WO2019205861A9 - 泳池清洁机的触壁检测装置 - Google Patents

泳池清洁机的触壁检测装置 Download PDF

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Publication number
WO2019205861A9
WO2019205861A9 PCT/CN2019/079669 CN2019079669W WO2019205861A9 WO 2019205861 A9 WO2019205861 A9 WO 2019205861A9 CN 2019079669 W CN2019079669 W CN 2019079669W WO 2019205861 A9 WO2019205861 A9 WO 2019205861A9
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WO
WIPO (PCT)
Prior art keywords
cleaning machine
swimming pool
triggering
wall contact
wall
Prior art date
Application number
PCT/CN2019/079669
Other languages
English (en)
French (fr)
Other versions
WO2019205861A1 (zh
Inventor
余浅
岑璞
黄建成
王跃明
关守强
张自龙
Original Assignee
天津望圆环保科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 天津望圆环保科技有限公司 filed Critical 天津望圆环保科技有限公司
Priority to EP19793127.2A priority Critical patent/EP3626912B1/en
Priority to CA3096929A priority patent/CA3096929C/en
Priority to ES19793127T priority patent/ES2932004T3/es
Publication of WO2019205861A1 publication Critical patent/WO2019205861A1/zh
Publication of WO2019205861A9 publication Critical patent/WO2019205861A9/zh
Priority to US16/747,489 priority patent/US20200150679A1/en

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Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
    • 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
    • E04H4/1663—Self-propelled cleaners the propulsion resulting from an intermittent interruption of the waterflow through the cleaner
    • 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
    • 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
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
    • G01V3/00—Electric or magnetic prospecting or detecting; Measuring magnetic field characteristics of the earth, e.g. declination, deviation
    • G01V3/08—Electric or magnetic prospecting or detecting; Measuring magnetic field characteristics of the earth, e.g. declination, deviation operating with magnetic or electric fields produced or modified by objects or geological structures or by detecting devices
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
    • G01V8/00—Prospecting or detecting by optical means
    • G01V8/10—Detecting, e.g. by using light barriers

Definitions

  • the invention belongs to the technical field of swimming pool cleaning equipment, and particularly relates to a wall contact detection device of a swimming pool cleaning machine.
  • the swimming pool is a place where people engage in swimming, where people can exercise or compete. Most swimming pools are built on the ground and can be divided into general swimming pools and heated swimming pools according to the water temperature, while most private pools are in foreign countries and most are public pools in China. No matter what kind of pool there is a lot of garbage in use, the pool needs to be cleaned regularly. Existing pools often use pool cleaners to clean the pool.
  • the return control of automatic cleaners used to clean pools generally uses time control.
  • the swimming pool cleaner cannot recognize whether it touches the wall or encounters an obstacle and returns or turns. When the cleaner touches the wall or encounters other obstacles, it must wait until the end of the set time period to reverse. Therefore, when the cleaner touches the wall, When encountering other obstacles, the cleaning machine will often stand against the wall or stop the movement for a long time before moving in the opposite direction to clean other places, and the efficiency is lost.
  • the problem to be solved by the present invention is to provide a wall contact detection device of a swimming pool cleaner, which is particularly suitable for cleaning and finishing a swimming pool.
  • the sensor is used to detect the wall contact of the cleaner, so that the cleaner can automatically change direction, and it is simple and convenient to use. ,high working efficiency.
  • the technical solution adopted by the present invention is: a wall contact detection device of the pool cleaning machine, the wall contact detection device of the pool cleaning machine is provided in the main function part of the cleaning machine, and the main function part of the cleaning machine includes the main body of the cleaning machine and the The control module and the power driving device connected to the cleaning machine body.
  • the wall contact detection device of the swimming pool cleaning machine further includes a sensor wall contact detection device.
  • the sensor wall contact detection device includes a trigger unit and a sensor detection module.
  • the trigger unit is connected to the cleaning machine body.
  • the sensor The detection module is electrically connected to the control module, the control module is electrically connected to the power driving device, and the trigger unit cooperates with the sensor detection module to trigger the sensor detection module to generate a detection signal.
  • the triggering unit includes a triggering device having a triggering portion, the triggering device having the triggering portion is connected to the cleaning machine body, the triggering portion makes relative movement with respect to the cleaning machine body, the position of the sensor detection module and the remote movement trajectory of the triggering portion are characterized The positions of the points are matched.
  • the triggering portion performs a reciprocating motion relative to the cleaning machine body.
  • the position of the characteristic point of the remote motion trajectory of the triggering portion includes the initial position of the motion trajectory and the position of the turning point.
  • the position of the sensor detection module is matched with the initial position of the remote movement trajectory of the triggering portion or the position of the turning point.
  • the number of the sensor detection modules is at least one.
  • the triggering portion is a magnetic portion
  • the magnetic portion is a substance or device capable of generating a magnetic field.
  • the magnetic portion is a magnet.
  • the sensor detection module is a Hall sensor.
  • the triggering portion is an optical path component
  • the optical path component is a reflective plate or a light shielding plate.
  • the sensor detection module is a photoelectric sensor.
  • the number of the triggering devices is at least one, and the triggering device is provided with a buoyancy tank or the triggering device is wholly or partly made of buoyant material.
  • the buoyancy tank is provided with buoyant material or closed air.
  • the number of the triggering devices is at least one, and a weight is provided on the triggering device or the triggering device is wholly or partially made of a gravity material.
  • the number of the triggering devices is at least one, and the triggering device is provided with an elastic member or the triggering device is wholly or partly made of an elastic material.
  • the elastic member is a spring.
  • the triggering device includes at least one resistance plate.
  • the swimming pool cleaner has a more compact structure and has a wall contact detection device, which can automatically detect when the cleaner touches the wall or touches other obstacles, and controls the cleaner to automatically switch to make cleaning
  • the machine can automatically change direction when it touches the wall, with a simple and compact structure and flexible movements. It can clean the swimming pool autonomously and efficiently;
  • the swimming pool cleaning machine has a touch wall detection device, which can detect the touch wall movement when the cleaning machine performs cleaning operations, and automatically change the walking direction.
  • the touch wall detection device uses a sensor to detect, and then controls the cleaning machine through a control module.
  • the running state of the motor such as forward rotation, stop or reverse rotation, etc., and then change the walking direction of the cleaning machine, so that when the cleaning machine is cleaning in the swimming pool, it can accurately detect whether it touches the wall and change direction, so that the cleaning machine Work flexibly, avoiding the loss of efficiency caused by time control, especially for pool cleaners powered by batteries, which has high practical value;
  • the wall contact detection device selects a Hall sensor and is provided with a trigger device with a magnetic part used in conjunction with the Hall sensor, so that this type of wall contact detection device can quickly detect the wall contact action of the cleaning machine with a simple structure. Quick and accurate response, flexible actions, and meet the needs of use;
  • Photoelectric sensor is selected for the wall-contact detection device, and a trigger device with a light path component is used in conjunction with the photoelectric sensor, so that this type of wall-contact detection device can quickly detect the wall-contact action of the cleaning machine, with a simple structure and quick response , Accurate, flexible action, to meet the needs of use.
  • FIG. 1 is a schematic structural diagram of a first embodiment of the present invention
  • Embodiment 1 of the present invention is a schematic partial cross-sectional structure diagram of Embodiment 1 of the present invention.
  • FIG. 3 is an enlarged view of a portion A of FIG. 2;
  • FIG. 4 is a schematic partial cross-sectional structure diagram of a second embodiment of the present invention.
  • FIG. 5 is an enlarged view of a portion B of FIG. 4;
  • FIG. 6 is a schematic structural diagram of a third embodiment of the present invention.
  • FIG. 7 is an enlarged view of a portion C of FIG. 6;
  • FIG. 8 is a schematic structural diagram of two Hall sensors of the present invention.
  • FIG. 9 is a schematic structural diagram of the three Hall sensors of the present invention.
  • FIG. 10 is a schematic structural diagram of a third embodiment of the present invention having two resistance plates and a connecting rod;
  • FIG. 11 is a schematic structural diagram of a third embodiment with two resistance plates and two connecting rods;
  • Figure 12 is a top view of Figure 11;
  • FIG. 13 is a schematic diagram of another structure having two resistance plates and two connecting rods according to the third embodiment of the present invention.
  • FIG. 14 is a plan view of FIG. 13.
  • Support frame 15-1 Support frame 15-2.
  • Support frame 16. Mounting sleeve
  • the wall-contact detection device of a pool cleaning machine is used for a pool cleaning machine to perform a swimming pool.
  • the sensor touch wall detection device is used to detect the wall touching action of the cleaning machine.
  • the sensor wall touching detection device transmits the wall touching signal to the control module.
  • the control module controls the action of the power drive device, the cleaning machine reverses direction and continues cleaning.
  • the sensor wall contact detection device has a sensor detection module for detecting signals when the cleaner touches the wall or contacts other obstacles.
  • the sensor detection module is used for detecting and transmitting the wall contact signal.
  • the sensor detection module is a magnetic field sensor or a photoelectric sensor. , Detect whether the pool cleaner touches the wall by detecting the magnetic field signal or light signal when touching the wall.
  • FIG. 1, FIG. 2 and FIG. 3 show a schematic structural diagram of an embodiment of the present invention, and specifically show the structure of this embodiment.
  • This embodiment relates to a wall-contact detection device of a swimming pool cleaning machine.
  • the touch detection device of the swimming pool cleaning machine adopts a sensor touch wall detection device to perform wall touching detection, so that the cleaning machine can quickly determine whether the cleaning machine touches the wall when the swimming pool is cleaning and contacts the swimming pool wall, and the sensor touches the wall to detect
  • the device transmits the wall contact signal to the control module 2.
  • the control module 2 controls the power driving device of the cleaning machine according to the wall contact signal to cause the cleaning machine to reverse direction and cause the cleaning machine to reciprocate to complete the cleaning and finishing of the swimming pool by the cleaning machine.
  • the sensor detection module is a magnetic field sensor that detects a magnetic field signal when the wall is touched, thereby determining whether the pool cleaning machine touches the wall.
