CN116752817A - Water line cleaning method and pool cleaning robot - Google Patents

Abstract

The invention relates to the technical field of pool cleaning robots, and in particular to a waterline cleaning method and a pool cleaning robot. The waterline cleaning method includes: upon detecting that the pool cleaning robot reaches the waterline position from underwater, adjusting the pool cleaning robot to a target state, wherein the target state is that the first part of the pool cleaning robot is located above the waterline and the state where the second part is below the waterline; the pool cleaning robot is controlled to clean the target area including the waterline in the target state. Through the embodiments of the present invention, the problem in the related art of poor cleaning effect on the area near the waterline position of the side wall of the pool is solved.

Description

Waterline cleaning methods and pool cleaning robots

Technical field

The invention relates to the technical field of pool cleaning robots, and in particular to a waterline cleaning method and a pool cleaning robot.

Background technique

With the rise of national sports, more and more people choose swimming, a form of exercise that can not only increase the fun of life but also strengthen the body. Public swimming pools have become crowded places. Therefore, the water quality of the pool has attracted much attention. For example, if a large amount of suspended matter and impurities in the pool are not cleaned in time, bacteria can easily breed and diseases can be transmitted. However, if you choose to completely replace the pool water, it will cause a lot of waste of water resources.

In the related art, the pool cleaning robot achieves cleaning of the side wall by adhering to the side wall. However, in order to ensure the adhesion of the pool cleaning robot to the side wall of the pool, the pool cleaning robot can only clean the position below the water surface, that is, pool cleaning in the related art. The robot can only clean the position below the waterline on the side wall of the pool, but cannot clean the waterline position on the side wall of the pool and the position above the waterline. Most suspended solids and impurities will adhere to the water surface and the waterline position on the side wall of the pool. Therefore, there is a problem in the related art that the cleaning effect is not good in the area near the waterline position of the side wall of the pool.

Regarding the problem of poor cleaning effect in the area near the waterline position of the side wall of the pool in the related technology, no effective solution has been proposed yet.

Contents of the invention

Embodiments of the present invention provide a waterline cleaning method and a pool cleaning robot to at least solve the problem in the related art that the cleaning effect is not good in areas near the waterline position of the side wall of the pool.

According to one embodiment of the present invention, a waterline cleaning method is provided, including: when detecting that the pool cleaning robot reaches the waterline position from underwater, adjusting the pool cleaning robot to a target state, wherein, The target state is a state in which the first part of the pool cleaning robot is located above the water line and the second part is located below the water line; the pool cleaning robot is controlled to perform cleaning tasks including the water line in the target state. Clean the target area along the waterline.

In an exemplary embodiment, when detecting that the pool cleaning robot reaches the waterline position from underwater, adjusting the pool cleaning robot to the target state includes: detecting that the pool cleaning robot reaches the waterline position from underwater. When reaching the waterline position, the drainage volume in the first gravity adjustment mechanism of the pool cleaning robot is controlled to meet the first preset amount; the steering of the pool cleaning robot is controlled so that the pool cleaning robot The direction of movement becomes transverse, where the transverse direction is a direction parallel to the waterline.

In an exemplary embodiment, controlling the steering of the pool cleaning robot to change the movement direction of the pool cleaning robot to a transverse direction includes: adjusting the movement speed of the movement mechanism on the first side of the pool cleaning robot to a third a movement speed, and adjust the movement speed of the movement mechanism on the second side of the pool cleaning robot to the second movement speed, so that the pool cleaning robot turns to the direction of movement to become transverse, wherein the first movement The speed is greater than the second movement speed, the first side is the side where the first gravity adjustment structure is located, and the second side is the side where the second gravity adjustment mechanism of the gravity adjustment mechanism is located, The first gravity adjustment mechanism and the second gravity adjustment mechanism are symmetrically arranged on the housing of the pool cleaning robot along an axis direction, the axis direction is a direction parallel to the movement direction of the pool cleaning robot, and Along the axial direction, the housing is divided into two parts of the same size.

In an exemplary embodiment, after the drainage volume in the first gravity adjustment mechanism of the pool cleaning robot is controlled to meet the first preset amount, the method further includes: controlling the gravity adjustment The drainage volume of the second gravity adjustment mechanism in the mechanism meets the second preset volume.

In an exemplary embodiment, before adjusting the pool cleaning robot to a target state, the method further includes at least one of the following:

When the air inlet connected to the gravity adjustment mechanism of the pool cleaning robot is exposed to the water surface, determine that the pool cleaning robot reaches the waterline position from underwater;

When the value of the target sensor is a preset depth value, determine that the pool cleaning robot reaches the waterline position from underwater, wherein the value of the target sensor represents the depth of the pool cleaning robot in the water;

When the movement mechanism of the pool cleaning robot is in motion and the pool cleaning robot cannot rise, it is determined that the pool cleaning robot reaches the waterline position from underwater.

