CN116816154B - Swimming pool cleaning robot system and method for backing up swimming pool cleaning robot - Google Patents
Swimming pool cleaning robot system and method for backing up swimming pool cleaning robot Download PDFInfo
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- CN116816154B CN116816154B CN202310854308.1A CN202310854308A CN116816154B CN 116816154 B CN116816154 B CN 116816154B CN 202310854308 A CN202310854308 A CN 202310854308A CN 116816154 B CN116816154 B CN 116816154B
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/029—Location-based management or tracking services
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
- E04H4/00—Swimming or splash baths or pools
- E04H4/14—Parts, details or accessories not otherwise provided for
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
- E04H4/00—Swimming or splash baths or pools
- E04H4/14—Parts, details or accessories not otherwise provided for
- E04H4/16—Parts, details or accessories not otherwise provided for specially adapted for cleaning
- E04H4/1654—Self-propelled cleaners
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
- G01S15/06—Systems determining the position data of a target
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/61—Control of cameras or camera modules based on recognised objects
- H04N23/611—Control of cameras or camera modules based on recognised objects where the recognised objects include parts of the human body
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/183—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source
- H04N7/185—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source from a mobile camera, e.g. for remote control
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Abstract
一种泳池清洁机器人系统，其包括泳池清洁机器人和返航站，泳池清洁机器人能够被投放至泳池的水中，返航站设于泳池的池壁上，泳池清洁机器人中设有感应识别装置、潜水装置和清洁装置；其中，潜水装置用于控制所述泳池清洁机器人漂浮于泳池的水面或下沉至泳池的池底；清洁装置用于清洁泳池的水面或泳池的池底的污物；感应识别装置用于识别返航站的位置并生成相应的位置信息，泳池清洁机器人依据所述位置信息移动至返航站处。相应地，本发明还公开了一种泳池清洁机器人的靠岸方法，其基于上述泳池清洁机器人系统实施，该泳池清洁机器人能够同时满足泳池水面清洁与泳池池底清洁两种使用需求，该泳池清洁机器人还能自动靠岸，方便操作人员打捞。
A swimming pool cleaning robot system includes a swimming pool cleaning robot and a return station. The swimming pool cleaning robot can be put into the water of a swimming pool. The return station is arranged on the wall of the swimming pool. The swimming pool cleaning robot is provided with a sensing and identifying device, a diving device and a cleaning device. The diving device is used to control the swimming pool cleaning robot to float on the water surface of the swimming pool or sink to the bottom of the swimming pool. The cleaning device is used to clean dirt on the water surface of the swimming pool or on the bottom of the swimming pool. The sensing and identifying device is used to identify the position of the return station and generate corresponding position information. The swimming pool cleaning robot moves to the return station according to the position information. Accordingly, the present invention also discloses a method for docking a swimming pool cleaning robot, which is implemented based on the above swimming pool cleaning robot system. The swimming pool cleaning robot can simultaneously meet the two use requirements of cleaning the swimming pool water surface and the swimming pool bottom. The swimming pool cleaning robot can also dock automatically to facilitate the operator to salvage.
Description
Technical Field
The invention relates to the technical field of underwater equipment, in particular to a swimming pool cleaning robot system and a shore approach method of the swimming pool cleaning robot.
Background
Along with the development of social economy and the improvement of living standard, people put forward higher requirements on cultural entertainment facilities, swimming pools are paid more attention to as a body-building exercise, the swimming pools need to be cleaned regularly, along with the development of automation technology, swimming pool robots are appeared on the market, and can efficiently finish swimming pool cleaning work in the swimming pools, so that labor cost can be effectively saved.
The conventional swimming pool robot is divided into a water surface swimming pool robot and a pool wall swimming pool robot, wherein the water surface swimming pool robot can only float on the water surface and clean floating objects floating on the water surface of the swimming pool, but cannot clean the pool bottom of the swimming pool, the pool wall swimming pool robot can only sink to the pool bottom of the swimming pool and cannot clean the water surface of the swimming pool, the conventional swimming pool robot has single function and cannot meet the use requirements of cleaning the water surface of the swimming pool and cleaning the pool bottom of the swimming pool, and in addition, because communication signals are seriously attenuated when being transmitted under water, the pool wall swimming pool robot cannot establish stable communication with on-shore equipment during operation, operators cannot position the pool wall swimming pool robot, and the pool wall swimming pool robot cannot automatically float on the water surface, so that the conventional swimming pool robot has the problem of difficulty in salvaging.
Therefore, in order to solve the above technical problems, it is currently required to design a swimming pool cleaning robot system to realize automatic landing of the swimming pool cleaning robot.
Disclosure of Invention
The invention aims to solve the technical problems of providing a swimming pool cleaning robot system and a landing method of the swimming pool cleaning robot, which can realize automatic landing of the swimming pool cleaning robot and can effectively solve the problems that the existing swimming pool robot has single function and is difficult to locate and salvage.