  • the above-mentioned swimming pool cleaning machine touch wall detection device includes a cleaning machine main function part and a sensor touch wall detection device connected to the main function part.
  • the cleaning machine main function part includes the cleaning machine body 1 and is connected to the cleaning machine body 1
  • Control module 2 and power driving device control module 2 is electrically connected to power driving device
  • sensor wall contact detection device is electrically connected to control module 2
  • sensor wall contact detection device transmits wall contact signal to control module 2
  • control module 2 pairs The wall contact signal is analyzed and judged, and the power driving device is controlled to change the walking direction of the cleaning machine and change the direction.
  • the control module 2 and the power driving device may be fixedly installed inside the cleaning machine body 1, or connected to the cleaning machine body 1 through a cable, a water pipe, etc., and arranged outside the cleaning machine body 1. They are selected according to actual needs, without specific details. Claim.
  • the power driving device is used to drive the cleaning machine body 1 to walk.
  • the moving direction of the cleaning machine can be changed, and the cleaning machine can be moved in a certain direction, so that the cleaning machine does not need to be manually controlled to switch directions.
  • At least one sealing portion is provided on the cleaning machine body 1 to facilitate sealing of electronic components or motors and other components that need to be waterproofed.
  • the control module 2 is installed inside the cleaning machine body 1, the control module 2 is also installed at the sealing portion, and the control module 2 is sealed in the sealing portion to prevent the control module 2 from being damaged by water.
  • the above-mentioned control module 2 is a single-chip microcomputer, and the single-chip microcomputer is a commercially available product, which is selected according to actual needs.
  • the control module 2 presets an edited program to perform a conversion analysis on a touch wall signal detected by the sensor touch wall detection device, determine whether the cleaning machine touches the wall, and control the power driving device to act according to the analysis result to change the cleaning machine.
  • the power driving device is a motor and an impeller assembly, and is preferably provided inside the cleaning machine body 1. The motor drives the impeller to cause the cleaning machine to spray water, thereby changing the moving direction of the cleaning machine.
  • the above-mentioned sensor wall-contact detection device includes a trigger unit and a sensor detection module 4.
  • the trigger unit is connected to the cleaning machine body 1, and the sensor detection module 4 is electrically connected to the control module 2, that is, the sensor wall-contact detection device passes a sensor.
  • the detection module 4 and the control module 2 are electrically connected.
  • the triggering unit triggers the action of the sensor detection module 4.
  • the sensor detection module 4 transmits the wall contact signal to the control module 2. Analyze and control the power drive device to change the spraying direction, and then change the walking direction of the swimming pool cleaning machine to perform the commutation.
  • the above-mentioned triggering unit includes a triggering device 6 having a triggering portion.
  • the triggering portion on the triggering device 6 corresponds to the position of the sensor detection module 4 and triggers the sensor.
  • the detection module 4 operates to transmit a wall contact signal to the control module 2.
  • the trigger portion may be a magnetic portion, an optical path component, or other types of signal components, which are determined according to the type of the sensor detection module.
  • the trigger portion is preferably a magnetic portion.
  • the magnetic portion is The substance or device that can generate a magnetic field can be a localized area on the trigger device that is integrally formed with the trigger device and undergoes magnetization, or it can be a separate magnetic substance or device installed on the trigger device 6, preferably, In this embodiment, the magnetic portion is a magnet 3 mounted on the trigger device 6.
  • the sensor detection module 4 is electrically connected to the control module 2.
  • the sensor detection module 4 can be separately installed on the cleaning machine body 1 and sealed separately, such as being installed on the housing of the cleaning machine body 1; it can also be installed on the cleaning machine body 1.
  • the control module 2 is disposed inside the cleaning machine body 1, the sensor detection module 4 is disposed on the circuit board 10 where the control module 2 is located, and the control module 2 and the sensor detection module 4 are sealed together.
  • the sensor detection module 4 is installed on the circuit board 10 where the control module 2 is located, in the same sealing portion of the cleaning machine body 1, which facilitates the transmission of the seal and touch wall detection signals.
  • the trigger device 6 is installed on the cleaning machine body 1, and may be installed inside the cleaning machine body 1 or outside the cleaning machine body 1.
  • the triggering device 6 is selected according to actual requirements, and is not specifically limited here.
  • two corresponding through holes are provided in the front and rear of the cleaning machine body 1, so that the triggering device 6 swings or moves back and forth under the resistance of water.
  • the triggering device 6 is installed on the outside of the cleaning machine body 1.
  • the triggering device 6 can be installed on the cleaning machine body 1 by various methods such as a rotating shaft or a slideway, and is selected according to actual needs.
  • the trigger device 6 is mounted on the cleaning machine body 1 through a rotating shaft.
  • the rotating shaft 5 is symmetrically installed on both sides of the housing of the cleaning machine body 1, and the triggering device 6 is installed on the housing of the cleaning machine body 1 through the rotating shaft 5 so that the triggering device 6 can rotate along the center line of the rotating shaft 5.
  • the cleaning machine body 1 swings back and forth; a mounting shaft sleeve 16 of a rotating shaft 5 is symmetrically provided on both sides of the housing of the cleaning machine body 1, the rotating shaft 5 is installed in the installation shaft sleeve 16, and the The shape is adapted to the shape of the rotating shaft 5.
  • the diameter of the rotating shaft 5 is smaller than the inner diameter of the mounting sleeve 16, so that after the rotating shaft 5 is installed, there is a certain gap between the rotating shaft 5 and the mounting sleeve 16, which is convenient for triggering the device. 6 installation and free swing.
  • the triggering device 6 includes a plate-shaped resistance plate 11 and a swing arm.
  • the resistance plate 11 and the swing arm are connected by welding, mechanical connection, or the like, or the resistance plate 11 and the swing arm are made integrally.
  • Swing arms are provided on both sides of one end of the resistance plate 11, and the resistance plate 11 is connected to the rotating shaft 5 through the swing arms on both sides.
  • Mounting sleeves 16 and swing arms are symmetrically provided on both sides of the housing of the cleaning machine 1.
  • the rotation shaft 5 is connected to the mounting shaft sleeve 16, so that the resistance plate 11 is connected to the housing of the cleaning machine body 1 through the rotation shaft 5, and the resistance plate 11 can swing freely.
  • the rotating shaft 5 and the swing arm can also be integrally formed.
  • the rotating shaft 5 is mounted on the mounting shaft sleeve 16 so that the resistance plate 11 is directly mounted on the housing of the cleaning machine body 1 through the swing arm.
  • the entire triggering device 6 is mounted on the housing of the cleaning machine body 1 through the rotation shaft 5 and can swing back and forth on the cleaning machine body 1; the connection method of the resistance plate 11 and the rotation shaft 5 may also be other connection methods. Choose according to actual needs.
  • a buoyancy chamber 7 is provided on the triggering device 6 to facilitate the triggering device 6 to return to its original position using buoyancy.
  • the buoyancy chamber 7 is disposed on the resistance plate 11, and the substances placed in the buoyancy chamber 7 may be closed.
  • the air can also be buoyant material with a density less than the water in the swimming pool.
  • the buoyancy chamber 7 is arranged on the resistance plate 11 and is integrally formed with the resistance plate 11.
  • the swing arm is integrally formed with the resistance plate 11.
  • the buoyancy tank 7, the swing arm and the resistance plate 11 can also be connected or changed in relative positions in other ways, according to actual needs.
  • the overall structure of the non-magnetic part of the trigger device 6 is made of buoyant material with a density less than that of the pool water. There is no need to separately set a buoyancy tank.
  • the partial structure of the non-magnetic part of the trigger device is The buoyancy material with a density less than that of the pool water is made in one piece.
  • the trigger device including the trigger portion is made of a magnetic material and a composite material with a density less than the buoyancy material of the pool water. The above design enables the trigger device to be used in the pool.
  • the buoyancy is used for resetting, and it is not necessary to separately set a buoyancy tank, which further simplifies the structure of the trigger device and achieves the same effect.
  • the area of the resistance plate 11, the roughness or structure of the outer surface of the resistance plate 11, the buoyancy of the buoyancy tank 7, and the speed of the cleaning machine walking in the pool are all related to the angle of the resistance plate 11 swinging when the cleaning machine is walking in the pool
  • the area of the resistance plate 11, the roughness or structure of the outer surface of the resistance plate 11, the buoyancy of the buoyancy tank 7, and the speed at which the cleaning machine walks in the pool are matched to ensure that when the cleaning machine is walking at a certain speed in the pool, the resistance plate 11 Under the combined effect of the water resistance and the buoyancy of the buoyancy tank 7, a certain swing angle is maintained, that is, when the cleaning machine is walking and cleaning in the swimming pool, the resistance plate 11 is in the opposite direction to the walking direction under the effect of the water resistance Swing and keep a certain angle to balance, to ensure that the cleaning machine maintains movement and cleaning work in the pool.
  • the main material of the triggering device 6 is plastic, and other materials can also be selected according to actual needs.
  • a trigger portion is provided on one of the swing arms on both sides of the resistance plate 11, and the trigger portion is preferably a magnetic portion, which is a substance or device capable of generating a magnetic field.
  • the magnetic part is the magnet 3, and the position of the magnet 3 is matched with the position of the sensor detection module 4, that is, when the resistance plate 11 is maintained in the initial state, that is, the vertical state, the magnet 3 and the sensor detection module 4 are exactly the same. On a straight line, and the two positions correspond.
  • the sensor detection module 4 is a sensor, here is a magnetic field sensor, preferably a Hall sensor.
  • the Hall sensor is used in conjunction with a magnet. According to the working principle of the Hall sensor, the Hall sensor can transmit the signal when it touches the wall to the control module 2 Among them, the Hall sensor is a commercially available product, which can be selected according to actual needs.
  • the number of sensor detection modules is at least one, or may be multiple, and is selected according to the actual requirements and the transmission method of the touch wall detection signal.
  • the position of the sensor detection module is matched with the position of the triggering part when the triggering device is in different states.
  • the triggering part makes relative movement relative to the cleaning machine body.
  • the triggering part reciprocates with respect to the cleaning machine body.