In an exemplary embodiment, the method further includes: a size of the first portion being smaller than a size of the second portion.

In an exemplary embodiment, before adjusting the pool cleaning robot to the target state, the method further includes: when the pool cleaning robot is located on the water surface, controlling the pool cleaning robot to enter the water; controlling the The pool cleaning robot reaches the side wall of the pool in the water; the pool cleaning robot is controlled to move along the side wall of the pool toward the waterline position, so that the pool cleaning robot reaches the water line from underwater along the side wall of the pool. line position.

According to yet another embodiment of the present invention, a pool cleaning robot is also provided, including a gravity adjustment mechanism, a memory, a processor, and a computer program stored on the memory and executable on the processor, wherein: The gravity adjustment mechanism is used to adjust the gravity of the pool cleaning robot through water filling or drainage. The processor controls the gravity adjustment mechanism when executing the computer program to implement the steps of any of the above methods. .

In an exemplary embodiment, the pool cleaning robot further includes a housing, the pool cleaning robot further includes a housing, the gravity adjustment mechanism includes a first gravity adjustment mechanism and a second gravity adjustment mechanism, the first gravity adjustment mechanism The gravity adjustment mechanism and the second gravity adjustment mechanism are symmetrically arranged on the housing along an axial direction, which is a direction parallel to the movement direction of the pool cleaning robot, and along the axial direction, the The housing is divided into two parts of equal size.

In an exemplary embodiment, one of the gravity adjustment mechanisms includes: an adjustment driving member provided on the housing;

A cavity is connected to the adjustment driving member, wherein the adjustment driving member is used to drain or fill the cavity, and a cavity of the gravity adjustment mechanism includes one or more cavities.

In an exemplary embodiment, the pool cleaning robot further includes: an air inlet, the air inlet is provided on the housing, the air inlet and the first gravity adjustment mechanism are located on the On the same side of the pool cleaning robot, the air inlet holes are respectively connected with the cavities of the two sets of gravity adjustment mechanisms, and the air inlet holes are arranged at the front of the pool cleaning robot, wherein, in the When the cavity is drained, the air inlet hole is used to allow gas to enter the cavity from the air inlet hole.

Through the present invention, when the pool cleaning robot reaches the waterline position, it is ready to clean the waterline position. Before cleaning the waterline position, the pool cleaning robot is adjusted so that part of the body of the pool cleaning robot is located above the waterline, and at the same time, part of the body of the pool cleaning robot is located above the waterline. The fuselage is positioned below the waterline, so that the pool cleaning robot can clean a certain range above and below the waterline at the same time, that is, it can clean the target area including the waterline. Therefore, it solves the problem of waterline on the side wall of the pool in related technologies. The problem of poor cleaning effect in the area near the location is helpful to improve the cleaning range and cleaning effect of the side wall of the pool. There is no need to manually clean the waterline position and the parts above the waterline position, which provides convenience to users and helps improve the user experience. .

Description of the drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, a brief introduction will be made below to the drawings needed to describe the embodiments of the present invention. Obviously, the drawings in the following description are only some embodiments of the present invention. , For those of ordinary skill in the art, other drawings can also be obtained based on the content of the embodiments of the present invention and these drawings without exerting creative efforts.

Figure 1 is a schematic diagram of the hardware environment of a waterline cleaning method according to an embodiment of the present invention;

Figure 2 is a flow chart of a waterline cleaning method according to an embodiment of the present invention;

Figure 3 is a schematic diagram of the pool cleaning robot in a target state according to an embodiment of the present invention;

Figure 4 is a schematic diagram of the pool cleaning robot climbing to the waterline position in the embodiment of the present invention;

Figure 5 is a schematic diagram of the position of the pool cleaning robot after discharging the water in the second gravity adjustment structure according to an embodiment of the present invention;

Figure 6 is a schematic structural diagram of a pool cleaning robot according to an embodiment of the present invention;

Figure 7 is a schematic cross-sectional structural diagram of a pool cleaning robot in an embodiment of the present invention;

Figure 8 is a schematic diagram of the internal position of the cavity in the pool cleaning robot according to an embodiment of the present invention;

Figure 9 is a schematic diagram of the connection method of the air inlet according to an embodiment of the present invention.

The markings in the figure are as follows:

100-shell; 110-air inlet;

200-gravity adjustment mechanism; 210-adjustment drive member; 220-cavity;

300-Movement mechanism;

400-Clean drive parts;

500-Decontamination channel;

600-Thruster.