In order to solve the technical problems, the technical scheme adopted by the invention is that the swimming pool cleaning robot system comprises a swimming pool cleaning robot and a return station, wherein the swimming pool cleaning robot can be put into the water of a swimming pool, the return station is arranged on the wall or the bank of the swimming pool, and the swimming pool cleaning robot is internally provided with an induction recognition device, a diving device and a cleaning device;
the swimming pool cleaning robot is used for controlling the swimming pool cleaning robot to float on the water surface of the swimming pool or sink to the pool bottom of the swimming pool, the cleaning device is used for cleaning dirt on the water surface or the pool bottom, the induction recognition device is used for recognizing the position of the return station and generating corresponding position information, and the swimming pool cleaning robot moves to the return station according to the position information.
Further, the induction recognition device comprises a rotating mechanism and a camera, wherein the rotating mechanism is arranged on the swimming pool cleaning robot, and the driving end of the rotating mechanism is connected with the camera.
Further, the return station comprises a magnetic piece arranged on the pool wall, a metal block is arranged in the swimming pool cleaning robot, and when the swimming pool cleaning robot moves to the return station, the magnetic piece and the metal block are magnetically adsorbed.
Further, the return station further comprises a wireless charging transmitting coil arranged on the pool wall, and a wireless charging receiving coil is further arranged in the swimming pool cleaning robot.
Further, the swimming pool further comprises a solar panel, wherein the solar panel is arranged on the bank side of the swimming pool and is electrically connected with the wireless charging transmitting coil.
Further, the solar panel battery pack also comprises a storage battery, wherein the storage battery is arranged on the bank edge or buried in the tank wall, and the storage battery is respectively and electrically connected with the solar panel and the wireless charging transmitting coil.
Further, the swimming pool cleaning robot further comprises a base station, wherein the base station is arranged on the bank side of the swimming pool, and a communication device is further arranged in the swimming pool cleaning robot and is in wireless communication connection with the base station.
Further, the communication device comprises a GPS communication module and/or a WIFI communication module.
Further, the communication device further comprises a communication antenna, and the communication antenna is arranged on the top of the swimming pool cleaning robot.
Further, the diving device comprises a gas cabin, a gas inlet pipe and a gas outlet pipe, wherein the gas cabin is arranged in the swimming pool cleaning robot, the gas inlet pipe and the gas outlet pipe are respectively arranged at the top of the swimming pool cleaning robot, the gas inlet pipe and the gas outlet pipe are respectively in through connection with the gas cabin, and the communication antenna is arranged on the gas inlet pipe and/or the gas outlet pipe.
Another object of the present invention is to provide a method for backing up a swimming pool cleaning robot, which is applied to the above swimming pool cleaning robot, comprising the steps of:
When the current state information does not meet the normal operation condition, the swimming pool cleaning robot recognizes the position of a return station and generates corresponding position information, and the swimming pool cleaning robot is positioned and moved to the return station according to the position information.
Further, when the current state information does not meet the normal operation condition, the swimming pool cleaning robot recognizes a return station position and generates corresponding position information, and the swimming pool cleaning robot is positioned and moved to the return station according to the position information, specifically:
When the current state information does not meet the normal operation condition, the floating system controls the swimming pool cleaning robot to float on the water surface of the swimming pool, the communication device is in wireless communication connection with the base station, the communication device sends the state information to the base station, the base station forwards the state information to mobile equipment of an operator, the induction recognition device recognizes the position of a return station and generates corresponding position information, the swimming pool cleaning robot is positioned and moved to the return station according to the position information, the magnetic piece of the return station is magnetically adsorbed with the metal block of the swimming pool cleaning robot, and the wireless charging transmitting coil of the return station and the wireless charging receiving coil of the swimming pool cleaning robot are mutually induced.
The swimming pool cleaning robot system has the beneficial effects that in practical application, the swimming pool cleaning robot is firstly thrown into the water of the swimming pool, the diving device controls the swimming pool cleaning robot to float on the water surface of the swimming pool or sink to the bottom of the swimming pool, wherein when the swimming pool cleaning robot floats on the water surface of the swimming pool, the cleaning device can clean the dirt on the water surface of the swimming pool, and when the swimming pool cleaning robot sinks to the bottom of the swimming pool, the cleaning device can clean the dirt on the bottom of the swimming pool. In addition, after the swimming pool cleaning robot finishes cleaning operation, the swimming pool cleaning robot recognizes a return station through the return device, and the position information generated by the return devices at all levels of the swimming pool cleaning robot is positioned and moved to the return station. In summary, the swimming pool cleaning robot provided by the invention can not only meet the requirements of swimming pool water surface cleaning and swimming pool bottom cleaning, but also facilitate operators to directly drag up the swimming pool cleaning robot at the position of the return station.
Drawings
FIG. 1 is a schematic illustration of a pool cleaning robot system application scenario in one embodiment of the present invention;
FIG. 2 is a schematic view of a swimming pool cleaning robot in one embodiment of the present invention;
FIG. 3 is a schematic view of the structure of the pool cleaning robot in one embodiment of the present invention from another perspective;
FIG. 4 is a schematic view of a human diving apparatus in one embodiment of the present invention;
FIG. 5 is a schematic view of the diving apparatus of one embodiment of the present invention from another perspective;
Description of the reference numerals:
1. A swimming pool cleaning robot; 11, a communication antenna, 12, a roller, 13, a roller, 14, a scraping blade, 15, a diving device, 151, a water inlet pump, 152, a drainage pump, 153, an air inlet valve, 154, an air outlet valve, 155, an air cabin, 16, a first recycling bin, 17, a first water inlet, 18, an air inlet pipe, 19 and an air outlet pipe;
2. A return station;
3. swimming pool, 31, pool wall, 32, water surface, 33, pool bottom;
4. a solar panel;
5. And (5) a base station.
Detailed Description
In order to describe the technical contents, the achieved objects and effects of the present invention in detail, the following description will be made with reference to the embodiments in conjunction with the accompanying drawings.
