400 can simultaneously illuminate the image of the bottom wall 5 of the pool 4 and the liquid level 7 of the pool 4.

[0044] In this way, the garbage identification device 400 can simultaneously acquire images in a wider range. The garbage identification device 400 can identify garbage on the liquid surface 7 as well as garbage on the bottom wall 5 without switching positions, and the sealing effect is better.

[0045] For example, when the garbage identification device 400 includes a camera, the camera can be electrically connected to the controller of the pool cleaning robot 1, and the snorkeling device 800 is also electrically connected to the controller of the pool cleaning robot 1. The controller can control the snorkeling device 800 to drive the pool cleaning robot 1 to float upward, thereby enabling the camera to observe the liquid surface 7 of the pool 4 and identify garbage floating on the liquid surface 7.

[0046] When the pool cleaning robot 1 is in walking mode and starts to clean the garbage at the bottom of the pool 4, since the garbage is usually located at the bottom of the pool 4, the pool cleaning robot 1 walks completely along the bottom wall 5 of the pool 4, so the garbage identification device 400 does not need to obtain an image, reducing energy consumption.

[0047] After the pool cleaning robot 1 cleans the garbage at the bottom of the pool 4, the garbage identification device 400 can obtain an image of the bottom of the pool 4, for example, obtain an image near the side wall 6 of the pool 4 and the corners of the side, to determine whether there is any residual garbage at the bottom of the pool 4, and perform a secondary cleaning on the residual garbage to optimize the cleaning effect.

[0048] After the pool cleaning robot 1 finishes cleaning the garbage at the bottom of the pool 4, the garbage identification device 400 can obtain an image of the liquid surface 7 to determine whether there is garbage on the liquid surface 7. If there is no garbage on the liquid surface 7, the pool cleaning robot 1 does not need to clean the liquid surface 7. If there is garbage on the liquid surface 7, the position of the garbage can be obtained so that the pool cleaning robot 1 can directly approach the garbage in the vertical direction, reducing the movement distance of the pool cleaning robot 1 on the liquid surface 7, thereby reducing the fluctuation of the liquid surface 7, avoiding the garbage on the liquid surface 7 from being affected by the fluctuation of the liquid surface 7 and moving significantly, thereby improving the cleaning efficiency.

[0049] When the pool cleaning robot 1 floats in the pool 4, the garbage identification device 400 can obtain images of the pool cleaning robot 1 in the horizontal direction around it, for example, obtain images near the side wall 6 of the pool 4 and the corners of the side, determine whether there is any residual garbage in the pool 4, perform secondary cleaning on the residual garbage, and optimize the cleaning effect. In addition, the pool cleaning robot 1 has a short moving distance in the liquid of the pool 4, which reduces the fluctuation of the liquid in the pool 4 and improves the cleaning efficiency.

[0050] In some other embodiments of the present application, the garbage identification device 400 is rotatable relative to the body 100 between a first position and a second position. When the garbage identification device 400 is in the first position, it photographs the liquid surface 7 of the pool 4. When the garbage identification device 400 is in the second position, it photographs the sidewall 6 of the pool 4.

[0051] When the pool cleaning robot 1 is in walking mode and starts to clean the garbage at the bottom of the pool 4, since the garbage is usually located at the bottom of the pool 4, the pool cleaning robot 1 walks completely along the bottom wall 5 of the pool 4, so the garbage identification device 400 does not need to obtain an image, reducing energy consumption.

[0052] After the pool cleaning robot 1 cleans the garbage at the bottom of the pool 4, the garbage identification device 400 can be in the second position, used to obtain an image of the bottom of the pool 4, for example, obtaining an image near the side wall 6 of the pool 4 and the corners of the side, to determine whether there is any residual garbage at the bottom of the pool 4, and perform a secondary cleaning on the residual garbage to optimize the cleaning effect.

[0053] After the pool cleaning robot 1 finishes cleaning the garbage at the bottom of the pool 4, the garbage identification device 400 can be in the first position, used to obtain an image of the liquid surface 7 to determine whether there is garbage on the liquid surface 7. If there is no garbage on the liquid surface 7, the pool cleaning robot 1 does not need to clean the liquid surface 7. If there is garbage on the liquid surface 7, the position of the garbage can be obtained to enable the pool cleaning robot 1 to directly approach the garbage in the vertical direction, reducing the movement distance of the pool cleaning robot 1 on the liquid surface 7, thereby reducing the fluctuation of the liquid surface 7, avoiding the garbage on the liquid surface 7 from being affected by the fluctuation of the liquid surface 7 and moving significantly, thereby improving the cleaning efficiency.

[0054] When the pool cleaning robot 1 floats in the pool 4, the garbage identification device 400 can be in the second position, used to obtain images of the pool cleaning robot 1 in the horizontal direction around it, for example, obtaining images near the side wall 6 of the pool 4 and the corners of the side, to determine whether there is any residual garbage in the pool 4, and perform secondary cleaning on the residual garbage to optimize the cleaning effect. In addition, the pool cleaning robot 1 has a short moving distance in the liquid in the pool 4, which reduces the fluctuation of the liquid in the pool 4 and improves the cleaning efficiency.

[0055] In some specific embodiments of the present application, as shown in Figures 1-3 and 6, there are multiple garbage identification devices 400, and the multiple garbage identification devices 400 are arranged on at least two different sides of the body 100. The body 100 also has lateral surfaces (e.g., left and right sides), which are located on one side of the body 100 in the horizontal direction and are respectively connected to the front and rear ends of the body 100. The lateral surfaces are located between the front and rear ends of the body 100 in the direction of movement of the pool cleaning robot 1.

[0056] For example, at least one waste identification device 400 is disposed at the front end of the body 100, and at least another waste identification device 400 is disposed at the rear end of the body 100; or at least one waste identification device 400 is disposed at the front end of the body 100, and at least another waste identification device 400 is disposed at a side surface of the body 100; or at least one waste identification device 400 is disposed at the rear end of the body 100, and at least another waste identification device 400 is disposed at a side surface of the body 100; or still further, at least one waste identification device 400 is disposed at the front end of the body 100, at least one waste identification device 400 is disposed at the rear end of the body 100, and at least another waste identification device 400 is disposed at a side surface of the body 100.

[0057] Of course, the garbage identification device 400 may be provided on all four horizontal side surfaces of the fuselage 100 , that is, the front end, the rear end and the two side surfaces of the fuselage 100 may be provided with the garbage identification device 400 .

[0058] By arranging garbage identification devices 400 on different sides of the body 100, the shooting range of the pool cleaning robot 1 can be increased, so as to more efficiently obtain images on the liquid surface 7 and the pool edge, and determine whether there is garbage on the liquid surface 7 and the pool edge, thereby completing the cleaning of the pool 4 in a shorter time and improving the cleaning efficiency.

[0059] Furthermore, multiple waste identification devices 400 are disposed on at least two adjacent side surfaces of the body 100. For example, at least one waste identification device 400 is disposed on the front end of the body 100, and at least another waste identification device 400 is disposed on a side surface (e.g., the left side or the right side) of the body 100; or at least one waste identification device 400 is disposed on the rear end of the body 100, and at least another waste identification device 400 is disposed on a side surface of the body 100.