Detailed ways

The present invention will be further described in detail below in conjunction with the accompanying drawings and examples. It can be understood that the specific embodiments described here are only used to explain the present invention, but not to limit the present invention. In addition, it should be noted that, for convenience of description, only part of the structure related to the present invention is shown in the drawings instead of the entire structure.

In the description of the embodiments of this application, unless otherwise explicitly stated and limited, the terms "connected", "connected" and "fixed" should be understood in a broad sense. For example, it can be a fixed connection or a detachable connection, or Integrated; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be the connection of the structures within the two elements or the interaction between the two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood on a case-by-case basis.

In the description of the embodiments of this application, unless otherwise explicitly stated and limited, the term "above" or "below" the second feature of a first feature may include direct contact between the first and second features, or may include the first feature being in direct contact with the second feature. The second feature is not in direct contact but is in contact with another feature between them. Furthermore, the terms "above", "above" and "above" a first feature on a second feature include the first feature being directly above and diagonally above the second feature, or simply mean that the first feature is higher in level than the second feature. “Below”, “under” and “under” the first feature is the second feature includes the first feature being directly below and diagonally below the second feature, or simply means that the first feature is less horizontally than the second feature.

In the description of the embodiments of this application, the terms "upper", "lower", "left", "right" and other orientations or positional relationships are based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplified operations. , rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore cannot be construed as a limitation of the present invention. In addition, the terms "first" and "second" are only used for descriptive purposes and have no special meaning.

According to one aspect of the embodiments of the present application, a waterline cleaning method is provided. Optionally, in this embodiment, Figure 1 is a schematic diagram of the hardware environment of a waterline cleaning method according to an embodiment of the present invention. The above waterline cleaning method can be applied to the pool cleaning robot 104 shown in Figure 1 and the server 106 in the hardware environment. As shown in FIG. 1 , the pool cleaning robot 104 can be connected to a server 106 (for example, an Internet of Things platform or a cloud server) through a network to control the pool cleaning robot 104 .

The above-mentioned network may include but is not limited to at least one of the following: wired network, wireless network. The above-mentioned wired network may include but is not limited to at least one of the following: wide area network, metropolitan area network, and local area network. The above-mentioned wireless network may include at least one of the following: WIFI (Wireless Fidelity, Wireless Fidelity), Bluetooth, and infrared.

The waterline cleaning method in the embodiment of the present application can be executed by the pool cleaning robot 104 or the server 106 alone, or can be executed by the pool cleaning robot 104 and the server 106 jointly. The user can also interact with the pool cleaning robot 104 through the terminal device 102, that is, the terminal device 102 controls the pool cleaning robot 104 through the server 106 as a transmission medium.

In this embodiment, a waterline cleaning method is provided. Figure 2 is a flow chart of a waterline cleaning method according to an embodiment of the present invention. As shown in Figure 2, the process includes the following steps:

Step S202: When it is detected that the pool cleaning robot reaches the waterline position from underwater, the pool cleaning robot is adjusted to a target state, wherein the target state is that the first part of the pool cleaning robot is located in the water line. above the waterline and a second portion below said waterline.

In this embodiment, the pool cleaning robot may be used to clean the bottom and/or side walls of the pool. When cleaning the pool, first place the pool cleaning robot in the water so that the pool cleaning robot completely enters the water. After the pool cleaning robot is attached to the bottom or side wall of the pool, it starts cleaning the bottom or side wall of the pool.

Before the pool cleaning robot starts cleaning the waterline, it needs to be determined whether the pool cleaning robot has reached the waterline. Optionally, since the pool cleaning robot is first placed in the water, it reaches the waterline from underwater.

Optionally, if the initial position of the pool cleaning robot is the water surface, you need to sink the pool cleaning robot from the water surface into the water, reach the side wall of the pool in the water, attach to the side wall of the pool, and move upward from the water along the side wall of the pool to reach The waterline position, that is, before the pool cleaning robot is adjusted to the target state, when the pool cleaning robot is located on the water surface, control the pool cleaning robot to enter the water; control the pool cleaning robot to reach the side wall of the pool in the water; control the pool cleaning robot to move along the side of the pool The wall moves toward the waterline position, so that the pool cleaning robot reaches the waterline position from underwater along the side wall of the pool.

After the pool cleaning robot reaches the waterline position, adjust the position state of the pool cleaning robot so that the pool cleaning robot is in the target state where the first part of the fuselage is above the waterline and the second part of the fuselage is below the waterline, Figure 3 is a schematic diagram of the pool cleaning robot in a target state according to an embodiment of the present invention. As shown in Figure 3, the part of the pool cleaning robot located above the waterline is the first part, corresponding to the first side in Figure 3, the waterline. The part of the cleaning pool cleaning robot located below the waterline is the second part, which corresponds to the second side in Figure 3. When the pool cleaning robot is cleaning, it can clean the location range of the pool cleaning robot, and the pool cleaning robot in Figure 3 The location range of the robot is a certain range including the waterline and above and below the waterline.