Referring to fig. 1 to 5, a swimming pool cleaning robot system includes a swimming pool cleaning robot 1 and a return station 2, wherein the swimming pool cleaning robot 1 can be put into water of a swimming pool 3, the return station 2 is arranged on a pool wall 31 or a shore of the swimming pool 3, and an induction recognition device, a diving device 15 and a cleaning device are arranged in the swimming pool cleaning robot 1;
the swimming pool cleaning robot 1 floats on the water surface 32 or sinks to the bottom of the pool, the cleaning device is used for cleaning dirt on the water surface 32 or the bottom of the pool, the induction recognition device is used for recognizing the position of the return station 2 and generating corresponding position information, and the swimming pool cleaning robot 1 moves to the return station 2 according to the position information.
The most critical idea of the invention is that the invention provides a swimming pool cleaning robot system comprising a swimming pool cleaning robot 1 and a return station 2. The swimming pool cleaning robot 1 is used for cleaning the swimming pool 3, the diving device 15 can control the position height of the swimming pool cleaning robot 1 in water, namely, the diving device 15 can control the swimming pool cleaning robot 1 to float on the water surface 32 or sink to the pool bottom; the cleaning system can clean dirt floating on the water surface 32 when the swimming pool cleaning robot 1 floats on the water surface 32, and can clean the dirt deposited on the pool bottom when the swimming pool cleaning robot 1 sinks to the pool bottom, namely, the functions of the swimming pool cleaning robot 1 are not limited to cleaning the water surface 32 of the swimming pool 3 or cleaning the pool bottom 33 of the swimming pool 3, but can simultaneously meet two cleaning requirements;
In addition, the swimming pool cleaning robot 1 is provided with an induction recognition device, the induction recognition device can sense or recognize the return station 2 and generate corresponding position information, the swimming pool cleaning robot 1 can calculate and plan a return route according to the position information and move to the return station 2 along the return route, and an operator can recover the swimming pool cleaning robot 1 at the return station 2 without searching the swimming pool cleaning robot 1 in the swimming pool 3.
In practical application, the induction recognition device can specifically select a positioning device such as a GPS positioning device, a laser positioning device, an ultrasonic positioning device, a visual positioning device and the like which can recognize or sense the relative positions of the swimming pool cleaning robot 1 and the return station 2.
As can be seen from the above description, the swimming pool cleaning robot system has the beneficial effects that the swimming pool cleaning robot system can not only simultaneously meet two cleaning requirements of the water surface 32 of the swimming pool 3 and the pool bottom 33 of the swimming pool 3, but also realize an automatic return function, so that an operator can conveniently recover the swimming pool cleaning robot 1 from the swimming pool 3.
In some preferred embodiments of the present invention, as shown in fig. 2 and 3, the cleaning device includes a first recycling bin 16, a first water inlet 17, a first water outlet, a roller 13 and a plurality of scraping blades 14, wherein the first recycling bin 16 is disposed in the swimming pool cleaning robot 1, the first water inlet 17 is disposed on the swimming pool cleaning robot 1, the first water outlet is disposed on a side wall and a bottom of the swimming pool cleaning robot 1, the first recycling bin 16 is respectively connected with the first water inlet 17 and the first water outlet in a penetrating manner, the plurality of scraping blades 14 are disposed on the roller 13, and the roller 13 is disposed in the first water inlet 17. The working principle of the cleaning device is that the first recovery bin 16 is arranged in the swimming pool cleaning robot 1, the swimming pool cleaning robot 1 is provided with a first water inlet 17 and a first water outlet which are respectively communicated with the first recovery bin 16, when the cleaning system is used for cleaning, water of the swimming pool 3 is injected into the first recovery bin 16 from the first water inlet 17, the first recovery bin 16 filters solids such as sundries, garbage and the like in the water, and the filtered water is discharged from the first water outlet.
In other preferred embodiments of the present invention, the cleaning system further comprises a second recycling bin, a third water outlet and a second water outlet, wherein the second water outlet is arranged on the side wall and the top of the swimming pool cleaning robot, the third water inlet is arranged at the bottom of the swimming pool cleaning robot, and the second water outlet and the third water inlet are respectively connected with the second recycling bin in a penetrating way. In this preferred embodiment, the cleaning system comprises a first recovery bin and a second recovery bin which are independent of each other, so that the cleaning system is provided with two independent recovery channels respectively, wherein the first recovery channel is a first water inlet, the first recovery bin and a first water outlet, the second recovery channel is a third water inlet, the second recovery bin and a second water outlet, and the risk that the recovery channels are blocked and cannot effectively clean the swimming pool 3 can be correspondingly reduced by arranging the two independent recovery channels.