[0060] Since the two adjacent side surfaces of the fuselage 100 are located in two different directions, for example, the fuselage 100 has a first direction and a second direction, the fuselage 100 has a front end and a rear end opposite to each other in the first direction, and the fuselage 100 has a side surface in the second direction, and the first direction and the second direction are perpendicular to each other, the multiple garbage identification devices 400 can capture images of the fuselage 100 in the first direction and the second direction, so that the garbage identification devices 400 can obtain images in different directions, more efficiently obtain images of the liquid surface 7 and the pool edge, determine whether there is garbage on the liquid surface 7 and the pool edge, thereby completing the cleaning of the pool 4 in a shorter time and improving the cleaning efficiency.

[0061] In some specific embodiments of the present application, as shown in Figures 1 to 4 and 6, the pool cleaning robot 1 further includes a roller 500, which is rotatably mounted on the body 100. The roller 500 and the water inlet 110 are located on the same side of the body 100. The roller 500 is used to drive the liquid in the pool 4 to flow toward the water inlet 110. In this way, the efficiency of the liquid in the pool 4 flowing into the filter device 200 can be improved, so that the pool 4 can be cleaned quickly.

[0062] In addition, the garbage identification device 400 and the drum 500 are located on the same side of the body 100. The drum 500 can extend beyond the side of the front end of the body 100. The drum 500 can first contact the liquid in the forward direction of the pool cleaning robot 1, thereby primarily guiding uncleaned liquid to the filter device 200. Furthermore, the garbage identification device 400 is located above the drum 500. This prevents the drum 500 from blocking the imaging range of the garbage identification device 400, ensuring that the garbage identification device 400 can capture images of the liquid level 7 over a wider range.

[0063] In some specific embodiments of the present application, as shown in Figures 3 to 6, the walking device 300 is arranged on opposite sides of the fuselage 100, and the walking device 300 extends beyond the side of the fuselage 100 to increase the surface area of ​​the walking device 300 and the contact area between the walking device 300 and the bottom wall 5 of the pool 4. The friction between the walking device 300 and the bottom wall 5 of the pool 4 is greater, and the movement of the pool cleaning robot 1 is smoother.

[0064] In addition, the garbage identification device 400 and the running device 300 are arranged on the same side of the body 100, and the garbage identification device 400 is located above the running device 300. In this way, the running device 300 can be prevented from blocking the camera range of the garbage identification device 400, ensuring that the garbage identification device 400 can obtain images of the liquid surface 7 in a larger range.

[0065] In some specific embodiments of the present application, the garbage identification device 400 is rotatable vertically relative to the body 100 and horizontally relative to the body 100. Specifically, when the garbage identification device 400 is below the liquid surface 7 of the pool 4, the garbage identification device 400 primarily rotates vertically, facing the liquid surface 7, to capture images of the liquid surface 7 and identify whether there is garbage on the liquid surface 7 and its location. When the garbage identification device 400 floats on the liquid surface 7 of the pool 4, the garbage identification device 400 primarily rotates horizontally, facing the sidewall 6 of the pool 4, to capture images of the poolside and identify whether there is garbage on the poolside and its location.

[0066] In this way, the garbage identification device 400 has a larger rotation range and is more flexible. When the garbage identification device 400 is below the liquid surface 7 or floating on the liquid surface 7, the garbage identification device 400 can be used to obtain images of different areas, so as to more effectively grasp the garbage situation in the pool 4 and improve the cleaning effect of the pool 4.

[0067] In some specific embodiments of the present application, the waste identification device 400 is movable relative to the body 100 between an extended position and a retracted position. When the waste identification device 400 is in the retracted position, the waste identification device 400 does not protrude beyond the outer surface of the body 100. When the waste identification device 400 is in the extended position, at least a portion of the waste identification device 400 protrudes beyond the outer surface of the body 100.

[0068] When the user manually cleans the liquid surface 7 and the garbage around the pool, or when the garbage identification device 400 cleans the bottom of the pool 4, the garbage identification device 400 does not need to obtain an image of the liquid surface 7. In this case, the garbage identification device 400 can be in a retracted position. This not only reduces energy consumption and extends the battery life of the pool cleaning robot 1, but also prevents the garbage identification device 400 from colliding with objects in the pool 4, reducing the probability of damage to the garbage identification device 400.

[0069] When the user requires the pool cleaning robot 1 to clean the liquid surface 7 and the garbage around the pool, or when the garbage identification device 400 has already cleaned the bottom of the pool 4, the garbage identification device 400 needs to obtain an image of the liquid surface 7. At this time, the garbage identification device 400 can be in an extended position and extend beyond the outer surface of the body 100 to more accurately obtain the image of the liquid surface 7.

[0070] In some specific embodiments of the present application, as shown in FIG3 , the pool cleaning robot 1 further includes a base, a signal transmission device 610, and a functional device. The base is detachably mounted on the body 100. The waste identification device 400, the signal transmission device 610, and the functional device are all mounted on the base. The signal transmission device 610 can be connected to the waste identification device 400 and the functional device, respectively, to feed signal data from the waste identification device 400 and the first functional device 620 to a control device.

[0071] Specifically, as shown in Figure 4, the pool cleaning robot 1 also includes a first base 600, a signal transmission device 610, and a first functional device 620. The signal transmission device 610 may include a signal receiving sensor 611 and a signal transmitting sensor 612. The signal receiving sensor 611 is used to receive signals sent by a control device (e.g., base station 3, mobile phone, tablet computer, remote control); the signal transmitting sensor 612 is used to transmit signals to the control device (e.g., base station 3, mobile phone, tablet computer, remote control) to achieve communication between the pool cleaning robot 1 and the control device. The signal transmission device 610 can assist the pool cleaning robot 1 in returning to the base station 3.

[0072] The first functional device 620 may include at least one of a distance sensor, a pressure sensor, and a depth sensor. The distance sensor is used to detect the distance between the pool cleaning robot 1 and obstacles in the forward direction, to avoid collisions between the pool cleaning robot 1 and the forward direction, and to reduce the probability of damage to the pool cleaning robot 1; the pressure sensor is used to detect whether the pool cleaning robot 1 is below the liquid level 7; and the depth sensor is used to detect the depth of the pool cleaning robot 1 in the liquid in the pool 4.

[0073] The first base 600 is detachably mounted on the main body 100 and is located on the same side of the main body 100 as the water inlet 110. Specifically, the first base 600 is detachably mounted on the front of the main body 100. The waste identification device 400, the signal transmission device 610, and the first functional device 620 are all mounted on the first base 600. The signal transmission device 610 can be connected to the waste identification device 400 and the first functional device 620, respectively, to transmit signal data from the waste identification device 400 and the first functional device 620 to the control device.

[0074] By integrating the waste identification device 400 , the signal transmission device 610 and the first functional device 620 into the first base 600 , the connection among the waste identification device 400 , the signal transmission device 610 and the first functional device 620 is more reliable.

[0075] When the first base 600 is installed on the body 100, the garbage identification device 400, the signal transmission device 610 and the first functional device 620 can be installed and positioned with respect to the body 100; when the first base 600 is removed from the body 100, the garbage identification device 400, the signal transmission device 610 and the first functional device 620 can be separated from the body 100. In this way, the pool cleaning robot 1 realizes modular connection, which is convenient for assembly and disassembly. Subsequent inspection and maintenance do not require the individual disassembly of parts, which is more convenient.