Step S204: Control the pool cleaning robot to clean the target area including the waterline in the target state.

In this embodiment, the target area is an area including the waterline and a certain range below the waterline and underwater. When the pool cleaning robot is in the target state, the pool cleaning robot is controlled to clean the target area.

Figure 4 is a schematic diagram of the pool cleaning robot climbing to the waterline position in the embodiment of the present invention. The pool cleaning robot moves upward from underwater and reaches the waterline position as shown in Figure 4. In Figure 4, the movement direction of the pool robot is upward, so The direction of the axis is the up-down direction, and the axis is the central axis of the pool cleaning robot. The pool cleaning robot is divided into two parts of roughly equal size.

Through the above embodiments, when the pool cleaning robot reaches the waterline position, it is adjusted to a target state in which the first part of the fuselage is located above the waterline and the second part of the fuselage is located below the waterline. For targets including the waterline, The area is cleaned, thereby being able to clean the waterline position of the side wall of the pool and the position above the waterline, which expands the cleaning range of the cleaning pool cleaning robot and solves the problem in related technologies that the cleaning effect is not good in the area near the waterline position of the side wall of the pool. problem, improving the cleaning effect of the area near the waterline on the side wall of the pool.

In an optional embodiment, when detecting that the pool cleaning robot reaches the waterline position from underwater, adjusting the pool cleaning robot to the target state includes: detecting that the pool cleaning robot reaches the waterline position from underwater. When reaching the waterline position, the drainage volume in the first gravity adjustment mechanism of the gravity adjustment mechanism is controlled to meet the first preset amount; the steering of the pool cleaning robot is controlled so that the movement direction of the pool cleaning robot becomes transverse, Wherein, the transverse direction is a direction parallel to the waterline.

In this embodiment, the pool cleaning robot is adjusted to the target state through a gravity adjustment mechanism in the pool cleaning robot.

When the pool cleaning robot performs cleaning work in the water, the relationship between the gravity and buoyancy of the pool cleaning robot affects the position of the pool cleaning robot in the water and the stability of attachment to the bottom and side walls of the pool. When the pool cleaning robot is at the bottom of the pool, The buoyancy is stable and unchanged. Filling the inside of the gravity adjustment mechanism with water increases the gravity of the pool cleaning robot. When cleaning the bottom of the pool, the buoyancy of the pool cleaning robot will not be greater than the gravity, causing the pool cleaning robot to float in the water, thus increasing the Improves the stability and cleaning effect of cleaning the bottom of the pool.

The gravity of the pool cleaning robot is adjusted by adjusting the amount of water in the gravity adjustment mechanism of the pool cleaning robot. The gravity adjustment mechanism of the pool cleaning robot includes two sets of gravity adjustment mechanisms: a first gravity adjustment mechanism and a second gravity adjustment mechanism, where two A set of gravity adjustment mechanisms are respectively provided on the left and right sides of the pool cleaning robot.

It should be noted that the left and right sides of the pool cleaning robot refer to dividing the pool cleaning robot into left and right parts along the central axis perpendicular to the forward movement direction of the pool robot. The part on the left is the left side, and the part on the right is the left side. Right.

By draining the water inside the first gravity adjustment mechanism, the gravity of the pool cleaning robot is reduced and the weights of the left and right sides of the pool cleaning robot are made different.

Optionally, controlling the drainage volume in the first gravity adjustment mechanism to meet the first preset amount may be to drain the water inside the first group of gravity adjustment mechanisms.

At the same time, because the pool cleaning robot reaches the waterline from underwater, the pool robot moves upward (perpendicular to the waterline). In order to make the pool cleaning robot clean more areas including the waterline when it moves, the pool cleaning robot is controlled Steering so that the direction of movement of the pool cleaning robot becomes transverse, which is the direction parallel to the waterline, that is, when the direction of movement is transverse, the pool cleaning robot will not leave the area including the waterline when it moves forward. The entire side wall, including the waterline, can be cleaned during movement.

5 is a schematic diagram of the position of the pool cleaning robot after discharging the water in the second gravity adjustment structure according to an embodiment of the present invention. The water in the first gravity adjustment mechanism on the first side is discharged, and the movement of the pool cleaning robot is adjusted. After the direction changes to horizontal, the state of the pool cleaning robot is as shown in Figure 3. At this time, the axis of the pool cleaning robot is parallel to the waterline. Optionally, the amount of water drained in the first gravity adjustment mechanism is the first preset value. Wherein, the first preset value is set in advance. After only the first preset amount of water in the first gravity adjustment mechanism is discharged and turned, the first side of the pool cleaning robot only leaks out of the water surface by a small amount. In order to increase the distance of the first side leaking out of the water surface, the second gravity adjustment mechanism located on the second side can be discharged after the drainage volume in the first gravity adjustment mechanism of the pool cleaning robot is controlled to meet the first preset amount. The second preset amount of water is used. At this time, the state of the pool cleaning robot is shown in Figure 5. This further reduces the weight of the pool cleaning robot, increases the distance above the waterline of the pool cleaning robot under the action of buoyancy, and further expands the pool. The cleaning range of the cleaning robot.