In addition, in order to ensure that the swimming pool cleaning robot 1 can realize an autonomous moving function, the swimming pool cleaning robot 1 is further provided with a driving device, which may include a roller 12, and the swimming pool cleaning robot 1 rotates the roller 12 and moves on the bottom of the pool when the swimming pool cleaning robot 1 is sunk to the bottom of the swimming pool 3, and a propeller, through which the swimming pool cleaning robot 1 is driven when the swimming pool cleaning robot 1 floats on the water surface 32.
In addition, the return station 2 can be arranged on the water surface 32, when the swimming pool cleaning robot 1 meets the return condition, the floating device firstly controls the swimming pool cleaning robot 1 to float on the water surface 32, the induction recognition device recognizes the position of the positioning return station 2, the swimming pool cleaning robot 1 moves to the return station 2, an operator does not need to carry out salvage operation, and the swimming pool cleaning robot 1 is more convenient to recycle by the operator.
The radar module can be further arranged on the swimming pool cleaning robot 1, when the swimming pool cleaning robot 1 moves to the return station 2, the radar module senses the distance between the swimming pool cleaning robot 1 and the pool wall 31, and when the distance between one side, close to the advancing direction, of the swimming pool cleaning robot 1 and the pool wall 31 is reduced, the moving speed of the swimming pool cleaning robot 1 is reduced, so that the swimming pool cleaning robot 31 is prevented from being damaged due to collision between the swimming pool cleaning robot 1 and the pool wall 31.
Further, the induction recognition device comprises a rotating mechanism and a camera, wherein the rotating mechanism is arranged on the swimming pool cleaning robot 1, and the driving end of the rotating mechanism is connected with the camera.
As can be seen from the above description, in some preferred embodiments of the present invention, the sensing and identifying device may specifically be a visual identifying device, and the visual identifying device captures an image through the camera and calculates the relative position of the pool cleaning robot 1 and the return station 2 by identifying the position, size, angle, etc. of the return station in the image;
In addition, the camera of this response recognition device can rotate under rotary mechanism's drive, and the camera can the autogiration to the angle that the image can be caught back to station 2 under rotary mechanism's drive effect to realize more nimble, intelligent locate action.
Further, the return station 2 comprises a magnetic member arranged on the pool wall 31, a metal block is arranged in the swimming pool cleaning robot 1, and when the swimming pool cleaning robot 1 moves to the return station 2, the magnetic member is magnetically adsorbed with the metal block.
In some preferred embodiments of the invention, the magnetic member may be a solenoid which generates a magnetic field under the magnetic effect of the current when the solenoid is energized, so that the solenoid and the metal block may be magnetically attracted, and in addition, the solenoid may be controlled to be energized or de-energized by the master control device of the pool cleaning robot system, only when the pool cleaning robot 1 moves to the return station 2.
In other preferred embodiments of the invention, the magnetic member may be a permanent magnet that does not have to worry about the inability of the return station 2 to secure the pool cleaning robot 1 by magnetic attraction when de-energized.
In addition, this swimming pool cleaning robot system can also set up the magnetic part on swimming pool cleaning robot 1, and the metal block sets up on returning terminal 2, and it also can realize returning terminal and swimming pool robot magnetism absorbing effect.
As is apparent from the above description, when the pool cleaning robot 1 approaches the return station 2, the pool cleaning robot 1 can be attracted to the return station 2 by a magnetic member to prevent the pool cleaning robot 1 from floating to other areas along with water flow when in a dormant state or a power-off state.
Further, the return station 2 further comprises a wireless charging transmitting coil arranged on the pool wall 31, and a wireless charging receiving coil is further arranged in the swimming pool cleaning robot 1.
As can be seen from the above description, the return station 2 can wirelessly charge the swimming pool cleaning robot 1 through the wireless charging transmitting coil, and the magnetic attraction capability of the magnetic member and the metal block can assist the wireless charging transmitting coil and the wireless charging receiving coil to perform alignment induction.
Further, the swimming pool further comprises a solar panel 4, wherein the solar panel 4 is arranged on the bank side of the swimming pool 3, and the solar panel 4 is electrically connected with the wireless charging transmitting coil.
As can be seen from the above description, the solar panel 4 converts solar energy into electric energy and charges and supplies power to the swimming pool cleaning robot 1 through the wireless charging transmitting coil.
Further, the solar panel also comprises a storage battery, wherein the storage battery is arranged on the bank edge or buried in the tank wall 31, and the storage battery is respectively and electrically connected with the solar panel 4 and the wireless charging transmitting coil.
As is apparent from the above description, the electric energy generated by the solar panel 4 may be stored in a storage battery.
Further, the swimming pool cleaning robot further comprises a base station 5, wherein the base station 5 is arranged on the bank side of the swimming pool 3, and a communication device is further arranged in the swimming pool cleaning robot 1 and is in wireless communication connection with the base station 5.
As can be seen from the above description, the swimming pool cleaning robot 1 establishes a wireless communication connection with the base station 5, and the current status information of the swimming pool cleaning robot 1 can be sent to the base station 5 through the communication device, and the base station 5 forwards the current status information of the swimming pool cleaning robot 1 to the mobile terminal device of the operator, so that the operator can remotely monitor the information such as the remaining power condition of the swimming pool cleaning robot 1, the running condition of the cleaning device, and the like.