  • the position of the movement and sensor detection module is matched with the position of the characteristic point of the motion trajectory of the triggering part, and the position of the characteristic point of the motion trajectory of the triggering part includes the initial position of the motion trajectory and the position of the turning point.
  • the position of is matched with the initial position of the trajectory of the trigger or the position of the turning point.
  • the position of the Hall sensors corresponds to the position of the magnet when the triggering device 6 maintains the initial state.
  • the initial state of the triggering device 6 is the vertical state.
  • the position of the magnet 3 is the initial position of the magnet 3.
  • the cleaning machine When the cleaning machine walks to the pool wall, it cleans The machine continues to move into contact with the wall of the swimming pool, the speed of the cleaning machine is zero, the resistance of the water is reduced to zero, and the trigger device 6 returns to the vertical state under the action of the buoyancy chamber 7. At this time, the position of the magnet and the Hall sensor Correspondingly, according to the working principle of the Hall sensor, the Hall sensor is turned on and transmits a signal to the control module 2.
  • the control module 2 controls the motor inside the cleaning machine body 1 according to this signal Action, changing the spraying direction of the cleaning machine, and then changing the walking direction of the cleaning machine; subsequently, the triggering device 6 falls to the other side under the resistance of the water and keeps a certain swing angle with the vertical direction, that is, the triggering device 6 drives the magnet 3 to move to the turning point on the other side and maintains a balanced state under the resistance of water.
  • the triggering device 6 oscillates back and forth with the running state of the cleaning machine body 1 in the swimming pool, and the magnet 3 accompanies the entire triggering device between the two turning points of its motion trajectory and passing its initial position.
  • the triggering device 6 oscillates forward and backward along with the running state of the cleaning machine body 1 in the swimming pool, and the triggering unit accompanies the entire triggering device. Together, it moves back and forth between the two turning points of its trajectory and passes through the initial position.
  • the Hall sensor 4-1 and the Hall sensor 4-2 are symmetrically installed on the circuit board 10 where the control module 2 is located.
  • the positions of the Hall sensors 4-1 and 4-2 correspond to the positions of the magnets when the triggering device 6 moves to the farthest end (that is, the turning point).
  • the Hall sensors 4-1 and The position of the Hall sensor 4-2 corresponds to the position of the magnet (that is, the turning point) when the triggering device 6 swings to the maximum swing angle on both sides of the vertical position; that is, at this time, the Hall sensor 4-1 and Huo
  • the signal of the Seoul sensor 4-2 is different from the signal when the number of Hall sensors is one.
  • the triggering device 6 swings in the opposite direction of the movement under the action of the resistance of the water.
  • a Hall sensor 4-1 is installed on the circuit board 10 where the control module 2 is located corresponding to the position of the magnet on the triggering device 6. According to the Hall sensor Working principle, Hall sensor 4-1 turns on, Hall sensor 4-1 turns this The signal is transmitted to the control module 2.
  • the control module 2 analyzes the signal to confirm that the cleaning machine is in a state of not touching the wall, the controller inside the cleaning machine body 1 does not operate, the power driving device maintains the original state, and the cleaning machine continues to walk.
  • the Hall sensor 4-1 is always open; when the cleaning machine walks to the pool wall, the cleaning machine contacts the pool wall. At this time, the walking speed of the cleaning machine is zero, and the trigger device 6 is in the buoyancy compartment 7 Under the action, it returns to the vertical state. At this time, the Hall sensor 4-1 is relatively separated from the magnet, and the Hall sensor 4-1 generates a shutdown signal.
  • the control module 2 controls the power drive inside the cleaning machine 1 according to the shutdown signal. When the device moves, the cleaning machine changes the direction of spraying water, and then the cleaning machine changes the walking direction; the cleaning machine that changes the walking direction, the triggering device 6 swings to the other side.
  • the control A Hall sensor 4-2 is installed on the circuit board 10 where the module 2 is located corresponding to the magnet on the triggering device 6.
  • the Hall sensor 4 -2 is opened, the control module 2 analyzes according to the signal transmitted by the Hall sensor 4-2, the controller inside the cleaning machine body 1 does not operate, the power driving device maintains the original state, the cleaning machine keeps walking in this walking direction, and when the cleaning machine again When in contact with the pool wall, the walking speed of the cleaning machine is zero, the triggering device 6 returns to the vertical state under the action of the buoyancy compartment 7, the Hall sensor 4-2 is turned off, and the control module 2 controls the power driving device to change the cleaning The spraying direction of the machine changes the walking direction of the cleaning machine, thereby realizing the back and forth movement of the cleaning machine.
  • the Hall sensor 4-1 and the Hall sensor 4-2 are both mounted on the circuit board 10 where the control module 2 is located, and are arranged symmetrically along the vertical state
  • the number of Hall sensors is three, as shown in FIG. 9, in combination with FIG. 2, FIG. 3, and FIG. 8, the number of two Hall sensors on both sides is the same as the number of Hall sensors, but the difference is
  • a Hall sensor 4-3 is installed on the circuit board 10 where the control module 2 is located and corresponding to the magnet on the trigger device 6 at this time.
  • the trigger device 6 is vertical In the state, the magnet corresponds to the position of the Hall sensor 4-3.
  • the Hall sensor 4-3 is turned on, and the Hall sensor 4-3 transmits a signal to the control module 2, and the control module 2
  • the signal of 3 controls the action of the power driving device, changes the spraying direction of the cleaning machine, and then changes the walking direction of the cleaning machine.
  • the Hall sensors 4-1 and 4-2 on both sides are symmetrically arranged along the Hall sensor 4-3 in the middle.
  • the control module 2 changes the direction according to the closing signals of the two Hall sensors, and sets one Hall sensor at each position of the triggering device 6 to swing to two ends. There is no Hall sensor in the middle position.
  • the control module 2 According to the open signal of the Hall sensor in the middle position, the control module 2 controls the action of the power driving device to change the walking direction of the cleaning machine.
  • a total of three Hall sensors are used to determine the status of the cleaning machine. When the signal is turned on, it can be determined that the cleaner is moving in a certain direction, and when the center Hall sensor has an open signal, the cleaner is considered to be touching the wall.
  • the working process of the Hall sensor in this embodiment is one time: put it into the water, the cleaning machine starts, water spray pushes the cleaning machine forward, the triggering device 6 falls backward, the Hall sensor is disconnected from the magnet on the triggering device 6, The sensor is turned off; the cleaning machine touches the wall, the triggering device 6 is reset, the magnet carried on it returns to the vicinity of the Hall sensor, and the Hall sensor senses the magnetic field signal to turn on; the cleaning machine sprays water in the opposite direction to push the cleaning machine to walk in the opposite direction, triggering The device 6 is inverted in the opposite direction of the forward direction, and the Hall sensor is closed again; the cleaning machine leaves the pool wall and advances to the opposite side of the pool wall. After touching the wall, the above-mentioned reversing process is repeated, thereby realizing the back and forth movement of the cleaning machine.
  • the structure of the wall-contacting device of the swimming pool cleaner is similar to that of the first embodiment, as shown in FIGS. 4 and 5.
  • the triggering device 6 has a buoyancy compartment. 7. Reset according to buoyancy and restore the initial state.
  • the structure of the triggering device 6 is different from that in the first embodiment, and reset according to gravity.
  • the triggering device 6 is provided with a weight having a density greater than that of the swimming pool water to realize gravity reset.
  • the triggering device 6 includes at least one plate-shaped resistance plate 11 and a swing arm. The resistance plate 11 is connected to the swing arm.
  • the arm is connected to the rotating shaft 5, so that the triggering device 6 is installed on the cleaning machine body 1, and the resistance plate 11 can be located on the upper or lower part of the rotating shaft 5, and is selected according to actual needs.
  • the resistance plate 11 is located on the rotation The lower part of the shaft 5; the weight is located at the lower part of the rotating shaft 5, and can be installed on the upper or lower part of the resistance plate 11, or the weight is installed on the swing arm, and is selected according to actual needs.
  • the resistance plate 11 The lower part is equipped with a weight 8.
  • the size and surface structure of the resistance plate 11 and the weight of the weight 8 are matched with the walking speed of the cleaning machine, so that when the cleaning device is walking, the triggering device 6 faces the opposite side of the walking direction under the action of water resistance. Swing, when the cleaning machine walks to the pool wall and comes into contact with the pool wall, the walking speed of the cleaning machine is zero, and the triggering device 6 returns to the initial state under the action of gravity. At this time, the position of the Hall sensor and the magnet Correspondingly, the Hall sensor opens under the action of the magnet, and transmits a wall-contact signal to the control module 2.
  • the control module 2 controls the operation of the power driving device and changes the walking direction of the cleaning machine.
  • the triggering device 6 can also be made in whole or in part from a gravity material with a density greater than that of the pool water, and it is not necessary to separately provide a weight on the triggering device 6 to complete the above-mentioned actions.
  • the working process of this embodiment put it into water, start the cleaning machine, spray water to push the cleaning machine forward, the triggering device 6 falls backward, the Hall sensor is disconnected from the magnet on the triggering device 6, the Hall sensor is turned off; Wall, the triggering device 6 resets under the action of gravity, the magnet carried on it returns to the vicinity of the Hall sensor, the Hall sensor senses the magnetic field signal to turn on; the cleaning machine sprays water in the opposite direction to push the cleaning machine to walk in the opposite direction, and the triggering device 6 falls down In the opposite direction to the forward direction, the Hall sensor is turned off again; the cleaning machine leaves the pool wall and advances to the opposite pool wall. After touching the wall, the above-mentioned reversing process is repeated to realize the back and forth movement of the cleaning machine.
  • the structure of the wall-contact detection device of the swimming pool cleaning machine is similar to that of the first and second embodiments. Compared with the first and second embodiments, as shown in FIGS. 6 and 7, the structure is different. The point is that in this embodiment, the reset mode of the triggering device 6 is spring reset.
  • the structure of one of the technical solutions is that the number of the resistance plates 11 in the triggering device 6 is one, and the resistance plates 11 are located on one side of the rotation shaft 5.
  • the resistance plates 11 may be It is located on the upper side or the lower side of the rotation shaft 5.
  • the resistance plate 11 can be located on the left or right side of the rotation shaft 5, etc., and can be selected according to actual needs.