When the pool cleaning robot reaches the state in Figure 3, the state of the pool cleaning robot reaches the target state in Figure 5 after the water in the first gravity adjustment mechanism on the second side is discharged by the second preset amount, which further alleviates the problem of pool cleaning. The weight of the cleaning robot increases the distance above the waterline of the swimming pool cleaning robot under the action of buoyancy. The size of the pool cleaning robot above the waterline in Figure 5 is larger than the size of the pool cleaning robot above the waterline in Figure 3.

In an optional embodiment, controlling the direction of movement of the pool cleaning robot to change to the transverse direction when the pool cleaning robot turns includes: adjusting the movement speed of the movement mechanism on the first side of the pool cleaning robot to a third a movement speed, and adjust the movement speed of the movement mechanism on the second side of the pool cleaning robot to a second movement speed to make the pool cleaning robot turn, wherein the first movement speed is greater than the second movement speed , the first side is the side where the first gravity adjustment structure is located, the second side is the side where the second gravity adjustment mechanism is located, the first gravity adjustment mechanism and the second gravity adjustment mechanism The adjustment mechanism is symmetrically arranged on the housing of the pool cleaning robot along the axis direction, the axis direction is a direction parallel to the movement direction of the pool cleaning robot, and along the axis direction, the housing is divided into two parts of equal size.

In this embodiment, the pool cleaning robot drives two sets of motion mechanisms to move forward, backward, and turn. When the pool cleaning robot turns, the steering operation is completed through the speed difference between the two sets of motion mechanisms, by adjusting the speed of the first set of motion structures on the first side (first motion speed) to be greater than that of the second set of motion structures on the second side. Speed (second movement speed), assists the pool cleaning robot to turn and adjusts the movement direction of the pool cleaning robot.

After adjusting the movement direction of the pool cleaning robot to be horizontal, the speeds of the two sets of moving structures are adjusted to the same speed, so that the cleaning robot moves along the waterline and cleans the target area containing the waterline.

In an optional embodiment, before adjusting the pool cleaning robot to the target state, it is necessary to determine whether the pool cleaning robot has reached the waterline position.

Among them, the method for judging whether the pool cleaning robot has reached the waterline position includes at least one of the following:

Method 1: When the air inlet connected to the gravity adjustment mechanism is exposed to the water surface, determine that the pool cleaning robot reaches the waterline position from underwater. The air inlet is set at the front of the pool cleaning robot. When the pool cleaning robot moves upward from the water, the air inlet located at the front of the pool cleaning robot is exposed to the water surface first. Then it can be judged whether the air inlet hole is exposed to the water surface or not. Reach the waterline. As shown in FIG. 4 , when the air inlet 110 is exposed to the water surface, it is determined that the pool cleaning robot reaches the waterline position from underwater.

Method 2: When the value of the target sensor is a preset depth value, determine that the pool cleaning robot reaches the waterline position from underwater, where the value of the target sensor represents the depth of the pool cleaning robot in the water. depth. The target sensor is a sensor used to detect the water level (that is, the depth of the water) of the pool cleaning robot. When the pool cleaning robot moves upward from underwater, the position of the pool cleaning robot in the water is getting higher and higher, and the value of the target sensor is getting smaller and smaller. , when the value of the target sensor decreases to the preset depth value, it is determined that the pool cleaning robot reaches the waterline position from underwater.

Method 3: When the movement mechanism of the pool cleaning robot is in motion and the pool cleaning robot cannot rise, determine that the pool cleaning robot reaches the waterline position from underwater. When the pool cleaning robot moves upward from underwater, the upward buoyancy force on the pool cleaning robot becomes smaller and smaller, while the gravity remains unchanged. When it reaches the waterline position, the forces on the pool cleaning robot reach a balance (gravity, buoyancy and pool force). The power given by the cleaning robot is balanced among the three). At this time, although the movement mechanism of the pool cleaning robot is still in motion, the position of the pool robot has not changed and cannot continue to move upward.

Optionally, the operation of the pool cleaning robot to determine whether it has reached the waterline is only performed when the pool robot is moving upward from underwater. That is, when the pool robot is moving upward from underwater, the pool cleaning robot is triggered to determine whether it has reached the water line. When it is determined that the pool cleaning robot has reached the waterline position, or when the pool cleaning robot changes its motion state, the pool cleaning robot no longer determines whether it has reached the waterline position.