Further, the communication device comprises a GPS communication module and/or a WIFI communication module.
In some preferred embodiments of the present invention, the communication device is connected to the base station 5 through a GPS communication module in wireless communication, and implements a positioning communication function.
In other preferred embodiments of the present invention, the communication device is connected to the base station 5 by a WIFI communication module in wireless communication.
Of course, the communication device may simultaneously set the GPS communication module and the WIFI communication module. In addition, the communication device also realizes the communication function by arranging other conventional communication modules.
Further, the communication device further comprises a communication antenna 11, and the communication antenna 11 is arranged on the top of the swimming pool cleaning robot 1.
As can be seen from the above description, since the wireless communication signal is severely attenuated in the water body, in practical application, when the swimming pool cleaning robot 1 floats on the water surface 32, the wireless communication connection quality between the communication device and the base station 5 is higher and more stable, and the communication antenna 11 is arranged at the top of the swimming pool cleaning robot 1, so that the swimming pool cleaning robot 1 is beneficial to being floated on the water surface 32, the communication antenna 11 is exposed out of the water surface 32, and a more stable wireless communication connection is established with the base station 5, so that the communication quality between the swimming pool cleaning robot 1 and the base station 5 is improved.
Further, the diving device 15 includes a cabin 155, an air inlet pipe 18 and an air outlet pipe 19, the cabin 155 is disposed in the swimming pool cleaning robot 1, the air inlet pipe 18 and the air outlet pipe 19 are respectively disposed at the top of the swimming pool cleaning robot 1, the air inlet pipe 18 and the air outlet pipe 19 are respectively connected with the cabin 155 in a penetrating manner, and the communication antenna 11 is disposed on the air inlet pipe 18 and/or the air outlet pipe 19.
As can be seen from the above description, the communication antenna 11 may be separately disposed on the air inlet pipe 18 or the air outlet pipe 19, or may be disposed on the air inlet pipe 18 and the air outlet pipe 19 respectively. The communication antenna 11 is arranged on the air inlet pipe 18 or the air outlet pipe 19, so that the integral structural integration level of the swimming pool cleaning robot 1 can be improved,
In some preferred embodiments of the present invention, the diving apparatus 15 further comprises a water inlet pump 151, a water discharge pump 152, an air inlet valve 153 and an air outlet valve 154, wherein the water inlet end of the water inlet pump 151 is in through connection with the outside of the swimming pool cleaning robot 1, the water outlet end of the water inlet pump 151 is in through connection with the air cabin 155, the air inlet valve 153 and the air outlet valve 154 are arranged at the top of the air cabin 155, the air inlet of the air inlet valve 153 is in through connection with the air inlet pipe 18, the air outlet of the air inlet valve 153 is in through connection with the air cabin 155, the air inlet of the air outlet valve 154 is in through connection with the air cabin 155, and the air outlet of the air outlet valve 154 is in through connection with the air outlet pipe 19;
In practical use, when the pool cleaning robot 1 is required to sink from the water surface 32 of the pool 3 to the water surface 32, the water inlet pump 151 injects water in the pool 3 into the air chamber 155, the air outlet valve 154 discharges air inside the air chamber 155, thereby increasing the overall weight of the pool cleaning robot 1, the buoyancy of the pool cleaning robot 1 in the water is reduced, the pool cleaning robot 1 is sunk to the pool bottom of the pool 3, and when the pool 3 robot is required to float from the water surface 32 of the pool 3, the water pump 152 discharges water in the air chamber 155, the overall weight of the pool cleaning robot 1 is reduced with the reduction of the water in the air chamber 155, the buoyancy of the pool cleaning robot 1 in the water is increased with the reduction of the weight, and the pool cleaning robot 1 floats to the water surface 32;
In order to improve the working efficiency of the drain pump 152 and the intake pump 151, the drain pump 152 and the intake pump 151 may be disposed at the bottom of the air chamber 155, and when the drain pump 152 discharges water from the air chamber 155, the operation of the drain pump 152 and the water flow discharged thereby generate an upward power to the pool cleaning robot 1, so that the pool cleaning robot 1 floats out of the water surface 32 more rapidly, and when the pool cleaning robot 1 floats out of the water surface 32, the intake valve 153 is automatically opened under the action of air pressure and injects air into the air chamber 155, so that the pool cleaning robot 1 obtains a better floating effect.
The invention also provides a method for backing up the swimming pool cleaning robot, which is applied to the swimming pool cleaning robot 1 and comprises the following steps:
When the current state information does not meet the normal operation condition, the swimming pool cleaning robot 1 recognizes the position of the return station 2 and generates corresponding position information, and the swimming pool cleaning robot 1 is positioned and moved to the return station 2 according to the position information.
In some preferred embodiments of the present invention, the current status information of the pool cleaning robot 1 may include, but is not limited to, recovery bin remaining capacity information of the cleaning device, filter hole blocking status information, and battery power information of the pool cleaning robot 1, and the preset normal operation conditions may include, but are not limited to, recovery bin remaining capacity greater than 90%, filter holes in an unobstructed state, and battery power of the pool cleaning robot 1 greater than 10%, and when any one of the current status information fails to satisfy the preset normal operation conditions, the pool cleaning robot 1 returns to the return station 2.