[0076] As shown in Figure 5, the pool cleaning robot 1 further includes a second base 700, a signal transmission device 610, and a second functional device 710. The signal transmission device 610 may include a signal receiving sensor 611 and a signal transmitting sensor 612. The signal receiving sensor 611 is used to receive signals from a control device (e.g., base station 3, mobile phone, tablet computer, remote control); and the signal transmitting sensor 612 is used to transmit signals to the control device (e.g., base station 3, mobile phone, tablet computer, remote control), thereby achieving communication between the pool cleaning robot 1 and the control device.

[0077] The second base 700 is detachably mounted on the main body 100 and is located on the same side of the main body 100 as the water outlet 120. Specifically, the second base 700 is detachably mounted on the rear end of the main body 100. The waste identification device 400, the signal transmission device 610, and the second functional device 710 are mounted on the second base 700. The signal transmission device 610 can be connected to the waste identification device 400 and the second functional device 710, respectively, to feed signal data from the waste identification device 400 and the second functional device 710 back to the control device.

[0078] The second functional device 710 may include at least one of a distance sensor, a pressure sensor, and a depth sensor. The distance sensor is used to detect the distance between the pool cleaning robot 1 and the obstacle behind it, so as to avoid collision during the turning process of the pool cleaning robot 1 and reduce the probability of damage to the pool cleaning robot 1; the pressure sensor is used to detect whether the pool cleaning robot 1 is below the liquid level 7; and the depth sensor is used to detect the depth of the pool cleaning robot 1 in the liquid in the pool 4.

[0079] By integrating the waste identification device 400 , the signal transmission device 610 and the second functional device 710 into the second base 700 , the connection among the waste identification device 400 , the signal transmission device 610 and the second functional device 710 is more reliable.

[0080] When the second base 700 is installed on the body 100, the installation and positioning of the garbage identification device 400, the signal transmission device 610 and the second functional device 710 with respect to the body 100 can be completed; when the second base 700 is removed from the body 100, the separation of the garbage identification device 400, the signal transmission device 610 and the second functional device 710 with respect to the body 100 can be completed. In this way, the pool cleaning robot 1 realizes modular connection, which is convenient for assembly and disassembly. Subsequent inspection and maintenance do not require the individual disassembly of parts, which is more convenient.

[0081] In some embodiments of the present application, there may be multiple garbage identification devices 400, one garbage identification device 400 is set on the first base 600, and another garbage identification device 400 is set on the second base 700. One of the first base 600 and the second base 700 is provided with a signal transmission device 610.

[0082] As shown in Figures 9-17, in some embodiments of the present application, the body 100 is provided with a mounting cavity 103, which is respectively connected to the water inlet 110 and the water outlet 120. The filter device 200 is detachably mounted in the mounting cavity 103 of the body 100 (for example, the filter device 200 can be pushed and pulled in the mounting cavity 103 of the body 100). The pool cleaning robot 1 also includes a running device 300 and a snorkeling device 800. The running device 300 is rotatably mounted on the body 100 and contacts the surface of the pool 4. The friction with the surface of the pool 4 drives the pool cleaning robot 1 to move. The snorkeling device 800 is mounted on the body 100. The pool cleaning robot 1 uses the snorkeling device 800 to dive to the bottom of the pool 4 so that the running device 300 contacts the surface of the pool 4, and then floats up to approach the liquid surface 7 of the pool 4.

[0083] The filter device 200 can be pushed and pulled in the installation cavity 103 of the body 100. The liquid in the pool 4 flows into the filter device 200 from the water inlet 110, and the filtered liquid flows out of the pool cleaning robot 1 through the water outlet 120. The filter device 200 filters the liquid, and most of the garbage in the liquid will be stored in the filter device 200.

[0084] The walking device 300 contacts the surface of the pool 4 and drives the pool cleaning robot 1 to move through friction with the surface of the pool 4, including the side walls 6 and bottom wall 5 of the pool 4. The walking device 300 can be a structure such as a crawler or a roller.

[0085] The snorkeling device 800 is used to control the ascent or descent of the pool cleaning robot 1 in the pool 4. The snorkeling device 800 can be a float chamber, and the volume of the float chamber and the amount of liquid in the float chamber are adjusted to achieve the ascent or descent of the pool cleaning robot 1 in the pool 4. Alternatively, the snorkeling device 800 can be a winch solution, and the rotation of the winch controls the length of the rope, thereby controlling the position of the piston, to achieve the purpose of adjusting the amount of liquid, so that the pool cleaning robot 1 can rise or fall in the pool 4. Alternatively, the snorkeling device 800 can be a diaphragm pump solution, and the diaphragm pump is used to pump or drain water to achieve the purpose of adjusting the amount of liquid.

[0086] Compared with the existing technology of pulling the pool cleaning robot out of the pool by setting up structures such as pull ropes on the shore, the present application integrates the snorkeling device 800 into the pool cleaning robot 1, eliminating the need to set up additional structures on the shore to pull the pool cleaning robot 1, reducing costs and eliminating the need to occupy excess shore space.

[0087] The pool cleaning robot 1 of this embodiment uses the snorkeling device 800 to achieve the movement of the pool cleaning robot 1 between the liquid surface 7 and the pool bottom. The pool cleaning robot 1 does not need to rely on the friction between the walking device 300 and the surface of the pool 4 to maintain the liquid surface 7. Therefore, the pool cleaning robot 1 consumes low energy when maintaining the liquid surface 7. Moreover, when the pool cleaning robot 1 floats on the liquid surface 7, the filter device 200 can be accessed without taking the pool cleaning robot 1 out of the pool 4. Therefore, it is convenient to remove the filter device 200, the structure is simple, and the operation is reliable, which greatly improves the convenience of use of the underwater robot 1 and saves manpower.

[0088] As shown in Figures 11, 14 and 15, the body 100 is provided with a disassembly opening 104, which is in communication with the installation cavity 103. The filter device 200 is installed in and removed from the installation cavity 103 through the disassembly opening 104. By providing the disassembly opening 104, the filter device 200 can be installed and removed from the body 100, and the filter device 200 does not need to be installed or removed from the water inlet 110 and the water outlet 120. The structural arrangement of the water inlet 110 and the water outlet 120 is less restricted by the filter device 200, and the structural arrangement of the water inlet 110 and the water outlet 120 is more diverse, which is conducive to the application of the pool cleaning robot 1 in different scenarios.

[0089] In addition, the pool cleaning robot 1 floats up through the snorkeling device 800 and approaches the liquid surface 7 in the pool 4. In this way, when the filter device 200 is disassembled from the disassembly and assembly port 104, the filter device 200 is closer to the liquid surface 7 in the pool 4, which makes it easier for the user to disassemble and assemble the filter device 200, and the operation is more convenient.

[0090] As shown in Figures 12, 15 and 17, the above-mentioned pool cleaning robot 1 has a first direction and a second direction. The first direction, the second direction and the height direction of the pool cleaning robot 1 are perpendicular to each other. The rotation axis of the walking device 300 extends along the first direction. When the walking device 300 rotates relative to the fuselage 100, the pool cleaning robot 1 is driven to move along the second direction. The walking device 300 can be arranged on opposite sides of the fuselage 100 in the first direction, so that the fuselage 100 is evenly stressed on opposite sides in the first direction, and the movement of the pool cleaning robot 1 is more stable.