In an optional embodiment, the method further includes: the size of the first part is smaller than the size of the second part.

In this embodiment, in order to ensure that the pool cleaning robot can stably adhere to the waterline for cleaning, when the pool cleaning robot works in the waterline mode, as shown in the pool cleaning robot in Figure 3, the size of the pool cleaning robot is located below the waterline. is larger than the size of the pool cleaning robot above the waterline, i.e. the size of the first part is smaller than the size of the second part.

According to another embodiment of the present application, a pool cleaning robot is provided, including a gravity adjustment mechanism 200, a memory, a processor, and a computer program stored on the memory and executable on the processor, wherein the gravity The adjustment mechanism 200 is used to adjust the gravity of the pool cleaning robot by filling or draining water. When the processor executes the computer program, it controls the gravity adjustment mechanism to implement the steps of any of the methods described above.

Figure 6 is a schematic structural diagram of a pool cleaning robot according to an embodiment of the present invention. Figure 7 is a schematic cross-sectional structural diagram of a pool cleaning robot according to an embodiment of the present invention. It should be noted that the memory and processor are not shown in the figure. The memory and the processor can be placed anywhere inside the pool cleaning robot.

In an exemplary embodiment, the pool cleaning robot further includes a housing 100, and the gravity adjustment mechanism 200 includes a first gravity adjustment mechanism and a second gravity adjustment mechanism. The first gravity adjustment mechanism and the second gravity adjustment mechanism are along the The axial direction is symmetrically arranged on the housing 100. The axial direction is a direction parallel to the movement direction of the pool cleaning robot, and along the axial direction, the housing 100 is divided into two parts of the same size. part.

In this embodiment, the gravity adjustment mechanism 200 adjusts the gravity of the pool cleaning robot through water filling and drainage. When the pool cleaning robot cleans the bottom of the pool, the gravity adjustment mechanism 200 fills water so that the gravity of the pool cleaning robot is greater than the buoyancy. The pool cleaning robot When cleaning the waterline, the gravity adjustment mechanism 200 discharges a preset amount of water in the gravity adjustment structure, so that part of the fuselage of the pool cleaning robot (corresponding to the first part) is located above the waterline, and at the same time part of the fuselage (corresponding to the second part) of the pool cleaning robot It is located below the waterline so that the pool cleaning robot can clean a certain range above and below the waterline at the same time.

It can be understood that the pool cleaning robot works in the water, and the relationship between its gravity and buoyancy directly affects its position and stability in the water. For example, when the pool cleaning robot is located at the bottom of the pool, the buoyancy is stable. If the gravity adjustment structure is filled with water to increase its gravity, it will be beneficial to increase the force acting on the bottom of the pool, thereby increasing the amount of time it cleans the bottom. Stability and cleaning effect.

In addition, when the pool cleaning robot cleans the water line, by selectively discharging the water in a group of gravity adjustment mechanisms in the gravity adjustment mechanism 200, the corresponding weight can be reduced, so that the weights on both sides of the pool cleaning robot are different, thereby allowing it to move horizontally. at the waterline and remain stable.

In an exemplary embodiment, the gravity adjustment mechanism 200 includes: an adjustment driving member 210 disposed on the housing 100; a cavity 220 connected to the adjustment driving member 210, wherein the adjustment driving member 210 is used to drain or fill the cavity 220, and one cavity of the gravity adjustment mechanism includes one or more cavities.

In this embodiment, the output end of the adjusting driving member is connected to the cavity. When filling the cavity, the water in the pool is allowed to enter the cavity from the output end of the adjusting driving member. When draining the cavity, the water in the pool is allowed to enter the cavity. The water in the cavity is discharged from the output end of the regulating driving member. Optionally, the regulating driving member may be a water pump, which transmits water when the water pump is turned on so that the water enters the cavity or is discharged from the cavity. For example, when the weight of the pool cleaning robot needs to be increased, the cavity 220 can be filled with water to increase the weight. When it is necessary to reduce the weight of the pool cleaning robot, this can be achieved by draining the water.

Figure 8 is a schematic diagram of the position of the cavity inside the pool cleaning robot according to an embodiment of the present invention. The cavity in the gravity adjustment mechanism is located inside the fuselage, that is, under the shell. Figure 8 is a top view of the position of the cavity after the shell is removed. As shown in Figure 8, inside the pool cleaning robot, along the axis Two gravity adjustment mechanisms 210 are symmetrically distributed. Each gravity adjustment mechanism may include two cavities 220. The shaded part in Figure 8 is the cavity of the gravity adjustment mechanism. The two cavities of each gravity adjustment mechanism are provided separately. At the front and rear ends of the pool cleaning robot, the two cavities of a gravity adjustment mechanism share an adjustment drive member. Optionally, different adjusting drives can be used for different cavities to realize drainage or water inlet.