Further, when the current state information does not meet the normal operation condition, the swimming pool cleaning robot 1 identifies the position of the return station 2 and generates corresponding position information, and the swimming pool cleaning robot 1 positions and moves to the return station 2 according to the position information, specifically:
When the current state information does not meet the normal operation conditions, the floating system controls the swimming pool cleaning robot 1 to float on the water surface 32 of the swimming pool 3, the communication device is in wireless communication connection with the base station 5, the communication device sends the state information to the base station 5, the base station 5 forwards the state information to mobile equipment of an operator, the induction recognition device recognizes the position of the return station 2 and generates corresponding position information, the swimming pool cleaning robot 1 is positioned and moves to the position of the return station 2 according to the position information, the permanent magnet of the return station 2 is magnetically adsorbed with the metal block of the swimming pool cleaning robot 1, and the wireless charging transmitting coil of the return station 2 and the wireless charging receiving coil of the swimming pool cleaning robot are mutually induced.
As is apparent from the above description, the swimming pool cleaning robot 1 can transmit the remaining capacity information of the recovery bin of the cleaning device, the blocking state information of the filtering holes and the battery power information of the swimming pool cleaning robot 1 to the base station 5, and the base station 5 forwards the current state information to the mobile terminal of the operator, and in addition, the swimming pool cleaning robot 1 can automatically perform wireless charging after returning to the return station 2.
In some preferred embodiments of the invention, the operating personnel can also preset the working cycle of the swimming pool cleaning robot 1, for example, once every twelve hours, the swimming pool cleaning robot 1 will perform cleaning operation every twelve hours, and automatically return to the return station 2 for charging after the cleaning operation is completed, when the residual capacity information of the recovery bin is less than 90%, the swimming pool cleaning robot 1 sends a notification of cleaning the recovery bin to the mobile terminal of the operating personnel through the base station 5.
Embodiment one:
Referring to fig. 1-5, a swimming pool cleaning robot system according to an embodiment of the present invention comprises a swimming pool cleaning robot 1 and a return station 2, wherein the swimming pool cleaning robot 1 can be put into water in a swimming pool 3, the return station 2 is arranged on a pool wall 31 of the swimming pool 3, and an induction recognition device, a diving device 15, a cleaning device and a driving device are arranged in the swimming pool cleaning robot 1;
The swimming pool cleaning robot 1 floats on the water surface 32 of the swimming pool 3 or sinks to the pool bottom 33 of the swimming pool 3, the cleaning device is used for cleaning dirt on the water surface 32 or the pool bottom, the induction recognition device is used for recognizing the position of the return station 2 and generating corresponding position information, and the swimming pool cleaning robot 1 moves to the return station 2 according to the position information.
Referring to fig. 1, in this embodiment, a return station 2 is disposed above a water line of a swimming pool 3, an induction recognition device includes a rotation mechanism and a camera, the rotation mechanism is disposed on a swimming pool cleaning robot 1, a driving end of the rotation mechanism is connected with the camera, the camera captures an environmental image, and the induction recognition device recognizes a position of the return station 2 in the image and generates corresponding position information;
in this embodiment, the return station 2 further includes a permanent magnet disposed on the pool wall 31, and a wireless charging transmitting coil and a battery buried in the pool wall 31, respectively, the swimming pool cleaning robot 1 is provided with a metal block and a wireless charging receiving coil, respectively, the bank of the swimming pool 3 is provided with a solar panel 4, and when the swimming pool cleaning robot 1 moves to the return station 2, the magnetic member is magnetically adsorbed with the metal block;
when the solar panel 4 irradiates sunlight in daytime, solar energy is converted into electric energy and is stored in the storage battery, the wireless charging receiving coil and the wireless charging transmitting coil are mutually induced, and the wireless charging receiving coil charges the swimming pool cleaning robot 1 through electric energy in the commercial power or the storage battery.
As can be seen from fig. 1, in this embodiment, the swimming pool cleaning robot further comprises a base station 5, the base station 5 is arranged on the shore of the swimming pool 3, and a communication device is further arranged in the swimming pool cleaning robot 1 and is in wireless communication connection with the base station 5, and in this embodiment, the communication device comprises a WIFI communication module.
Referring to fig. 2 and 3, in the present embodiment, the cleaning device includes a first recycling bin 16, a first water inlet 17, a first water outlet, a roller 13 and a plurality of scraping blades 14, wherein the first recycling bin is disposed in the pool cleaning robot 1, the first water inlet 17 is disposed on the pool cleaning robot 1, the first water outlet is disposed on the sidewall and the bottom of the pool cleaning robot 1, the first recycling bin 16 is respectively connected with the first water inlet 17 and the first water outlet in a penetrating manner, the plurality of scraping blades 14 are disposed on the roller 13, and the roller 13 is disposed in the first water inlet 17. The working principle of the cleaning device is that the first recovery bin 16 is arranged in the swimming pool cleaning robot 1, the swimming pool cleaning robot 1 is provided with a first water inlet 17 and a first water outlet which are respectively communicated with the first recovery bin 16, when the cleaning system is used for cleaning, water of the swimming pool 3 is injected into the first recovery bin 16 from the first water inlet 17, the first recovery bin 16 filters solids such as sundries, garbage and the like in the water, and the filtered water is discharged from the first water outlet.