[0091] In one embodiment, the disassembly and assembly port 104 is provided on the upper surface of the body 100. In this way, the filter device 200 can be disassembled and assembled when the upper surface of the body 100 exceeds the liquid level 7 of the pool 4. The pool cleaning robot 1 needs to have a smaller size to float out of the liquid surface 7, and the maximum buoyancy required to be provided by the snorkeling device 800 is smaller, which is conducive to reducing the volume of the snorkeling device 800, and the range of optional specifications of the snorkeling device 800 is wider.

[0092] In another embodiment, the disassembly and assembly port 104 is provided on the side of the fuselage 100, wherein the disassembly and assembly port 104 can be provided on a side of the fuselage 100 in the first direction, or the disassembly and assembly port 104 can be provided on a side of the fuselage 100 in the second direction, and the side of the fuselage 100 is connected between the upper surface and the lower surface of the fuselage 100.

[0093] In this way, by setting the disassembly and assembly port 104 on the side of the fuselage 100, on the one hand, compared with setting the disassembly and assembly port 104 on the lower surface of the fuselage 100, the size of the pool cleaning robot 1 that needs to float out of the liquid surface 7 is smaller, and the maximum buoyancy that the snorkeling device 800 needs to provide is smaller, which is conducive to reducing the volume of the snorkeling device 800, and the range of optional specifications of the snorkeling device 800 is wider. On the other hand, compared with setting the disassembly and assembly port 104 on the upper surface of the fuselage 100, the top surface of the fuselage 100 can be provided with photovoltaic cells or other structures, which is conducive to improving the utilization rate of the outer surface of the fuselage 100.

[0094] As shown in Figure 12, when the above-mentioned disassembly and assembly port 104 is provided on the upper surface of the fuselage 100, the filter device 200 and the snorkeling device 800 are arranged along the first direction and / or the second direction, that is, the filter device 200 and the snorkeling device 800 are arranged along the first direction, or the filter device 200 and the snorkeling device 800 are arranged along the second direction, or there are multiple snorkeling devices 800, the filter device 200 and one snorkeling device 800 are arranged along the first direction, and the filter device 200 and another snorkeling device 800 are arranged along the second direction.

[0095] In this way, the filter device 200 has a larger extendable size in the height direction of the fuselage 100, which is beneficial to increasing the filtering efficiency of the filter device 200, and the filter device 200 is not easy to interfere with the snorkeling device 800 during the disassembly and assembly process from the installation cavity 103, and the disassembly and assembly of the filter device 200 is smoother.

[0096] For example, a roller 500 may be provided on one side of the fuselage 100 in the first direction, for driving the liquid in the pool 4 to enter the filtering device 200 more quickly. When the disassembly and assembly port 104 is provided on the upper surface of the fuselage 100, the snorkeling device 800 may be provided on the side of the fuselage 100 facing away from the roller 500 in the first direction, so as to avoid the snorkeling device 800 interfering with the filtering device 200 in filtering the liquid in the pool 4.

[0097] When the mounting opening 104 is disposed on a side surface of the body 100 in the first direction, the filter device 200 and the snorkeling device 800 are arranged along the height direction of the pool cleaning robot 1. This allows the filter device 200 to extend further in both the first and second directions of the body 100, thereby increasing its filtration efficiency. Furthermore, the filter device 200 is less likely to interfere with the snorkeling device 800 during assembly and disassembly from the mounting cavity 103, making assembly and disassembly of the filter device 200 smoother.

[0098] When the detachable opening 104 is located on a side surface of the housing 100 in the first direction, the snorkeling device 800 is located below the filter device 200. This allows the detachable opening 104 to be exposed from the liquid level 7 of the pool 4 when the buoyancy provided by the snorkeling device 800 is low, as it is located near the upper portion of the housing 100. This helps reduce the size of the snorkeling device 800 and expands the range of available specifications. Furthermore, when the detachable opening 104 is exposed from the liquid level 7 of the pool 4, the snorkeling device 800 can continue to provide buoyancy to the housing 100, providing a more stable buoyancy and preventing the gap between the detachable opening 104 and the liquid level 7 of the pool 4 from becoming too small.

[0099] As shown in Figures 12 to 15, the above-mentioned pool cleaning robot 1 also includes a cover 900, which is movably provided on the body 100 between an open position and a closed position. When the cover 900 is in the open position, the disassembly and assembly opening 104 is open, and when the cover 900 is in the closed position, the disassembly and assembly opening 104 is covered.

[0100] By providing the cover 900, the shielding portion 220 can be used to cover the disassembly and assembly port 104, thereby reducing the probability of the liquid in the pool 4 flowing into or out of the body 100 through the disassembly and assembly port 104, and preventing the garbage filtered in the filter device 200 from leaking through the disassembly and assembly port 104, thereby ensuring the cleaning effectiveness of the pool cleaning robot 1.

[0101] As shown in Figures 12, 14, and 15, a first handle 210 is provided on the side of the filter device 200 facing the cover plate 900. The first handle 210 is movable relative to the filter device 200 between a lifting position and a retracted position. When the first handle 210 is in the lifting position, a portion of the first handle 210 extends beyond the side of the filter device 200 facing the cover plate 900, allowing for lifting. When the first handle 210 is in the retracted position, the first handle 210 does not extend beyond the side of the filter device 200 facing the cover plate 900.

[0102] When the first handle 210 is in the lifting position, the gap between the first handle 210 and the filter device 200 increases, which makes it easier for the hand to hold the first handle 210 and lift the filter device 200; when the first handle 210 is in the retracted position, the filter device 200 and the first handle 210 occupy a small space as a whole, and the installation cavity 103 can be set smaller, which is convenient for installing the remaining parts in the fuselage 100, and the first handle 210 will not interfere with the cover plate 900, which is conducive to the movement of the cover plate 900 relative to the fuselage 100.

[0103] The cover plate 900 is provided with a first limiting structure, and the body 100 is provided with a second limiting structure. When the cover plate 900 is in the open position, the first limiting structure and the second limiting structure abut against each other.

[0104] In this way, the relative displacement stroke between the cover 900 and the body 100 can be limited. During the sliding process of the cover 900, the cover 900 will not separate from the body 100, thereby facilitating the cover 900 to move repeatedly between the open position and the closed position, thereby improving the convenience of using the pool cleaning robot 1 and reducing the probability of losing the cover 900.

[0105] As shown in Figures 16 and 17, the above-mentioned filter device 200 is provided with a shielding portion 220, and the inner wall of the installation cavity 103 is provided with a stop protrusion 106. When the filter device 200 is installed in the installation cavity 103, the shielding portion 220 and the stop protrusion 106 stop and cover the disassembly opening 104.

[0106] By providing the shielding portion 220, the shielding portion 220 can be used to cover the disassembly and assembly port 104 to reduce the probability of the liquid in the pool 4 flowing into or out of the body 100 through the disassembly and assembly port 104, and can prevent the garbage filtered in the filter device 200 from leaking through the disassembly and assembly port 104, thereby ensuring the cleaning effectiveness of the pool cleaning robot 1.