In an exemplary embodiment, the pool cleaning robot further includes: an air inlet 110, which is provided on the housing 100, and is connected to the first gravity adjustment mechanism. Located on the same side of the pool cleaning robot, the air inlet 110 is connected to the cavities 220 of the two sets of gravity adjustment mechanisms 200 respectively, wherein the adjustment driving member 210 drains water from the cavities 220 In this case, the air inlet hole 110 is used to allow gas to enter the cavity 220 from the air inlet hole 110 .

In this embodiment, draining the gravity adjustment mechanism means removing water from the cavity of the gravity adjustment mechanism. The drainage process of the cavity 220 requires gas to enter the cavity 220 to make up for the volume difference. Therefore, the housing 100 is provided with an air inlet 110 that communicates with the cavity 220. When the driving member 210 is adjusted to drain the cavity 220, gas can enter the cavity 220 from the air inlet 110, thereby supplementing the volume in the cavity 220. difference to ensure that the cavity 220 can drain water smoothly when needed. In a specific embodiment, the air inlet is only provided on one side, and there is only one air inlet. The air inlets are respectively connected to the cavities of the two gravity adjustment mechanisms of the pool cleaning robot. The pool cleaning robot includes a first The gravity adjustment mechanism and the second gravity adjustment mechanism, the cavity of the first gravity adjustment mechanism and the cavity of the second gravity adjustment mechanism are connected to the air inlet through the target pipe. Figure 9 is the connection of the air inlet according to the embodiment of the present invention. Schematic diagram of the method, as shown in Figure 9, cavity 1 is the cavity of the first gravity adjustment mechanism, cavity 2 is the cavity of the second gravity adjustment mechanism, and the target pipe is a "Y" shaped pipe. When the first gravity adjustment mechanism is draining water, switch 1 and switch 2 in the target pipeline are opened so that gas can enter the cavity of the first gravity adjustment mechanism (corresponding to cavity 1 in Figure 9), thereby replenishing the volume in the cavity. difference to ensure that the cavity can drain water smoothly when needed. Similarly, when the second gravity adjustment mechanism drains water, open switch 1 and switch 3 in the target pipeline so that gas can enter the cavity of the second gravity adjustment mechanism (corresponding to (Cavity 2) in Figure 9, thereby supplementing the volume difference in the cavity to ensure that the cavity can drain water smoothly when needed.

In the above embodiment, the air inlet hole is only provided on the first side (the side where the first gravity adjustment mechanism is located), and is connected to the cavities of the two sets of gravity adjustment mechanisms respectively, which can ensure that the air inlet hole is in the cavity. The water can be drained smoothly, and when cleaning the water line, the air inlet is always kept above the water surface, so that the weight of the pool cleaning robot can be adjusted for drainage at any time, that is, the position of the pool cleaning robot can be adjusted.

In an exemplary embodiment, the pool cleaning robot further includes: two sets of motion mechanisms 300, the two sets of motion mechanisms 300 are arranged parallel and symmetrically along the axis, and the two sets of motion mechanisms 300 are independently driven.

In this embodiment, the pool cleaning robot also includes two sets of motion mechanisms 300. The two sets of motion mechanisms 300 are arranged in parallel and spaced apart along the left and right directions. The two sets of motion mechanisms 300 are independently driven. By adjusting the speed of the two sets of motion, the two sets of motion mechanisms are made to move. The speed is different to assist the pool cleaning robot to turn and adjust its direction of movement.

In an exemplary embodiment, as shown in FIGS. 6 and 7 , the pool cleaning robot further includes: a cleaning driving member 400 disposed on the housing 100 ; a decontamination channel 500 , the cleaning driving member 400 Located in the decontamination channel 500, the inlet of the decontamination channel 500 is located on the side of the housing 100 facing the bottom or side wall of the pool, and the outlet of the decontamination channel 500 is located on the side of the housing 100 facing away from the bottom or side wall of the pool. A propeller 600 is provided on one side of the bottom or the side wall, and is used to provide power for the pool cleaning robot.

Note that the basic principles and main features of the present invention and the advantages of the present invention have been shown and described above. Those skilled in the industry should understand that the present invention is not limited by the above-mentioned embodiments. The above-mentioned embodiments and descriptions only illustrate the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention will also have other features. Various changes and modifications may be made within the scope of the claimed invention, which is defined by the appended claims and their equivalents.