  • the rotation shaft 5 is horizontally arranged, the resistance plate 11 is located at the lower part of the rotation shaft 5, the resistance plate 11 is located outside the swing arm, the size of the resistance plate 11 and the surface structure and the spring force of the spring and the cleaning machine. Matching walking speed.
  • An elastic member 9 is installed between the swing arm and the housing of the cleaner body 1.
  • the elastic member 9 is a torsion spring.
  • One end of the elastic member 9 is fixedly installed with the swing arm, and the other end is fixedly installed with the cleaner body 1.
  • the plate 11 can be restored to the initial state by the action of the torsion spring.
  • the number of the triggering devices 6 may also be multiple, or the number of the resistance plates 11 may also be multiple.
  • the type, shape, and installation manner of the elastic member may also be other forms.
  • the triggering device 6 has two resistance plates.
  • the resistance plates 11-1 and the resistance plates 11-2 are symmetrically installed on both sides of the cleaning machine body 1.
  • the resistance plates 11-1 and one end of the resistance plate 11-2 are installed on the cleaning machine body 1 through a rotating shaft, and an elastic member is installed between the resistance plate 11-1 and the resistance plate 11-2 and the housing of the cleaning machine body 1, respectively.
  • the elastic member 9-1 and the elastic member 9-2 one end of the elastic member 9-1 is connected to the resistance plate 11-1, the other end of the elastic member 9-1 is connected to the cleaning machine body 1, and the elastic member 9-2 is installed in the same way.
  • the elastic member 9-1 and the elastic member 9-2 are both springs, preferably a torsion spring.
  • the other end of the resistance plate 11-1 and the resistance plate 11-2 are connected by a link 12 so that the link 12 is on the resistance plate 11 -1 moves back and forth under the swing of the resistance plate 11-2.
  • a magnet 3 is installed at the middle position of the link 12, and the position of the magnet 3 corresponds to the position of the sensor detection module 4. This structure is the same as the above-mentioned working principle when the number of resistance plates is one.
  • the working process of the cleaning machine of this structure is: when the cleaning machine is walking in the swimming pool for cleaning and finishing, the resistance plate 11- 2 Under the resistance of water, it swings in the direction opposite to the cleaning machine's walking direction, and presses the elastic member 9-2 on the side, that is, the torsion spring on the side, which drives the connecting rod 12 and the resistance plate 11-1 to the opposite direction.
  • the resistance plate 11-2 When the torque generated by the resistance of the water acting on the resistance plate 11-2 is the same as the torque generated by the elastic force of the elastic member 9-2, the resistance plate 11-2 is in a balanced state and the link 12 is in a balanced state.
  • the control module 2 does not operate, the power driving device remains intact, and the cleaning machine continues to walk; when the cleaning machine is in contact with the pool wall, the walking speed of the cleaning machine Zero, the water resistance is zero, the resistance plate 11-2 returns to the original position under the action of the elastic member 9-2, and both the connecting rod 12 and the resistance plate 11-1 return to the original position.
  • the sensor detection module 4 The signal is transmitted to the control module, and the control module 2 controls the action of the power driving device, changes the direction of the water spray, and then changes the walking direction of the cleaning machine.
  • the working process of the resistance plate 11-1 is the same as that of the resistance plate 11-2, so as to realize the automatic commutation of the cleaning machine.
  • the above structure is further optimized. As shown in Figures 11 and 12, it has two independent trigger devices with magnetic parts and corresponding sensor detection modules.
  • the two sets of trigger devices include a resistance plate 11-1 and a resistance plate 11-2, respectively.
  • the resistance plate 11-1 and the resistance plate 11-2 are symmetrically installed on both sides of the cleaning machine body 1 through a rotation axis, and can swing back and forth.
  • a connecting rod 12-1 is installed at the other end of the resistance plate 11-1 through a chute.
  • a connecting rod 12-2 is installed through a chute, and the connecting rod 12-1 and the connecting rod 12-2 are respectively installed on the cleaner body 1 through a support frame 15-1 and a support frame 15-2.
  • connecting rod 12-1 and the connecting rod 12-2 are located on both sides of the cleaning machine body 1, the connecting rod 12-1 and the connecting rod 12-2 can be respectively on the supporting frame 15-1 and the supporting frame 15- Two back and forth movements are performed on the support frame.
  • Both the connecting rod 12-1 and the connecting rod 12-2 are provided with elastic members on the support frame.
  • the elastic member is preferably a compression spring.
  • each support frame has two brackets. The brackets are provided with through holes and are fixedly installed on the side walls on both sides of the cleaning machine body 1.
  • the connecting rod 12-1 and the connecting rod 12-2 are far from the end connected with the resistance plate. Pass through the support frame 15-1 and support frame 15-2 through the through holes, respectively, and extend out of the support frame.
  • Magnets 3-1 and 3 are installed at the ends of the link 12-1 and the link 12-2, respectively.
  • a Hall sensor 4-1 and a Hall sensor 4-2 are installed at the corresponding initial positions in the middle, between the support frame and the link, between the link 12-1 and the link 12-2
  • Elastic members 9-1 and 9-2 are respectively installed on them.
  • the swing of the resistance plate drives the link to move back and forth, compresses the elastic member, and returns to the original position under the elastic force of the elastic member.
  • the change of the signal of the sensor detection module that is, the change of the signals of the Hall sensor 4-1 and the Hall sensor 4-2 respectively, further controls the action of the power driving device, and changes the walking direction of the cleaning machine.
  • the elastic member 9-1 and the elastic member 9-2 are both compression springs.
  • the working process of the cleaning machine of this structure is: the cleaning machine walks in the swimming pool, and the resistance plate 11-2 on the front side of the cleaning machine walking direction swings in the opposite direction under the resistance of water, driving the connecting rod 12-2 to move in the opposite direction , Compress the elastic member 9-2, and the magnet 3-2 is far from the sensor detection module (Hall sensor 4-2) in the middle position (corresponding to the initial position of the movement track of the magnet 3-2) or near the far end (with the magnet 3- 2 The position of the turning point of the movement track corresponds to the sensor detection module).
  • the resistance plate 11-2 maintains a balanced state, and the magnet 3- 2
  • the sensor detection module far from the middle position or corresponds to the position of the remote sensor detection module.
  • the control module 2 does not move, the power driving device remains intact, and the cleaning machine continues to walk.
  • the walking speed of the cleaning machine is zero and the water resistance is zero.
  • the connecting rod 12-2 is restored to the original position by the elastic force of the elastic member 9-2, and the resistance plate 11-2 is restored to the original position, which drives the magnet 3- 2 Return to the middle position, Hall
  • the sensor 4-2 transmits a signal to the control module 2, and the power driving device operates to change the direction of the water spray, thereby changing the walking direction of the cleaning machine.
  • the working process of the resistance plate 11-1 is the same as the working process of the resistance plate 11-2, thereby changing the walking direction of the cleaning machine.
  • the triggering device in this embodiment is the reciprocating action of the entire triggering device 6 through the swing of the resistance plate. It is also possible to set the resistance plate close to a vertical state without setting a rotation axis (that is, the normal line of the front surface of the resistance plate and The forward direction of the cleaning machine is the same), and it is connected to the housing of the cleaning machine body 1 through the slide rail, so that the resistance plate can also push the reciprocating movement of the magnetic part between the initial position and the turning point, so as to achieve the same function as above .
  • slide rails 14-1 and 14-2 are installed on both sides of the cleaning machine body 1, and support frames 15-1 and support frames are installed on both sides of the cleaning machine body 1, respectively.
  • 15-2 a guide post 13-1 is installed on the slide 14-1
  • a guide post 13-2 is installed on the slide 14-2
  • two symmetrical support frames 15-1 and 15 are installed
  • a connecting rod 12-1 and a connecting rod 12-2 are respectively installed on the -2
  • a resistance plate 11-1 is installed on the end of the guide post 13-1 away from the slideway and the end of the connecting rod 12-1 away from the support frame 15-1.
  • a resistance plate 11-2 is installed at the end of the guide post 13-2 away from the slideway and the end of the link 12-2 away from the support frame 15-2.
  • the link 12-1 and the support frame A spring 9-1 is installed between the positions, and a magnet 3-1 is installed at one end of the two brackets with through holes extending from the support 12-1 to the support frame 15-1.
  • a spring 9-2 is installed between the link 12-2 and the support frame, and a magnet 3-2 is installed at one end of the two through-hole brackets extending from the link 12-2 to the support frame 15-2.
  • the connecting rod 12-1 and the guide post 13-1 can be moved forward and backward simultaneously, and the connecting rod 12-2 and the guide post 13-2 can be moved forward simultaneously.
  • the working process of the triggering device adopting this structure is: when the cleaning machine moves in the swimming pool, the resistance plate 11-2 moves in the opposite direction of the cleaning machine movement under the resistance of the water, that is, moves backward, the connecting rod 12-2 moves backward under the guidance of the support frame, meanwhile, the guide post 13-2 moves backward under the guidance of the slide 14-2, and the connecting rod 12-2 and the guide post 13-2 move simultaneously and compress
  • the spring 9-2, the connecting rod 12-2 drives the magnet 3-2 to move backward, away from the sensor detection module (Hall sensor 4-2) in the middle position or the sensor detection module near the far end.
  • the Hall sensor 4-2 is triggered and transmits the signal to the control module. 2.
  • the power driving device moves to change the direction of water spray, and then change the walking direction of the cleaning machine.
  • the working process of the resistance plate 11-1 is the same as the working process of the resistance plate 11-2, thereby changing the walking direction of the cleaning machine.
  • the triggering device 6 can also be integrally or partially made of an elastic material and fixedly installed on the cleaning machine body. It is not necessary to provide a spring on the triggering device 6 alone, and the above-mentioned actions can also be completed.
  • the cleaning device is in a swimming pool
  • the triggering device 6 When moving forward, under the action of the resistance of water, the triggering device 6 generates elastic deformation in the direction opposite to the movement direction.
  • the resistance of the water is the same as the elastic force generated by the elastic deformation of the triggering device 6, the triggering device 6 maintains a static balance.