[0107] In addition, the side of the shielding portion 220 facing away from the filtering device 200 and the outer surface of the body 100 can be located on the same plane or curved surface to improve the neatness of the appearance. The probability of dirt hiding at the connection between the shielding portion 220 and the body 100 is low and the amount of dirt hidden is even less.

[0108] In addition, through the cooperation between the shielding portion 220 and the stop protrusion 106, the positioning effect between the filter device 200 and the body 100 can be optimized, the assembly accuracy can be improved, the filter device 200 can be prevented from being inserted too low into the installation cavity 103, and in-position feedback can be provided, making installation easier during the assembly process.

[0109] As shown in Figures 16 and 17 , the shielding portion 220 has a groove 221 on the side facing away from the filter device 200. A second handle 222 is provided within the groove 221 for lifting. A user's fingers pass through the gap between the second handle 222 and the bottom of the groove 221 to grasp the second handle 222, thereby pushing or pulling the filter device 200.

[0110] For example, the second handle 222 and the shielding portion 220 can be fixedly connected, and the second handle 222 and the shielding portion 220 can be molded in one step, thereby improving production efficiency. The connection strength between the second handle 222 and the shielding portion 220 is high, and the structure is simple. Furthermore, the side of the second handle 222 facing away from the filter device 200 does not extend beyond the side of the shielding portion 220 facing away from the filter device 200, making it difficult for the second handle 222 to collide with the side of the shielding portion 220 facing away from the filter device 200 during movement of the pool cleaning robot 1. Furthermore, the side of the second handle 222 facing away from the filter device 200 and the side of the shielding portion 220 facing away from the filter device 200 can be flush with each other. This prevents the second handle 222 from colliding with each other while increasing the gap between the second handle 222 and the bottom of the groove 221, making it easier for the hand to grasp the second handle 222.

[0111] Alternatively, the second handle 222 and the shielding portion 220 can rotate relative to each other. By rotating the second handle 222 relative to the shielding portion 220, the second handle 222 can be accommodated in the groove 221. At this time, the second handle 222 does not exceed the side of the shielding portion 220 facing away from the filter device 200. The pool cleaning robot 1 can move, and the second handle 222 can also extend out of the groove 221. At this time, the filter device 200 can be pushed and pulled. In this way, when the second handle 222 is accommodated in the groove 221, the second handle 222 is not prone to collision during the movement of the pool cleaning robot 1. The second handle 222 extends out of the groove 221, and the gap between the second handle 222 and the bottom of the groove 221 is increased, making it easier for the hand to hold the second handle 222.

[0112] As shown in Figures 9, 10, 11, and 18, in some embodiments of the present application, the pool cleaning robot further includes a snorkeling device 800 and a walking device 300. The snorkeling device 800 is provided on the body 100 and is used to control the pool cleaning robot 1 to ascend or descend in the pool 4. The walking device 300 includes a track and a roller 500. The track is provided on the body 100, the lower surface of the track extending downwardly beyond the lower surface of the body 100, and at least a portion of the upper portion of the track 100 is shielded by the body 100. The roller 500 is rotatably provided on the body 100. When the track contacts the surface of the pool 4, the friction between the track and the surface of the pool 4 drives the pool cleaning robot 1 to move. When the track separates from the surface of the pool 4, the force generated by the track and / or the roller 500 running in the water drives the pool cleaning robot 1 to move.

[0113] Among them, when the crawler is separated from the surface of the pool 4, the upper part of the crawler moves the liquid in the pool 4 to generate a first force, and the lower part of the crawler moves the liquid in the pool 4 to generate a second force. The first force is smaller than the second force. The difference between the first force and the second force forms a first driving force to drive the pool cleaning robot 1 to move.

[0114] Among them, the snorkeling device 800 can be a floating chamber, and by adjusting the volume of the floating chamber and the amount of liquid in the floating chamber, the pool cleaning robot 1 can be raised or lowered in the pool 4. Alternatively, the snorkeling device 800 can be a winch solution, and the length of the rope can be controlled by the rotation of the winch, thereby controlling the position of the piston to achieve the purpose of adjusting the amount of liquid, so as to achieve the purpose of raising or lowering the pool cleaning robot 1 in the pool 4. Alternatively, the snorkeling device 800 can be a diaphragm pump solution, and the diaphragm pump can be used to pump or drain water to achieve the purpose of adjusting the amount of liquid. Compared with the existing technology of pulling the pool cleaning robot out of the pool by setting a pull rope or other structure on the shore, the present application integrates the snorkeling device 800 into the pool cleaning robot 1, and there is no need to set up an additional structure on the shore to pull the pool cleaning robot 1, which reduces costs and does not require excess shore space.

[0115] The walking device 300 adopts a crawler. When the crawler is separated from the surface of the pool 4, if the upper part of the crawler moves forward and the lower part of the crawler moves backward, the upper part of the crawler drives the liquid forward, and the first force generated by the liquid on the crawler is backward, and the lower part of the crawler drives the liquid backward, and the second force generated by the liquid on the crawler is forward. The difference between the first force and the second force forms the first driving force forward, so the pool cleaning robot 1 moves forward; if the upper part of the crawler moves backward and the lower part of the crawler moves forward, the upper part of the crawler drives the liquid backward, and the first force generated by the liquid on the crawler is forward, and the lower part of the crawler drives the liquid forward, and the second force generated by the liquid on the crawler is backward. The difference between the first force and the second force forms the first driving force backward, so the pool cleaning robot 1 moves backward.

[0116] As can be seen from this, by changing the moving direction of the crawler tracks, the moving direction of the fuselage 100 can be changed.

[0117] For example, the outer circumferential surface of the track can be provided with a plurality of protrusions 330, and the plurality of protrusions 330 are arranged at intervals along the circumference of the track. On the one hand, the contact area between the track and the liquid is increased. When the track is separated from the surface of the pool 4, the first driving force is greater, thereby increasing the moving speed of the pool cleaning robot 1. On the other hand, when the track contacts the surface of the pool 4, the protrusions 330 contact the surface of the pool 4, which is conducive to adjusting the friction between the track and the surface of the pool 4.

[0118] In the embodiment of the present application, the pool cleaning robot 1 is provided with tracks, and at least a portion of the upper portion of the tracks is covered by the fuselage 100. Without affecting the surface movement of the pool 4 by the tracks, the pool cleaning robot 1 can also move the liquid by the tracks when floating in the liquid. There is no need to set up other additional drive structures, which reduces the number of parts of the pool cleaning robot 1, makes the structure simpler, and reduces the cost.

[0119] As shown in Figures 11, 18, 19, and 20, the body 100 has a first direction (indicated by arrow A in the drawings) and a second direction (indicated by arrow B in the drawings). The first direction, the second direction, and the height of the body 100 (indicated by arrow C in the drawings) are perpendicular to each other. The body 100 includes multiple tracks, including a first track 310 and a second track 320. The first track 310 and the second track 320 are disposed on opposite sides of the body 100 in the first direction and extend in a second direction. When the tracks are in contact with the surface of the pool 4, friction between the tracks and the surface drives the pool cleaning robot 1 in the second direction. When the tracks are separated from the surface of the pool 4, the driving force generated by the tracks moving liquid in the pool 4 drives the pool cleaning robot 1 in the second direction.