Referring to fig. 4 and 5, the diving device 15 includes an air cabin 155, an air inlet pipe 18, an air outlet pipe 19, a water inlet pump 151, a drain pump 152, an air inlet valve 153 and an air outlet valve 154, the air cabin 155 is disposed in the swimming pool cleaning robot 1, the air inlet pipe 18 and the air outlet pipe 19 are respectively disposed at the top of the swimming pool cleaning robot 1, the air inlet pipe 18 and the air outlet pipe 19 are respectively connected with the air cabin 155 in a penetrating manner, the communication device further includes a communication antenna 11, and the communication antenna 11 is disposed on the air inlet pipe 18;
The water inlet end of the water inlet pump 151 is in through connection with the outside of the swimming pool cleaning robot 1, the water outlet end of the water inlet pump 151 is in through connection with the air cabin 155, the air inlet valve 153 and the air outlet valve 154 are arranged at the top of the air cabin 155, the air inlet of the air inlet valve 153 is in through connection with the air inlet pipe 18, the air outlet of the air inlet valve 153 is in through connection with the air cabin 155, the air inlet of the air outlet valve 154 is in through connection with the air cabin 155, and the air outlet of the air outlet valve 154 is in through connection with the air outlet pipe 19.
In practical application, the method for backing up the swimming pool cleaning robot 1 comprises the following steps:
acquiring current state information of the swimming pool cleaning robot 1, and judging whether the current state information meets preset normal operation conditions or not;
when the current state information does not meet the normal operation conditions, the floating system controls the swimming pool cleaning robot 1 to float on the water surface 32;
The communication device is in wireless communication connection with the base station 5, the communication device sends the state information to the base station 5, and the base station 5 forwards the state information to mobile equipment of an operator;
the induction recognition device recognizes the position of the return station 2 and generates corresponding position information;
the swimming pool cleaning robot 1 is positioned and moved to the return station 2 according to the position information;
the permanent magnet of the return station 2 is magnetically adsorbed with the metal block of the swimming pool cleaning robot 1, and the wireless charging transmitting coil of the return station 2 and the wireless charging receiving coil of the swimming pool cleaning robot are mutually induced.
In this embodiment, the metal block is disposed on the return station 2, and the swimming pool cleaning robot 1 is provided with a permanent magnet, so that both are magnetically attracted to achieve the same effect.
In summary, the swimming pool cleaning robot system provided by the invention is provided with the diving device 15 on the swimming pool cleaning robot 1, so that the swimming pool cleaning robot 1 can float on the water surface 32 and sink to the bottom of the pool, the swimming pool cleaning robot system can simultaneously meet the two use requirements of cleaning the water surface 32 and cleaning the bottom of the pool, the swimming pool cleaning robot system also comprises the return station 2 arranged on the pool wall 31, the return station 2 is arranged above the water surface 32, so that the swimming pool cleaning robot 1 can float on the water surface 32 and automatically return to the return station 2, and an operator can easily recover the swimming pool cleaning robot 1 from the return station 2 without searching for the swimming pool cleaning robot 1 in the swimming pool 3.
In addition, this swimming pool cleaning robot 1 can be connected with basic station 5 wireless communication to send its current status information to basic station 5, by basic station 5 with swimming pool cleaning robot 1's current status information forward to operating personnel's mobile terminal equipment on again, make things convenient for operating personnel remote monitoring this swimming pool cleaning robot 1's operation condition and fuselage condition more.
In addition, this swimming pool cleaning robot 1 can realize wireless function of charging at returning terminal 2 department, has reduced operating personnel's management work to swimming pool cleaning robot 1 to this swimming pool cleaning robot system can use solar energy and convert solar energy into the electric energy, uses this swimming pool cleaning robot system's with low costs, economy environmental protection.
The foregoing description is only illustrative of the present invention and is not intended to limit the scope of the invention, and all equivalent changes made by the specification and drawings of the present invention, or direct or indirect application in the relevant art, are included in the scope of the present invention.
Claims (12)
1. The swimming pool cleaning robot system is characterized by comprising a swimming pool cleaning robot and a return station, wherein the swimming pool cleaning robot can be put into the water of a swimming pool, the return station is arranged on the wall or the bank of the swimming pool, and an induction recognition device, a diving device and a cleaning device are arranged in the swimming pool cleaning robot;
the swimming pool cleaning robot is used for controlling the swimming pool cleaning robot to float on the water surface of the swimming pool or sink to the pool bottom of the swimming pool, the cleaning device is used for cleaning dirt on the water surface or the pool bottom, the induction recognition device is used for recognizing the position of the return station and generating corresponding position information, and the swimming pool cleaning robot moves to the return station according to the position information.
2. The pool cleaning robot system of claim 1, wherein the sensing and recognition device includes a rotating mechanism and a camera, the rotating mechanism is disposed on the pool cleaning robot, and a drive end of the rotating mechanism is connected to the camera.
3. A pool cleaning robot system as claimed in claim 1, wherein the return station includes a magnetic member disposed on the pool wall, a metal block being disposed in the pool cleaning robot, the magnetic member magnetically attracting the metal block when the pool cleaning robot is moved to the return station.