  • the triggering device 6 returns to the initial position under the action of the elastic restoring force, triggers the action of the sensor detection module, transmits the detection signal to the control module, and the control module controls the power driving device Action to realize the reversing of the cleaning machine, and vice versa, so as to realize the back and forth movement of the cleaning machine.
  • the working process of this embodiment put into the water, start the cleaning machine, spray water to push the cleaning machine forward, the trigger device falls backward or the trigger device on the front side moves backward under the resistance of water, the Hall sensor and the trigger device When the magnet is disengaged, the Hall sensor is turned off; the cleaner touches the wall, and the trigger device is reset.
  • the magnet carried on it returns to the vicinity of the Hall sensor, and the Hall sensor senses the magnetic field signal to turn on; the cleaner sprays water in the opposite direction to push the cleaner toward Walking in the opposite direction, the trigger device is reversed to the forward direction or the trigger device on the forward side moves in the opposite direction under the action of water resistance, and the Hall sensor is turned off again; the cleaning machine leaves the pool wall and heads to the opposite pool
  • the wall is advanced, and the above-mentioned reversing process is repeated after touching the wall, thereby realizing the back and forth movement of the cleaning machine.
  • the structure of the triggering device is the same as that of the first, second, and third embodiments except that it does not have a magnetic part, and the triggering part of the triggering unit is an optical path component.
  • the light path component is a reflective plate or a light shielding plate. It is determined according to the type of the selected photoelectric sensor.
  • the light path component can be integrated with the trigger device or can be set on the trigger device separately.
  • the working process and embodiment 1 The working process of the second embodiment is the same as that of the third embodiment, except that the photoelectric sensor senses light signals. According to the working processes of the first, second and third embodiments, the triggering device drives the optical path components to work together.
  • the optical signal of the position where the photoelectric sensor and the optical path component cooperates changes accordingly.
  • the photoelectric sensor converts the change of the optical signal into a change of the electric signal, and further transmits the change to the control module 2.
  • the control module 2 controls the driving device to work, and then controls the cleaning machine. Action, thereby changing the walking direction of the cleaning machine, the working process and the first embodiment, Working Example II and Example III The same procedure, not described in detail herein.
  • control module is provided in the seal portion of the cleaning machine body.
  • the sensor detection module and the control module are electrically connected through a wire or the like, and the working principle is the same, which is not described here in detail.
  • the cleaners used in the detailed description of the three embodiments of the present invention described above are water-jet propelled cleaners.
  • the cleaners propelled by other methods can also be the same as or similar to the present invention.
  • the structure realizes the touch wall detection function. Because it works in the same way, it will not be described here.
  • the swimming pool cleaner has a more compact structure, and has a wall contact detection device, which can automatically detect when the cleaner touches the wall or contacts other obstacles, making the cleaner It can change direction automatically when it touches the wall. It has a simple and compact structure, flexible action, and can clean the swimming pool autonomously and efficiently.
  • the swimming pool cleaner has a wall contact detection device that can detect wall contact when the cleaner is cleaning. And automatically change the walking direction.
  • the touch wall detection device uses sensors to detect, and the working state of the motor of the cleaning machine is controlled by the control module, and then the walking direction of the cleaning machine is changed, so that the cleaning machine can accurately detect when the cleaning machine is washing in the swimming pool.
  • the wall contact detection device selects Hall sensors. And equipped with magnetic sensors used in conjunction with Hall sensors