[0120] That is to say, when the track moves relative to the fuselage 100, it will drive the fuselage 100 to move along the second direction. Since the first track 310 and the second track 320 are arranged on opposite sides of the fuselage 100 in the first direction, the force on the opposite sides of the fuselage 100 in the first direction is more evenly distributed, and the pool cleaning robot 1 has higher movement stability.

[0121] In addition, by providing multiple tracks, the surface area of ​​the entire track is effectively increased. When the pool cleaning robot 1 moves along the surface of the pool 4, the contact area between the track and the surface of the pool 4 is larger, and the friction between the track and the surface of the pool 4 is greater, so the moving speed and stability of the pool cleaning robot 1 can be improved; when the pool cleaning robot 1 is separated from the surface of the pool 4, each track can generate a first driving force for driving the pool cleaning robot 1 to move, the driving force received by the pool cleaning robot 1 is greater, and the moving speed and stability of the pool cleaning robot 1 can be improved.

[0122] As shown in FIG. 18 to FIG. 20 , the fuselage 100 includes a main body 130 and a shielding edge 140 .

[0123] The main body 130 is provided with a water inlet 110 and a water outlet 120. The first crawler 310 and the second crawler 320 are respectively provided on opposite sides of the main body 100 in the first direction. The shielding edge 140 is provided on opposite sides of the main body 130 in the second direction.

[0124] Among them, the main body 130 and the shielding edge 140 can be formed as one piece. At this time, an arc-shaped transition can be used between the main body 130 and the shielding edge 140, which also reduces the probability of stress concentration. The connection strength between the main body 130 and the shielding edge 140 can be improved, and can be formed in one step through a mold, reducing the disassembly and assembly steps and improving production efficiency; or the main body 130 and the shielding edge 140 can be set separately. For example, the main body 130 and the shielding edge 140 can be connected by snap-on, threaded, adhesive, etc. At this time, the shielding edge 140 can be disassembled and assembled from the main body 130. The shielding edge 140 is an optional structure to meet the needs of different users.

[0125] The shielding edge 140 is located above and spaced apart from the track, and is used to shield at least a portion of the upper portion of the track. In other words, each shielding edge 140 is used to shield the track on the same side of the main body 130 as the shielding edge 140. By providing shielding edges 140 to shield the track, the track does not need to be embedded into the existing surface of the main body 130, and the track does not encroach on the existing space of the main body 130, thus avoiding a reduction in the available space of the main body 130. This achieves shielding of the upper portion of the track without changing the existing structural layout of the main body 130.

[0126] As shown in Figures 18-20, the side of the first crawler 310 facing away from the second crawler 320 extends beyond the shielding edge 140, and the side of the second crawler 320 facing away from the first crawler 310 extends beyond the shielding edge 140. In this way, the shielding edge 140 is relatively small in the first direction, which can achieve shielding of the upper portion of the crawler while reducing costs.

[0127] For example, the size of the upper part of the track blocked along 140 in the first direction is not less than half of the total size of the upper part of the track in the first direction, so as to ensure that the difference between the first force and the second force of each track is large enough, that is, each track can provide sufficient first driving force to achieve rapid movement of the pool cleaning robot 1.

[0128] As shown in Figures 18 and 19, both ends of the crawler track extend beyond the body 100 in the second direction. This effectively increases the surface area of ​​the crawler track. When the pool cleaning robot 1 moves along the surface of the pool 4, the contact area between the crawler track and the surface of the pool 4 is larger, the friction between the crawler track and the surface of the pool 4 is greater, and the movement speed and stability of the pool cleaning robot 1 can be improved. When the pool cleaning robot 1 separates from the surface of the pool 4, the single crawler track can generate a larger first driving force for driving the pool cleaning robot 1 to move, the pool cleaning robot 1 is subjected to a greater driving force, and the movement speed and stability of the pool cleaning robot 1 can be improved.

[0129] As shown in Figures 9-10 and 18-21, the drum 500 is rotatably provided on the body 100 and is located on one side of the body 100 in the second direction. The water inlet 110 and the drum 500 are located on the same side of the body 100. When the drum 500 rotates relative to the body 100, the liquid in the pool 4 is driven to flow into the water inlet 110. By providing the drum 500, the liquid in the pool 4 can be accelerated to flow from the water inlet 110 into the filter device 200. In the same time, the cleaning efficiency of the filter device 200 on the pool 4 is improved. In addition, the drum 500 can also contact the surface of the pool 4 and generate friction, providing driving force for the movement of the pool cleaning robot 1.

[0130] As shown in Figures 9-10 and 18-21, at least a portion of the upper portion of the drum 500 is obscured by the body 100. When the crawler tracks separate from the surface of the pool 4, the upper portion of the drum 500 stirs the liquid in the pool 4 to generate a third force, and the lower portion of the drum 500 stirs the liquid in the pool 4 to generate a fourth force. The third force is less than the fourth force, and the difference between the third and fourth forces forms a second driving force. The first and second driving forces jointly drive the pool cleaning robot 1 to move.

[0131] Specifically, when the roller 500 is required to generate a second driving force to drive the pool cleaning robot 1 to move, the rotation direction of the roller 500 is the same as the rotation direction of the track, and the first driving force of the track and the second driving force of the roller 500 drive the pool cleaning robot 1 to move in the same direction. The first driving force of the track and the second driving force of the roller 500 are superimposed on the pool cleaning robot 1 to avoid partial or complete offset of the first driving force of the track and the second driving force of the roller 500.

[0132] In this way, when the crawler track separates from the surface of the pool 4, the pool cleaning robot 1 is subjected to a greater driving force, which is beneficial to increasing the moving speed of the pool cleaning robot 1, and the roller 500 not only has the function of driving the liquid in the pool 4 to flow into the filtering device 200 at an accelerated speed to increase the filtration speed, but also has the function of driving the pool cleaning robot 1 to float and move in the water. The roller 500 is reused, and the moving speed of the pool cleaning robot 1 is increased without the need for additional parts.

[0133] As shown in Figures 18 and 19, the outer surface of the drum 500 is provided with a plurality of flexible paddles 510. The flexible paddles 510 and the drum 500 may be integrally formed. The plurality of flexible paddles 510 are spaced apart along the circumference of the drum 500, and each flexible paddle 510 extends axially along the drum 500. The provision of the flexible paddles 510 increases the contact area between the drum 500 and the liquid in the pool 4. On the one hand, the liquid in the pool 4 can be guided to the water inlet 110 more quickly, thereby improving cleaning efficiency. On the other hand, when the crawler belt separates from the surface of the pool 4, the drum 500 has a greater second driving force, thereby increasing the driving force received by the pool cleaning robot 1 and increasing the movement speed of the pool cleaning robot 1.