Claims (11)

1. A method of cleaning a waterline, comprising:

adjusting the pool cleaning robot to a target state in the event that the pool cleaning robot is detected to reach a waterline position from underwater, wherein the target state is a state in which a first portion of the pool cleaning robot is above the waterline and a second portion is below the waterline;

and controlling the pool cleaning robot to clean a target area containing the waterline under the target state.

2. The method of claim 1, wherein adjusting the pool cleaning robot to a target state in the event that the pool cleaning robot is detected to reach a waterline position from underwater comprises:

controlling the displacement in a first gravity adjusting mechanism in the gravity adjusting mechanisms of the pool cleaning robot to meet a first preset quantity under the condition that the pool cleaning robot is detected to reach the waterline position from the underwater;

controlling the pool cleaning robot to turn so that the direction of motion of the pool cleaning robot becomes a lateral direction, wherein the lateral direction is a direction parallel to the waterline.

3. The method of claim 2, wherein the controlling the pool cleaning robot to steer to change the direction of motion of the pool cleaning robot to lateral comprises:

the method comprises the steps of adjusting the movement speed of a movement mechanism on the first side of the pool cleaning robot to be a first movement speed, and adjusting the movement speed of a movement mechanism on the second side of the pool cleaning robot to be a second movement speed, so that the pool cleaning robot turns to the movement direction to be transverse, wherein the first movement speed is larger than the second movement speed, the first side is the side where the first gravity adjusting mechanism is located, the second side is the side where the second gravity adjusting mechanism is located, the first gravity adjusting mechanism and the second gravity adjusting mechanism are symmetrically arranged on a shell of the pool cleaning robot along an axis direction, and the shell is divided into two parts with the same size along the axis direction.

4. The method of claim 2, wherein after the controlling the displacement in a first one of the weight adjustment mechanisms of the pool cleaning robot meets a first preset amount, the method further comprises:

and controlling the water displacement of a second gravity adjusting mechanism in the gravity adjusting mechanisms to meet a second preset quantity.

5. The method of any one of claims 1 to 4, wherein prior to said adjusting the pool cleaning robot to a target state, the method further comprises at least one of:

determining that the pool cleaning robot reaches the waterline position from underwater in the event that an air inlet port in communication with a gravity adjustment mechanism of the pool cleaning robot is exposed to the water surface;

determining that the pool cleaning robot reaches the waterline position from underwater under the condition that the value of the target sensor is a preset depth value, wherein the value of the target sensor represents the depth of the pool cleaning robot in water;

and determining that the pool cleaning robot reaches the waterline position from underwater under the condition that the motion mechanism of the pool cleaning robot is in a motion state and the pool cleaning robot cannot ascend.

6. The method according to any one of claims 1 to 4, further comprising:

the first portion has a smaller size than the second portion.

7. The method of claim 1, wherein prior to adjusting the pool cleaning robot to a target state, the method further comprises:

controlling the pool cleaning robot to enter water under the condition that the pool cleaning robot is positioned on the water surface;

controlling the pool cleaning robot to reach the side wall of the pool in water;

and controlling the pool cleaning robot to move along the pool side wall to the waterline position so that the pool cleaning robot reaches the waterline position from underwater along the pool side wall.

8. A pool cleaning robot comprising a gravity adjustment mechanism (200), a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the gravity adjustment mechanism (200) is adapted to adjust the gravity of the pool cleaning robot by filling or draining water, the processor, when executing the computer program, controlling the gravity adjustment mechanism (200) to carry out the steps of the method as claimed in any one of claims 1 to 7.

9. The pool cleaning robot as claimed in claim 8, further comprising a housing (100), the gravity adjustment mechanism (200) comprising a first gravity adjustment mechanism and a second gravity adjustment mechanism, the first gravity adjustment mechanism and the second gravity adjustment mechanism being symmetrically disposed on the housing (100) along an axis direction, the axis direction being a direction parallel to a direction of movement of the pool cleaning robot, and along the axis direction, the housing (100) being divided into two parts of the same size.

10. The pool cleaning robot of claim 9, wherein one of the gravity adjustment mechanisms (200) includes:

an adjustment drive (210) disposed on the housing (100);

and the cavity (220) is connected with the adjusting driving piece (210), wherein the adjusting driving piece (210) is used for draining or filling water for the cavity (220), and the cavity of one gravity adjusting mechanism comprises one or more cavities.

11. The pool cleaning robot of claim 10, further comprising:

the air inlet hole (110), the air inlet hole (110) is set up on the casing (100), the air inlet hole with first gravity adjustment mechanism is located the same side of pond cleaning robot, air inlet hole (110) respectively with two sets of gravity adjustment mechanism (200) cavity (220) intercommunication, air inlet hole (110) are set up in pond cleaning robot's front portion, wherein, under the condition of cavity (220) drainage, air inlet hole (110) are used for letting in from air inlet hole (110) cavity (220).