  • the triggering device of the sexual department, or the wall-contacting detection device selects a photoelectric sensor, and a triggering device with a light path component used in conjunction with the photoelectric sensor is provided, so that the wall-contacting detection device can quickly detect the wall-contacting action of the cleaner , Simple structure, quick and accurate response, flexible action, meet the needs of use.

Abstract

泳池清洁机的触壁检测装置，设于清洁机主功能部上，清洁机主功能部包括清洁机本体（1）以及与清洁机本体（1）连接的控制模块（2）和动力驱动装置，泳池清洁机的触壁检测装置包括传感器触壁检测装置，传感器触壁检测装置包括触发单元和传感器检测模块（4），触发单元与清洁机本体（1）连接，传感器检测模块（4）与控制模块（2）电连接，控制模块（2）与动力驱动装置电连接，触发单元与传感器检测模块（4）相配合，触发传感器检测模块（4），产生检测信号。该装置能够自动对清洁机触壁时进行检测，并控制清洁机进行自动换向。

Description

泳池清洁机的触壁检测装置 技术领域
本发明属于泳池清洁设备技术领域，尤其是涉及了泳池清洁机的触壁检测装置。
背景技术
游泳池是人们从事游泳运动的场地，人们可以在里面健身或进行比赛。多数游泳池建在地面，根据水温可分为一般游泳池和温水游泳池，而国外则私家泳池居多，国内则公共泳池居多。无论哪种泳池在使用中都会出现很多垃圾，因此泳池需要定期进行清洁处理，现有的泳池常采用泳池清洁机进行泳池的清洁，而用于清洁泳池的自动清洁机的折返控制一般采用时间控制，泳池清洁机不能识别是否触壁或遇到障碍而返回或转向，清洁机在触壁或遇到其它障碍的情况时必须等到设定的时间周期结束才能反向，因此当清洁机触壁时或遇到其它阻碍时，清洁机往往会顶住墙壁或障碍停止运动很长时间才能反向运动清扫其它的地方，效率损失较多。
发明内容
鉴于上述问题，本发明要解决的问题是提供了泳池清洁机的触壁检测装置，尤其适合泳池清洁整理，采用传感器进行清洁机触壁检测，使得清洁机能够自动进行换向，使用时简单方便，工作效率高。
为解决上述技术问题，本发明采用的技术方案是：泳池清洁机的触壁检测装置，泳池清洁机的触壁检测装置设于清洁机主功能部，清洁机主功能部包括清洁机本体以及与清洁机本体连接的控制模块和动力驱动装置，泳池清洁机的触壁检测装置还包括传感器触壁检测装置，传感器触壁检测 装置包括触发单元和传感器检测模块，触发单元与清洁机本体连接，传感器检测模块与控制模块电连接，控制模块与动力驱动装置电连接，触发单元与传感器检测模块相配合，触发传感器检测模块，产生检测信号。
进一步的，触发单元包括具有触发部的触发装置，具有触发部的触发装置与清洁机本体连接，触发部相对于清洁机本体做相对运动，传感器检测模块的位置与触发部的远动轨迹的特征点的位置相配合，优选的，触发部相对于清洁机本体做往复运动，优选的，触发部的远动轨迹的特征点的位置包括其运动轨迹的初始位置和折返点的位置，优选的，传感器检测模块的位置与触发部的远动轨迹的初始位置或折返点的位置相配合，优选的，传感器检测模块的数量至少为一个。
进一步的，触发部为磁性部，磁性部为可产生磁场的物质或装置，优选的，磁性部为磁铁。
进一步的，传感器检测模块为霍尔传感器。
进一步的，触发部为光路组件，光路组件为反光板或遮光板。
进一步的，传感器检测模块为光电传感器。
进一步的，触发装置的数量至少为一个，触发装置上设有浮力舱或触发装置整体或部分由浮力材料一体制成，优选的，浮力舱内设有浮力材料或密闭的空气。
进一步的，触发装置的数量至少为一个，触发装置上设有重块或触发装置整体或部分由重力材料一体制成。
进一步的，触发装置的数量至少为一个，触发装置上设有弹性件或触发装置整体或部分为弹性材料一体制成，优选的，弹性件为弹簧。
进一步的，触发装置包括至少一个阻力板。
本发明具有的优点和积极效果是：
1.由于采用上述技术方案，使得泳池清洁机结构更加紧凑，且具有触壁检测装置，能够自动对清洁机触壁或接触其它障碍物时进行检测，并控制清洁机进行自动换向，使得清洁机在触壁时能够自动进行换向，结构简单紧凑，动作灵活，能够自主、高效地对泳池进行清洁；
2.该泳池清洁机具有触壁检测装置，能够在清洁机进行清洁作业时对触壁动作进行检测，并自动改变行走方向，该触壁检测装置采用传感器进行检测，然后通过控制模块控制清洁机的电机的运转状态，例如正向旋转、停止或反向旋转等，进而改变清洁机的行走方向，使得清洁机在泳池进行清洗时，能够精确检测是否触壁，并进行换向，使得清洁机工作灵活，避免了时间控制造成的效率损失，尤其对于由电池提供动力的泳池清洁机具有很高的实用价值；
3.触壁检测装置选择霍尔传感器，并设置有与霍尔传感器相配合使用的具有磁性部的触发装置，使得该种触壁检测装置能够快速的检测到清洁机触壁动作，结构简单，反应迅速、准确，动作灵活，满足使用需求；
4.触壁检测装置选择光电传感器，并设置有与光电传感器相配合使用的具有光路组件的触发装置，使得该种触壁检测装置能够快速的检测到清洁机触壁动作，结构简单，反应迅速、准确，动作灵活，满足使用需求。
附图说明
图1是本发明的实施例一的结构示意图；
图2是本发明的实施例一的局部剖面结构示意图；
图3是图2的A部放大图；
图4是本发明的实施例二的局部剖面结构示意图；
图5是图4的B部放大图；
图6是本发明的实施例三的结构示意图；
图7是图6的C部的放大图；
图8是本发明的两个霍尔传感器时的结构示意图；
图9是本发明的三个霍尔传感器时的结构示意图；
图10是本发明的实施例三的具有两个阻力板和一个连杆的结构示意图；
图11是本发明的实施例三的具有两个阻力板与两个连杆的结构示意图；
图12是图11的俯视图；
图13是本发明的实施例三的具有两个阻力板和两个连杆的另一种结构的示意图；
图14是图13的俯视图。
图中：
1、清洁机本体       2、控制模块      3、磁铁
4、传感器检测模块   5、转动轴        6、触发装置
7、浮力舱           8、重块          9、弹性件
10、电路板          11、阻力板       12、连杆
3-1、磁铁           3-2、磁铁        4-1、霍尔传感器
4-2霍尔传感器       4-3、霍尔传感器  9-1、弹性件
9-2、弹性件         11-1、阻力板      11-2、阻力板
12-1、连杆          12-2、连杆        13-1、导柱
13-2、导柱          14-1、滑道        14-2、滑道
15-1、支撑架        15-2、支撑架      16、安装轴套
具体实施方式
下面结合附图和具体实施例对本发明做进一步的说明。
图1至图14示出了本发明的多个实施例的结构示意图，具体示出了各实施例的结构，本发明涉及的泳池清洁机的触壁检测装置，用于泳池清洁机在进行泳池清洁时，采用传感器触壁检测装置进行清洁机触壁动作检测，当清洁机在泳池行走清洁时接触泳池的池壁，进行触壁检测，传感器触壁检测装置将触壁信号传递给控制模块，控制模块控制动力驱动装置动作，清洁机进行换向，继续清洁。传感器触壁检测装置具有用于检测清洁机触壁或接触其他障碍物时的信号的传感器检测模块，该传感器检测模块用于对触壁信号的检测传递，该传感器检测模块为磁场传感器或者光电传感器，检测触壁时的磁场信号或光信号，以此判断泳池清洁机是否触壁。
实施例一
图1、图2和图3示出了本发明的一实施例的结构示意图，具体示出了本实施例的结构，本实施例涉及泳池清洁机的触壁检测装置，在本实施例中，该泳池清洁机的触壁检测装置采用传感器触壁检测装置进行触壁检测，使得该清洁机在进行泳池清洁时，与泳池壁接触时，能够进行快速判断清洁机是否触壁，传感器触壁检测装置将触壁信号传递给控制模块2，控制模 块2根据触壁信号控制清洁机的动力驱动装置动作，使得清洁机进行换向，使得清洁机往复行走，以完成清洁机对泳池的清洁整理，该传感器检测模块为磁场传感器，检测触壁时的磁场信号，以此判断泳池清洁机是否触壁。
具体的，上述的泳池清洁机的触壁检测装置包括清洁机主功能部和与主功能部连接的传感器触壁检测装置，该清洁机主功能部包括清洁机本体1以及与清洁机本体1连接的控制模块2和动力驱动装置，控制模块2与动力驱动装置电连接，传感器触壁检测装置与控制模块2电连接，传感器触壁检测装置将触壁信号传递给控制模块2，控制模块2对该触壁信号进行分析判断，并控制动力驱动装置动作，以此改变清洁机的行走方向，进行变向。控制模块2与动力驱动装置可以固定安装在清洁机本体1的内部，也可以通过线缆、水管等与清洁机本体1连接，设置在清洁机本体1外部，根据实际需求进行选择，不做具体要求。
动力驱动装置用于驱动清洁机本体1行走，通过改变动力驱动装置的动作可以改变清洁机的运动方向，并使得清洁机沿着确定的方向行走，以使得清洁机不需人工控制进行换向，能够自动进行换向。
根据泳池清洁机的工作原理，进一步优化方案，在清洁机本体1上设置有至少一个密封部，便于对电子元器件或电机等需要防水的零部件进行密封。当控制模块2安装在清洁机本体1内部时，控制模块2同时也安装在密封部，将控制模块2密封于密封部内，防止控制模块2遇水损坏。上述的控制模块2为单片机，且单片机为市售产品，根据实际需求进行选择。该控制模块2中预设有编辑好的程序，对传感器触壁检测装置检测到的触壁信号进行转化分析，判断清洁机是否触壁，并根据分析结果，控制动力驱动 装置动作，改变清洁机的行走方向。这里动力驱动装置为电机及叶轮组件，优选地，设于清洁机本体1内部，电机驱动叶轮使得清洁机进行喷水，进而改变清洁机的运动方向。
如图3所示，上述的传感器触壁检测装置包括触发单元和传感器检测模块4，触发单元与清洁机本体1连接，传感器检测模块4与控制模块2电连接，即传感器触壁检测装置通过传感器检测模块4与控制模块2电连接，当泳池清洁机触壁时，触发单元触发传感器检测模块4动作，传感器检测模块4将触壁信号传递给控制模块2，经过控制模块2对触壁信号的分析，控制动力驱动装置改变喷水方向，进而改变泳池清洁机的行走方向，进行换向。具体的，上述的触发单元包括具有触发部的触发装置6，泳池清洁机因触壁或遇其他障碍而停止运动时，触发装置6上的触发部与传感器检测模块4的位置相对应，触发传感器检测模块4动作，实现将触壁信号传递给控制模块2。这里，触发部可以是磁性部，也可以是光路组件，还可以是其他类型的信号组件，根据传感器检测模块的类型决定，在本实施例中，该触发部优选为磁性部，该磁性部是可以产生磁场的物质或装置，其可以是触发装置上与触发装置一体成型并经过磁化处理的一块局部区域，也可以是安装在触发装置6上的独立的具有磁性的物质或装置，优选的，在本实施例中，磁性部为安装在触发装置6上的磁铁3。