[0134] At least one flexible paddle 510 extends downwardly beyond the track. Due to the low hardness of the flexible paddle 510, the flexible paddle 510 is easily deformed. When the drum 500 rotates relative to the body 100, different flexible paddles 510 extend downwardly beyond the track. This, on the one hand, increases the radial size of the flexible paddle 510 in the drum 500, which helps to further increase the contact area between the drum 500 and the liquid in the pool 4, further improving the cleaning efficiency and the movement speed of the pool cleaning robot 1. On the other hand, when the track contacts the surface of the pool 4, the flexible paddle 510 will contact the surface of the pool 4 and move relative to the surface of the pool 4, thereby cleaning the surface of the pool 4, wiping off dirt and garbage deposited on the surface of the pool 4, and improving the cleanliness of the surface of the pool 4.

[0135] As shown in Figures 18 and 19, the roller 500 extends beyond the body 100 in a first direction. This effectively increases the surface area of ​​the roller 500. When the pool cleaning robot 1 moves along the surface of the pool 4, the contact area between the roller 500 and the surface of the pool 4 is larger, resulting in a greater cleaning effect on the surface of the pool 4. When the pool cleaning robot 1 separates from the surface of the pool 4, the roller 500 can generate a larger second driving force for driving the pool cleaning robot 1 to move. The driving force exerted on the pool cleaning robot 1 is greater, and the movement speed and stability of the pool cleaning robot 1 can be improved.

[0136] In addition, the drum 500 will not occupy too much space of the fuselage 100, thus avoiding excessive reduction of the available space of the fuselage 100. While shielding the upper part of the drum 500, the original structural layout of the fuselage 100 is kept as unchanged as possible, thereby reducing the probability of modification of the fuselage 100.

[0137] As shown in Figures 18 and 20, there are multiple rollers 500, which are arranged along the axial direction of the rollers 500. For example, the ends of the rollers 500 can extend to the first track 310 and the second track 320 to maximize the length of the rollers 500.

[0138] By providing a plurality of rollers 500, the overall surface area of ​​the rollers 500 is effectively increased. When the pool cleaning robot 1 moves along the surface of the pool 4, the contact area between the rollers 500 and the surface of the pool 4 is larger, and the cleaning efficiency of the surface of the pool 4 is higher; when the pool cleaning robot 1 is separated from the surface of the pool 4, each roller 500 can generate a second driving force for driving the pool cleaning robot 1 to move. The pool cleaning robot 1 is subjected to a greater driving force, and the moving speed and stability of the pool cleaning robot 1 can be improved.

[0139] An embodiment of the second aspect of the present application provides a pool cleaning system. As shown in Figures 1-3, the pool cleaning system 2 includes a base station 3 and the pool cleaning robot 1 of the above embodiment. The pool cleaning robot 1 has a return-to-pile mode. When the pool cleaning robot 1 is in the return-to-pile mode, it moves toward the base station 3 according to the signal of the garbage identification device 400.

[0140] The pool cleaning system 2 of the embodiment of the present application, by utilizing the above-mentioned pool cleaning robot 1, can not only clean the garbage on the pool bottom and the liquid surface 7, but also has a shorter moving distance on the liquid surface 7, reducing the fluctuation of the liquid surface 7 and improving the cleaning efficiency.

[0141] In addition, by setting up the garbage identification device 400, the image of the side wall 6 of the pool 4 on the side of the pool cleaning robot 1 can be obtained to control the pool cleaning robot 1 to move along the side wall 6 of the pool 4, thereby increasing the probability of the pool cleaning robot 1 moving to the base station 3.

[0142] In some embodiments of the present application, the garbage identification device 400 includes a camera device, which is used to capture images inside the pool 4, for example, the camera device is used to capture images of the liquid surface of the pool 4, or the camera device is used to capture images of the bottom wall 5 of the pool 4, or the camera device is used to capture images of the side wall 6 of the pool 4.

[0143] The base station 3 is provided with a display screen, which is electrically or optically connected to the camera device, and the display screen is used to display the image captured by the camera assembly; or the pool cleaning system 2 also includes a mobile terminal, which is electrically or optically connected to the camera assembly, and the mobile terminal is used to display the image captured by the camera assembly, wherein the mobile terminal can be a mobile phone, a laptop computer, a tablet computer, etc.

[0144] In this way, the user can see the image captured by the camera component through the display or mobile terminal, and can clearly know whether there is still garbage on the bottom wall, side wall and liquid surface of the pool 4, and understand the current cleanliness level of the pool 4 to decide whether the cleaning of the pool 4 can be ended, ensuring that the cleaning of the pool 4 meets the user's requirements, and timely feedback of the results to the user with a high degree of visualization to optimize the user experience.

[0145] 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.

[0146] 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, Comprising: A fuselage; A filtering device provided on the fuselage, the filtering device being provided with a dirt accommodating space; A snorkeling device provided on the fuselage, the snorkeling device being used to switch the pool cleaning robot between a first mode and a second mode; wherein, when in the first mode, the pool cleaning robot is on the water surface, and when in the second mode, the pool cleaning robot is underwater and in contact with the bottom wall of the pool.

2. The pool cleaning robot according to claim 1, wherein Further comprising: A garbage recognition device provided on the fuselage, for recognizing garbage on the liquid surface of the pool and / or on the bottom wall of the pool.

3. The pool cleaning robot according to claim 2, wherein, The garbage recognition device includes a camera device, the camera device being used to acquire an image on the liquid surface of the pool, and / or the camera device being used to acquire an image of the bottom wall of the pool.

4. The pool cleaning robot according to claim 3, wherein, The camera device is rotatable relative to the fuselage between a first position and a second position. When the camera device is in the first position, it is used to recognize garbage on the liquid surface of the pool, and when the camera device is in the second position, it is used to recognize garbage on the bottom wall of the pool.

5. The pool cleaning robot according to claim 3, wherein, Further comprising: A roller rotatably provided on the fuselage; Wherein, the camera device and the roller are provided on the same side of the fuselage, and the camera is located above the roller.

6. The pool cleaning robot according to claim 3, wherein, When the pool cleaning robot is in the first mode, the camera device is used to acquire an image of the liquid surface of the pool, and / or the camera device is used to acquire an image of the bottom wall of the pool.

7. The pool cleaning robot according to claim 3, wherein, The pool cleaning robot further includes a traveling device, the traveling device being rotatably provided on the fuselage and used to contact the bottom wall and / or the side wall of the pool; The traveling devices are provided on opposite sides of the fuselage. The camera device and the traveling devices are provided on the same side of the fuselage, and the camera device is located above the traveling devices.

8. The pool cleaning robot according to claim 3, wherein, The camera device is rotatable relative to the fuselage in the vertical direction; and / or The camera device is rotatable relative to the fuselage in the horizontal direction.

9. The pool cleaning robot according to claim 3, wherein, The camera device is movable relative to the fuselage between a retracted position and an extended position. When the camera device is in the retracted position, the camera device does not extend beyond the outer surface of the fuselage. When the camera device is in the extended position, at least a part of the camera device extends beyond the outer surface of the fuselage.

10. The pool cleaning robot according to any one of claims 2-9, wherein, Further comprising: A base detachably provided on the fuselage, the camera device being provided on the base; A signal transmission device provided on the base and electrically connected to the camera device; A functional device provided on the base and electrically connected to the signal transmission device.

11. The pool cleaning robot according to claim 1, wherein, The fuselage is provided with an installation cavity, and the filtering device is detachably provided in the installation cavity of the fuselage; When the pool cleaning robot is in the first mode, the filtering device can be taken out from the installation cavity.