4. The pool cleaning robot system of claim 1, wherein the return station further comprises a wireless charging transmitter coil disposed on the pool wall, and wherein the pool cleaning robot further comprises a wireless charging receiver coil.
5. The swimming pool cleaning robot system of claim 4, further comprising a solar panel disposed on a shore side of the swimming pool, the solar panel electrically connected to the wireless charging transmitting coil.
6. The swimming pool cleaning robot system of claim 5, further comprising a battery disposed on the shore or embedded in the pool wall, the battery electrically connected to the solar panel, the wireless charging emitter coil, respectively.
7. A swimming pool cleaning robot system according to claim 1, further comprising a base station located on the shore of the swimming pool, wherein the swimming pool cleaning robot is further provided with a communication device in wireless communication with the base station.
8. A swimming pool cleaning robot system according to claim 7, wherein the communication means comprises a GPS communication module and/or a WIFI communication module.
9. The pool cleaning robot system of claim 7, wherein the communication device further comprises a communication antenna, the communication antenna being disposed on top of the pool cleaning robot.
10. A swimming pool cleaning robot system according to claim 9, wherein the diving device comprises a gas chamber, a gas inlet pipe and a gas outlet pipe, wherein the gas chamber is arranged in the swimming pool cleaning robot, the gas inlet pipe and the gas outlet pipe are respectively arranged at the top of the swimming pool cleaning robot, the gas inlet pipe and the gas outlet pipe are respectively communicated with the gas chamber, and the communication antenna is arranged on the gas inlet pipe and/or the gas outlet pipe.
11. A method of backing up a pool cleaning robot, the method being applied to a pool cleaning robot as claimed in any one of claims 1 to 10, comprising the steps of:
When the current state information does not meet the normal operation condition, the swimming pool cleaning robot recognizes the position of a return station and generates corresponding position information, and the swimming pool cleaning robot is positioned and moved to the return station according to the position information.
12. The method of claim 11, wherein when the current status information does not meet the normal operating conditions, the pool cleaning robot identifies a return station location and generates corresponding location information, and the pool cleaning robot locates and moves to the return station based on the location information, in particular:
When the current state information does not meet the normal operation condition, the floating system controls the swimming pool cleaning robot to float on the water surface of the swimming pool, the communication device is in wireless communication connection with the base station, the communication device sends the state information to the base station, the base station forwards the state information to mobile equipment of an operator, the induction recognition device recognizes the position of a return station and generates corresponding position information, the swimming pool cleaning robot is positioned and moved to the return station according to the position information, the magnetic piece of the return station is magnetically adsorbed with the metal block of the swimming pool cleaning robot, and the wireless charging transmitting coil of the return station and the wireless charging receiving coil of the swimming pool cleaning robot are mutually induced.
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| CN120342304A (en) * | 2024-01-18 | 2025-07-18 | 星迈创新科技(苏州)有限公司 | Solar System |
| EP4636201A1 (en) | 2023-04-27 | 2025-10-22 | Xingmai Innovation Technology (Suzhou) Co., Ltd. | Traveling device, cleaning apparatus and method for controlling cleaning apparatus |
| CN220868958U (en) * | 2023-10-10 | 2024-04-30 | 深圳市思傲拓科技有限公司 | A swimming pool cleaning robot |
| WO2025092994A1 (en) * | 2023-11-02 | 2025-05-08 | 天津望圆智能科技股份有限公司 | Pool cleaning system |
| WO2025108445A1 (en) * | 2023-11-23 | 2025-05-30 | 天津望圆智能科技股份有限公司 | Robotic pool cleaner control method and apparatus, and robotic pool cleaner |
| WO2025148842A1 (en) * | 2024-01-08 | 2025-07-17 | 天津望圆智能科技股份有限公司 | Pool cleaning robot and pool cleaning system |
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| CN220539345U (en) * | 2023-07-12 | 2024-02-27 | 深圳市元鼎智能创新有限公司 | Swimming pool cleaning robot system |
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| FR2896005B1 (en) * | 2006-01-11 | 2008-04-04 | Max Roumagnac | POOL CLEANER ROBOT |
| ES2954250T3 (en) * | 2014-09-03 | 2023-11-21 | Maytronics Ltd | Pool cleaning robot |
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| CN110080572B (en) * | 2019-04-26 | 2024-07-26 | 天津望圆智能科技股份有限公司 | Automatic swimming pool cleaning robot moves intelligent auxiliary device in and out swimming pool automatically |
| EP4146884A1 (en) * | 2020-08-06 | 2023-03-15 | Zodiac Pool Care Europe | Devices, systems, and methods for communication with equipment such as automatic swimming pool cleaners |
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| CN114837477A (en) * | 2022-05-31 | 2022-08-02 | 广州城市理工学院 | Pool cleaning method |
| CN115248602B (en) * | 2022-06-13 | 2025-02-07 | 北京众清科技有限公司 | Automatic docking method, swimming pool robot, electronic device and computer storage medium |
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| CN220539345U (en) * | 2023-07-12 | 2024-02-27 | 深圳市元鼎智能创新有限公司 | Swimming pool cleaning robot system |
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