传感器检测模块4与控制模块2电连接，传感器检测模块4可以单独安装在清洁机本体1上，单独进行密封，如安装在清洁机本体1的壳体上；也可以安装在清洁机本体1的内部，优选的，控制模块2设置于清洁机本体1的内部，传感器检测模块4设置于控制模块2所在的电路板10上，并将控 制模块2和传感器检测模块4共同进行密封。在本实施例中，采用上述优选方式，传感器检测模块4安装在控制模块2所在的电路板10上，处于清洁机本体1的同一密封部内，便于密封及触壁检测信号的传递。
触发装置6安装在清洁机本体1上，可以安装在清洁机本体1的内部，也可以安装在清洁机本体1的外部，根据实际需求进行选择，这里不做具体限定。当触发装置6安装在清洁机本体1的内部时，在清洁机本体1上设置前后两个对应的通孔，使得触发装置6在水的阻力作用下进行摆动或前后移动。在本实施例中，触发装置6安装在清洁机本体1的外部，触发装置6可以通过转动轴或滑道等多种方式安装在清洁机本体1上，根据实际需求进行选择，在本实施例中，触发装置6通过转动轴安装在清洁机本体1上。
转动轴5对称安装在清洁机本体1的壳体的两侧，触发装置6通过转动轴5安装在清洁机本体1的壳体上，使得触发装置6能够沿着转动轴5的中心线转动，在清洁机本体1上进行前后摆动；在清洁机本体1的壳体的两侧对称设有转动轴5的安装轴套16，转动轴5安装在安装轴套16内，且安装轴套16的形状与转动轴5的形状相适应，同时，转动轴5的直径小于安装轴套16的内径，使得转动轴5安装后，转动轴5与安装轴套16之间具有一定的间隙，便于触发装置6的安装与自由摆动。
这里触发装置6包括板状结构的阻力板11和摆臂，阻力板11与摆臂通过焊接、机械连接等方式进行连接，或者阻力板11与摆臂一体制成。
在阻力板11的一端的两侧设置有摆臂，阻力板11通过两侧的摆臂与转动轴5连接，在清洁机本体1的壳体的两侧对称设有安装轴套16，摆臂通过转动轴5与安装轴套16连接，使得阻力板11通过转动轴5与清洁机本体 1的壳体连接，且阻力板11能够自由摆动。转动轴5与摆臂也可以一体成型，转动轴5安装在安装轴套16上，使得阻力板11通过摆臂直接安装在清洁机本体1的壳体上。也就是，整个触发装置6通过转动轴5安装在清洁机本体1的壳体上，能够在清洁机本体1上进行前后摆动；阻力板11与转动轴5的连接方式也可以是其他连接方式，根据实际需求进行选择。
在触发装置6上设有浮力舱7，便于触发装置6利用浮力恢复原位，在本实施例中，优选的，浮力舱7设置在阻力板11上，浮力舱7内放置的物质可以是密闭的空气，也可以是密度小于泳池水的浮力材料，保证清洁机在泳池中静止时，阻力板11由于浮力舱7的存在能够恢复至初始位置，本实施例中的初始位置是恢复至竖直状态。浮力舱7设置在阻力板11上，与阻力板11一体成型，摆臂与阻力板11一体成型，浮力舱7、摆臂与阻力板11也可以其他方式进行连接或相对位置变换，根据实际需求进行选择；或者，触发装置6的非磁性部分的整体结构是由密度小于泳池水的浮力材料一体制作而成，不必再单独设置浮力舱，也可以是，触发装置的非磁性部分的部分结构由密度小于泳池池水的浮力材料一体制作而成，还可以是，包含触发部的触发装置由磁性材料和密度小于泳池水的浮力材料组成的复合材料一体制作而成，上述设计使得触发装置能够在泳池中利用浮力进行复位，不必单独设置浮力舱，进一步简化了触发装置的结构，且达到相同的效果。
此外，由于阻力板11的面积、阻力板11外表面的粗糙度或结构、浮力舱7的浮力以及清洁机在泳池行走的速度都与清洁机在泳池行走时阻力板11摆动的角度有关，因此阻力板11的面积、阻力板11外表面的粗糙度或 结构、浮力舱7的浮力以及清洁机在泳池行走的速度是相配合的，保证清洁机在泳池中以一定速度行走时，阻力板11在水的阻力与浮力舱7的浮力的共同作用下，保持一定的摆角，也就是说，当清洁机在泳池进行行走清洁时，阻力板11在水的阻力作用下向行走方向相反的方向摆动，并保持一定角度平衡不动，保证清洁机维持在泳池的运动和清洁工作。这里，触发装置6的主材质为塑料，还可以是其他材质，根据实际需求进行选择。
在阻力板11两侧的摆臂的其中一个摆臂上，设置有触发部，这里触发部优选为磁性部，该磁性部为可产生磁场的物质或装置，在本实施例中，优选的，磁性部为磁铁3，且磁铁3的位置与传感器检测模块4的位置相配合，也就是，当阻力板11保持初始状态时，也就是竖直状态时，磁铁3与传感器检测模块4正好在同一直线上，且两者位置相对应。
传感器检测模块4为传感器，这里为磁场传感器，优选为霍尔传感器，霍尔传感器与磁铁配合使用，根据霍尔传感器的工作原理，使得霍尔传感器能够将触壁时的信号传递给控制模块2，其中，霍尔传感器为市售产品，根据实际需求进行选择即可。
[根据细则91更正 08.10.2019]　
在本实施例中，传感器检测模块的数量至少为一个，也可以是多个，根据实际需求和触壁检测信号的传递方式进行选择。同时，传感器检测模块的位置与触发部在触发装置处于不同状态时所处的位置相配合，触发部相对于清洁机本体做相对运动，在这里，优选的，触发部相对于清洁机本体做往复运动，传感器检测模块的位置与触发部的运动轨迹的特征点的位置相配合，触发部的运动轨迹的特征点的位置包括其运动轨迹的初始位置和折返点的位置，优选的，传感器检测模块的位置与触发部的运动轨迹的 初始位置或折返点的位置相配合。
具体地，当霍尔传感器的数量为一个时，霍尔传感器的位置与当触发装置6保持初始状态时磁铁的位置相对应，在本实施例中，触发装置6的初始状态为竖直状态，此状态时磁铁3的位置即为磁铁3的初始位置；当清洁机在泳池行走清洁时，触发装置6在水的阻力的作用下倒向清洁机运动方向的相反方向，并保持平衡，即触发装置6与竖直方向保持一定摆角不动，也就是说，触发装置6带动磁铁3一起运动至折返点并在水的阻力作用下保持平衡状态，清洁机行走至泳池池壁处时，清洁机继续运动至与泳池池壁接触，清洁机的速度为零，水的阻力减小至零，触发装置6在浮力舱7的作用下恢复至竖直状态，此时，磁铁与霍尔传感器位置相对应，根据霍尔传感器的工作原理，霍尔传感器打开，将信号传递给控制模块2，控制模块2根据此信号控制清洁机本体1内部的电机动作，改变清洁机的喷水方向，进而改变清洁机的行走方向；随后，触发装置6在水的阻力作用下倒向另一侧，并与竖直方向保持一定摆角不动，即触发装置6带动磁铁3一起运动至另一侧折返点并在水的阻力作用下保持平衡状态，当清洁机再次触壁时，重复上述过程，从而实现清洁机对泳池的清洗。在此过程中，触发装置6伴随清洁机本体1在泳池中的运行状态，进行前后摆动，磁铁3伴随整个触发装置一起，在其运动轨迹的两个折返点之间、并经过其初始位置，进行前后往复运动，从而实现清洁机运行过程中的触壁检测识别，并产生检测信号，即触发装置6伴随着清洁机本体1在泳池中的运行状态，进行前后摆动，触发部伴随整个触发装置一起，在其运动轨迹的两个折返点之间，并经过初始位置，进行前后往复运动。
当霍尔传感器的数量为两个时，如图8所示，并结合图2和图3，即霍尔传感器4-1与霍尔传感器4-2对称安装在控制模块2所在的电路板10上，且霍尔传感器4-1与霍尔传感器4-2的位置与当触发装置6运动至最远端时磁铁的位置(即折返点)相对应，这里是，霍尔传感器4-1与霍尔传感器4-2的位置与当触发装置6摆动至竖直位置两侧的最大摆角时磁铁的位置(即折返点)相对应；也就是，此时，霍尔传感器4-1与霍尔传感器4-2的信号与霍尔传感器的数量是一个时的信号代表的意义不同，当清洁机在泳池行走时，触发装置6在水的阻力的作用下，向运动方向相反的方向摆动，当触发装置6保持一定的摆角平衡时，此时，在控制模块2所在的电路板10上与触发装置6上的磁铁位置相对应的位置安装有霍尔传感器4-1，根据霍尔传感器的工作原理，霍尔传感器4-1打开，霍尔传感器4-1将此时的信号传递给控制模块2，控制模块2对该信号进行分析，确认清洁机处于未触壁的状态，清洁机本体1内部的控制器不动作，动力驱动装置维持原状态，清洁机继续行走，霍尔传感器4-1保持一直打开的状态；当清洁机行走至泳池池壁处时，清洁机与泳池池壁接触，此时，清洁机的行走速度为零，触发装置6在浮力舱7的作用下，恢复至竖直状态，此时，霍尔传感器4-1与磁铁相对分离，霍尔传感器4-1产生关闭信号，控制模块2根据此关闭信号，控制清洁机本体1内部的动力驱动装置动作，清洁机改变喷水方向，进而清洁机改变行走方向；改变行走方向的清洁机，触发装置6向另一侧摆动，当触发装置6保持一定的摆角平衡时，此时，在控制模块2所在的电路板10上与该触发装置6上磁铁相对应的位置安装有霍尔传感器4-2，根据霍尔传感器的工作原理，霍尔传感器4-2打开，控制模块2根据霍尔传感器4-2 传递的信号进行分析，清洁机本体1内部的控制器不动作，动力驱动装置维持原状态，清洁机保持该行走方向行走，当清洁机再次与泳池池壁接触时，清洁机行走速度为零，触发装置6在浮力舱7的作用下，恢复至竖直状态，霍尔传感器4-2关闭，控制模块2控制动力驱动装置动作，改变清洁机喷水方向，进而改变清洁机行走方向，从而实现清洁机的往返运动。这里，霍尔传感器4-1与霍尔传感器4-2均安装在控制模块2所在的电路板10上，且沿着触发装置6竖直状态时对称设置，保证清洁机自动换向。
当霍尔传感器的数量为三个时，如图9所示，并结合图2、图3和图8，两侧的两个霍尔传感器与霍尔传感器的数量为两个时相同，不同之处是在阻力板保持竖直状态时，在控制模块2所在的电路板10上与此时触发装置6上的磁铁相对应的位置安装有霍尔传感器4-3，当触发装置6处于竖直状态时，磁铁与霍尔传感器4-3位置相对应，此时霍尔传感器4-3打开，霍尔传感器4-3将信号传递给控制模块2，控制模块2根据此时霍尔传感器4-3的信号，控制动力驱动装置动作，改变清洁机的喷水方向，进而改变清洁机的行走方向。两侧的霍尔传感器4-1与霍尔传感器4-2沿着中间的霍尔传感器4-3对称设置。
也就是说，当霍尔传感器的数量为两个时，控制模块2根据两个霍尔传感器的关闭信号进行方向改变，在触发装置6摆动到两端位置处分别设置一个霍尔传感器，而在中间位置不设置霍尔传感器，这样霍尔传感器在打开状态时即认为清洁机在向某一个方向运动，否则，则认为清洁机触壁；当霍尔传感器的数量为三个时，控制模块2根据中间位置的霍尔传感器的打开的信号，控制模块2控制动力驱动装置动作改变清洁机的行走方向， 一共三个霍尔传感器用于确定清洁机的状态，当清洁机两端的霍尔传感器有打开信号时可以确定清洁机在向某一个方向运动，而中间的霍尔传感器有打开信号时则认为清洁机触壁。
也可以利用多个霍尔传感器的组合信号确定清洁机的运行状态，例如，当中间和某一侧的霍尔传感器有先后的打开信号时，则可以确定清洁机在向某一方向运动，在这种情况下，两侧的霍尔传感器则不必与触发装置6上磁铁运动轨迹的折返点的位置相对应，例如把霍尔传感器设置在磁铁运动轨迹的初始位置与折返点位置之间的某个对应位置，当触发装置6带动磁铁划过该霍尔传感器时产生打开信号即可。设置较多的霍尔传感器可以获得更多的清洁机运行状态信息，利用这些信息可以提高判断的可靠性或进行更多的运行控制。