12. The pool cleaning robot according to claim 11, wherein, The fuselage is provided with a disassembly and assembly opening, the disassembly and assembly opening is communicated with the installation cavity, and the filtering device is installed into the installation cavity and taken out from the installation cavity through the disassembly and assembly opening; The pool cleaning robot floats to the liquid surface of the pool through the snorkeling device, so that the disassembly and assembly opening is exposed from the liquid surface of the pool.

13. The pool cleaning robot according to claim 11, wherein, The filtering device is slidably provided in the installation cavity of the fuselage.

14. The pool cleaning robot according to claim 12, wherein, The pool cleaning robot further includes: The traveling device is rotatably arranged on the fuselage, and the traveling device is in contact with the surface of the pool, and drives the pool cleaning robot to move through the frictional force with the surface of the pool; The pool cleaning robot has a first direction and a second direction, the first direction, the second direction and the height direction of the pool cleaning robot are perpendicular to each other, the rotation axis of the traveling device extends along the first direction, and when the traveling device rotates relative to the fuselage, it drives the pool cleaning robot to move along the second direction; Wherein, the disassembly and assembly opening is arranged on the upper surface of the fuselage, and / or the disassembly and assembly opening is arranged on the side surface of the fuselage.

15. The pool cleaning robot according to claim 14, wherein, When the disassembly and assembly opening is arranged on the upper surface of the fuselage, the filtering device and the snorkeling device are arranged along the first direction and / or the second direction; When the disassembly and assembly opening is arranged on one side surface of the fuselage in the first direction, the filtering device and the snorkeling device are arranged along the height direction of the pool cleaning robot.

16. The pool cleaning robot according to claim 14, wherein, When the disassembly and assembly opening is arranged on one side surface of the fuselage in the first direction, the snorkeling device is located below the filtering device.

17. The pool cleaning robot according to claim 12, wherein, Further comprising: A cover plate is movably arranged on the fuselage between an open position and a closed position. When the cover plate is in the open position, the disassembly and assembly opening is open, and when the cover plate is in the closed position, it covers the disassembly and assembly opening.

18. The pool cleaning robot according to claim 17, wherein, A first handle is arranged on the side of the filtering device facing the cover plate, and the first handle is movable relative to the filtering device between a lifting position and a retracted position; Wherein, when the first handle is in the lifting position, a part of the first handle extends beyond the side surface of the filtering device facing the cover plate for being lifted; When the first handle is in the retracted position, it does not extend beyond the side surface of the filtering device facing the cover plate.

19. The pool cleaning robot according to claim 16, wherein, The cover plate is provided with a first limiting structure, and the fuselage is provided with a second limiting structure. When the cover plate is in the open position, the first limiting structure and the second limiting structure abut against each other.

20. The pool cleaning robot according to claim 12, wherein, The filtering device is provided with a shielding portion, and the inner wall of the installation cavity is provided with a stop protrusion. When the filtering device is installed in the installation cavity, the shielding portion abuts against the stop protrusion and seals the disassembly and assembly opening.

21. The pool cleaning robot according to claim 20, wherein, A groove is arranged on the side of the shielding portion facing away from the filtering device, and a second handle is arranged in the groove for being lifted.

22. The pool cleaning robot according to claim 1, wherein, The pool cleaning robot further comprises: A traveling device, the traveling device includes a crawler belt, and the crawler belt is arranged on the fuselage; A drum is rotatably arranged on the fuselage; Wherein, when the crawler belt is in contact with the surface of the pool, it drives the pool cleaning robot to move through the frictional force between the crawler belt and the surface of the pool; When the crawler belt is separated from the surface of the pool, the acting force generated by the operation of the crawler belt and / or the drum in the water drives the pool cleaning robot to move.

23. The pool cleaning robot according to claim 22, wherein, The lower surface of the crawler belt extends downward beyond the lower surface of the fuselage, and at least a part of the upper part of the crawler belt is shielded by the fuselage; At least a part of the upper part of the drum is shielded by the fuselage.

24. The pool cleaning robot according to claim 22, wherein, When the crawler is separated from the surface of the pool, the upper part of the crawler stirs the liquid in the pool to generate a first acting force, and the lower part of the crawler stirs the liquid in the pool to generate a second acting force. The first acting force is less than the second acting force. A first driving force is formed by the difference between the first acting force and the second acting force to drive the pool cleaning robot to move; and / or When the crawler is separated from the surface of the pool, the upper part of the roller stirs the liquid in the pool to generate a third acting force, and the lower part of the roller stirs the liquid in the pool to generate a fourth acting force. The third acting force is less than the fourth acting force. A second driving force is formed by the difference between the third acting force and the fourth acting force. The first driving force and the second driving force jointly drive the pool cleaning robot to move.

25. The pool cleaning robot according to claim 22, wherein, The fuselage has a first direction and a second direction, and the first direction, the second direction and the height of the fuselage are perpendicular to each other; both ends of the crawler extend beyond the fuselage in the second direction; and / or The roller is located on one side of the fuselage in the second direction.

26. The pool cleaning robot according to claim 25, wherein, There are multiple crawlers, and the multiple crawlers include a first crawler and a second crawler. The first crawler and the second crawler are respectively arranged on opposite sides of the fuselage in the first direction, and the crawlers extend in the second direction; Wherein, when the crawler is in contact with the surface of the pool, the pool cleaning robot is driven to move in the second direction by the frictional force between the crawler and the surface of the pool; When the crawler is separated from the surface of the pool, the pool cleaning robot is driven to move in the second direction by the driving force generated by the crawler stirring the liquid in the pool.

27. The pool cleaning robot according to claim 26, wherein, The first crawler and the second crawler are respectively arranged on opposite sides of the main body in the first direction; Blocking edges are provided on opposite side surfaces of the main body in the second direction. The blocking edges are located above the crawler and are spaced from the crawler, and are used to block at least a part of the upper part of the crawler.

28. The pool cleaning robot according to claim 27, wherein, The side of the first crawler facing away from the second crawler extends beyond the blocking edge, and the side of the second crawler facing away from the first crawler extends beyond the blocking edge.

29. The pool cleaning robot according to claim 25, wherein, A plurality of flexible vanes are provided on the outer surface of the roller. The plurality of flexible vanes are arranged at intervals along the circumferential direction of the roller. Each flexible vane extends along the axial direction of the roller, and at least one flexible vane extends downward beyond the crawler.

30. The pool cleaning robot according to claim 25, wherein, The roller extends beyond the fuselage in the first direction; There are multiple rollers, and the multiple rollers are arranged along the axial direction of the roller.

31. A pool cleaning system, wherein, Comprising: A base station; The pool cleaning robot according to any one of claims 1-30, the pool cleaning robot has a mode of returning to the pile. When the pool cleaning robot is in the mode of returning to the pile, it moves in the direction of the base station according to the signal of the garbage recognition device.

32. The pool cleaning system according to claim 31, wherein, The base station is provided with a display screen, the display screen is electrically or optically connected to the garbage recognition device, and the display screen is used to display the image obtained by the garbage recognition device, and / or the pool cleaning system further includes a mobile terminal, the mobile terminal is electrically or optically connected to the garbage recognition device, and the mobile terminal is used to display the image obtained by the garbage recognition device.

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