本实施例中霍尔传感器为一个时的工作过程：放入水中，清洁机启动，喷水推动清洁机前进，触发装置6向后倒，霍尔传感器与触发装置6上的磁铁脱开，霍尔传感器关闭；清洁机触壁，触发装置6复位，其上携带的磁铁回到霍尔传感器附近，霍尔传感器感应到磁场信号打开；清洁机反向喷水推动清洁机向反方向行走，触发装置6倒向前进方向的反方向，霍尔传感器再次关闭；清洁机离开池壁，向对侧池壁前进，触壁后重复上述的换向过程，从而实现清洁机的往返运动。
实施例二
在本实施例中，泳池清洁机的触壁检测装置在结构上与实施例一的结构相似，如图4和5所示，不同之处是，在实施例一中，触发装置6具有浮力舱7，根据浮力进行复位，恢复初始状态，而在本实施例中，触发装置6 的结构与实施例一中的结构不同，根据重力复位。在本实施例中，触发装置6上安装有密度大于泳池水的重块，以实现重力复位，触发装置6包括至少一个板状的阻力板11和摆臂，阻力板11与摆臂连接，摆臂与转动轴5连接，使得触发装置6安装在清洁机本体1上，且阻力板11可位于转动轴5的上部或下部，根据实际需求进行选择，在本实施例中，阻力板11位于转动轴5的下部；重块位于转动轴5的下部，可以安装在阻力板11的上部或下部，或者重块安装在摆臂上，根据实际需求进行选择，在这里，优选的，在阻力板11的下部安装有重块8。该阻力板11的大小及表面结构和重块8的重量与清洁机的行走速度相配合，使得触发装置6在清洁机行走时，在水的阻力的作用下，向行走方向的相反的一侧摆动，当清洁机行走至泳池池壁处，与泳池池壁接触时，清洁机行走速度为零，触发装置6在重力的作用下，恢复至初始状态，此时，霍尔传感器与磁铁的位置相对应，霍尔传感器在磁铁的作用下打开，将触壁信号传递给控制模块2，控制模块2控制动力驱动装置动作，改变清洁机的行走方向。
此外，触发装置6也可以整体或部分由密度大于泳池水的重力材料一体制作而成，可以不用再单独在触发装置6上设置重块，也可以完成上述动作。
本实施例的工作过程：放入水中，清洁机启动，喷水推动清洁机前进，触发装置6向后倒，霍尔传感器与触发装置6上的磁铁脱开，霍尔传感器关闭；清洁机触壁，触发装置6在重力作用下复位，其上携带的磁铁回到霍尔传感器附近，霍尔传感器感应到磁场信号打开；清洁机反向喷水推动清洁机向反方向行走，触发装置6倒向前进方向的反方向，霍尔传感器再次 关闭；清洁机离开池壁，向对侧池壁前进，触壁后重复上述的换向过程，从而实现清洁机的往返运动。
实施例三
在本实施例中，泳池清洁机的触壁检测装置在结构上与实施例一和实施例二中的结构相似，与实施例一和实施例二相比，如图6和7所示，不同之处是，本实施例中，触发装置6的复位方式为弹簧复位。
在本实施例中，其中一个技术方案中的结构为触发装置6中的阻力板11的数量为一个，且阻力板11位于转动轴5的一侧，如转动轴水平设置时，阻力板11可位于转动轴5的上侧或下侧，转动轴竖直设置时，阻力板11可位于转动轴5的左侧或右侧等，根据实际需求进行选择。本实施例中的实施方案中，转动轴5水平设置，阻力板11位于转动轴5的下部，阻力板11位于摆臂的外侧，阻力板11的大小及表面结构和弹簧的弹力与清洁机的行走速度相配合。摆臂与清洁机本体1的壳体之间安装有弹性件9，这里，弹性件9为扭力弹簧，弹性件9的一端与摆臂固定安装，另一端与清洁机本体1固定安装，使得阻力板11在扭力弹簧的作用下能够恢复至初始状态。
触发装置6的数量也可以是多个，或者阻力板11的数量也可以是多个，弹性件的类型、形状及安装方式也可以是其它形式。当阻力板11的数量为两个时，如图10所示，触发装置6具有两个阻力板，阻力板11-1与阻力板11-2对称安装在清洁机本体1的两侧，阻力板11-1与阻力板11-2的一端均通过转动轴安装在清洁机本体1上，在阻力板11-1与阻力板11-2分别与清洁机本体1的壳体之间安装有弹性件9-1和弹性件9-2，弹性件9-1的一端与阻力板11-1连接，弹性件9-1的另一端与清洁机本体1连接，弹性件9-2同 理安装。这里弹性件9-1与弹性件9-2均为弹簧，优选为扭力弹簧，阻力板11-1与阻力板11-2的另一端通过连杆12进行连接，使得连杆12在阻力板11-1与阻力板11-2的摆动作用下进行前后移动，在连杆12的中间位置安装有磁铁3，且磁铁3的位置与传感器检测模块4的位置相对应。该结构与上述的当阻力板的数量为一个时的工作原理相同，本结构的清洁机工作过程为：当清洁机在泳池中行走进行清洁整理时，清洁机行走方向前侧的阻力板11-2在水的阻力作用下，向与清洁机行走方向相反的方向摆动，压迫该侧的弹性件9-2，也就是压迫该侧的扭力弹簧，带动连杆12和阻力板11-1向相反的方向移动，当作用在阻力板11-2上的水的阻力产生的转矩与弹性件9-2的弹力产生的转矩相同时，阻力板11-2处于平衡状态，连杆12处于平衡状态，即整个触发装置6处于平衡状态，磁铁3离开中间位置(与磁铁3运动轨迹的初始位置相对应)的传感器检测模块4或与两侧的其中一个传感器检测模块位置(与磁铁3运动轨迹的折返点位置相对应)相对应，控制模块2不动作，动力驱动装置维持原状，清洁机继续行走；当清洁机与泳池池壁接触的时候，清洁机的行走速度为零，水的阻力为零，阻力板11-2在弹性件9-2的作用下恢复至原位置，带动连杆12和阻力板11-1都恢复至原位置，此时，传感器检测模块4向控制模块传递信号，控制模块2控制动力驱动装置动作，改变喷水方向，进而改变清洁机的行走方向。反之，亦然，阻力板11-1的工作过程与阻力板11-2的工作过程相同，以此实现清洁机的自动换向。
对上述的结构进一步优化，如图11和12所示，具有两套独立的具有磁性部的触发装置及对应的传感器检测模块，两套触发装置分别包括阻力板 11-1与阻力板11-2，阻力板11-1与阻力板11-2通过转动轴对称安装在清洁机本体1的两侧，可前后摆动，在阻力板11-1的另一端通过滑槽安装有一连杆12-1，在阻力板11-2的另一端通过滑槽安装有连杆12-2，连杆12-1与连杆12-2分别通过支撑架15-1和支撑架15-2安装在清洁机本体1的侧壁上，且连杆12-1与连杆12-2位于清洁机本体1的两侧，连杆12-1与连杆12-2能够分别在支撑架15-1和支撑架15-2上进行来回的往复运动，连杆12-1与连杆12-2在支撑架上的部位均安装有弹性件，这里弹性件优选为压缩弹簧。这里每个支撑架具有两个支架，支架上设有通孔，并固定安装在清洁机本体1两侧的侧壁上，连杆12-1与连杆12-2远离与阻力板连接的一端分别经过通孔穿过支撑架15-1和支撑架15-2，并延伸出支撑架，在连杆12-1与连杆12-2的该端部分别安装有磁铁3-1和磁铁3-2，相配合地，在中间对应的初始位置安装有霍尔传感器4-1和霍尔传感器4-2，在支撑架与连杆之间，在连杆12-1与连杆12-2上分别安装有弹性件9-1和弹性件9-2，通过阻力板的摆动带动连杆的来回移动，对弹性件进行压缩，并在弹性件的弹力作用下恢复至原位置，以此实现传感器检测模块信号的改变，也就是霍尔传感器4-1和霍尔传感器4-2的信号的分别改变，进而控制动力驱动装置动作，改变清洁机的行走方向。这里弹性件9-1与弹性件9-2均为压缩弹簧。该结构的清洁机的工作过程为：清洁机在泳池行走，在清洁机行走方向前侧的阻力板11-2在水的阻力作用下向相反方向摆动，带动连杆12-2向相反方向移动，压缩弹性件9-2，磁铁3-2远离中间位置(与磁铁3-2运动轨迹的初始位置相对应)的传感器检测模块(霍尔传感器4-2)或者靠近远端(与磁铁3-2运动轨迹的折返点位置相对应)的传感器检测模块，当水的阻力产生 的转矩与弹性件9-2的弹力产生的转矩相同时，阻力板11-2保持平衡状态，磁铁3-2远离中间位置的传感器检测模块或与远端的传感器检测模块位置相对应，此时，控制模块2不动作，动力驱动装置维持原状，清洁机继续行走；当清洁机与泳池池壁接触时，清洁机的行走速度为零，水的阻力为零，连杆12-2在弹性件9-2的弹力作用下，恢复至原位置，进而阻力板11-2恢复至原位置，带动磁铁3-2恢复至中间位置，霍尔传感器4-2将信号传递给控制模块2，动力驱动装置动作，改变喷水方向，进而改变清洁机的行走方向。反之，亦然，阻力板11-1的工作过程与阻力板11-2的工作过程相同，由此实现清洁机的行走方向的改变。
本实施例中的触发装置是通过阻力板的摆动来实现的整个触发装置6的往复动作，也可以不设置转动轴，设置阻力板为接近于竖直的状态(即阻力板前表面的法线与清洁机的前进方向一致)，并通过滑道与清洁机本体1的壳体相连接，这样阻力板同样可以推动磁性部在初始位置与折返点之间的往复运动，从而实现与上述相同的功能。
如图13和14所示，在清洁机本体1的两侧安装有滑道14-1和滑道14-2，同时在清洁机本体1的两侧分别安装有支撑架15-1和支撑架15-2，在滑道14-1上安装有导柱13-1，在滑道14-2上安装有导柱13-2，同时，在对称的两个支撑架15-1和支撑架15-2上分别安装有连杆12-1和连杆12-2，在导柱13-1远离滑道的一端和连杆12-1远离支撑架15-1的一端安装有阻力板11-1，在导柱13-2远离滑道的一端和连杆12-2远离支撑架15-2的一端安装有阻力板11-2，在连杆12-1上，连杆12-1与支撑架之间的部位安装有弹簧9-1，在连杆12-1延伸出支撑架15-1的两个带有通孔的支架的一端安装有磁铁3-1， 在连杆12-2上，连杆12-2与支撑架之间的部位安装有弹簧9-2，在连杆12-2延伸出支撑架15-2的两个带有通孔的支架的一端安装有磁铁3-2，使得连杆12-1和导柱13-1能够同时进行前后往复运动，连杆12-2和导柱13-2能够同时进行前后往复运动，以此实现阻力板11-1和阻力板11-2的前后往复运动。采用该结构的触发装置的工作过程为：当清洁机在泳池中运动时，阻力板11-2在水的阻力的作用下，向清洁机运动相反的方向移动，也就是向后运动，连杆12-2在支撑架的导向作用下向后移动，同时，导柱13-2在滑道14-2的导向作用下向后运动，连杆12-2和导柱13-2同时运动，压缩弹簧9-2，连杆12-2带动磁铁3-2向后运动，远离中间位置的传感器检测模块(霍尔传感器4-2)或者靠近远端的传感器检测模块，当弹簧9-2的弹力产生的抵抗力与作用在阻力板11-2上水的阻力产生的压力相同时，阻力板11-2保持平衡状态，磁铁3-2远离中间位置的传感器检测模块(霍尔传感器4-2)或与远端的传感器检测模块位置相对应，此时，控制模块2不动作，动力驱动装置维持原状，清洁机继续行走；当清洁机与泳池池壁接触时，清洁机的行走速度为零，水的阻力为零，连杆12-2和导柱13-2在弹簧9-2的弹力作用下，恢复至原位置，进而阻力板11-2恢复至原位置，带动磁铁3-2恢复至中间位置，霍尔传感器4-2被触发，并将信号传递给控制模块2，动力驱动装置动作，改变喷水方向，进而改变清洁机的行走方向。反之，亦然，阻力板11-1的工作过程与阻力板11-2的工作过程相同，由此实现清洁机的行走方向的改变。
这里仅描述了两种触发装置与清洁机本体1的连接方式，还可以是其他方式，根据实际应用进行选择，这里不做具体说明。
此外，触发装置6也可以整体或部分由弹性材料一体制作而成，固定安装在清洁机本体上，可以不用再单独在触发装置6上设置弹簧，也可以完成上述动作，当清洁机在泳池中向前运动时，在水的阻力作用下，触发装置6向运动方向相反的方向产生弹性形变，当水的阻力与触发装置6的弹性形变产生的弹性力大小相同时，触发装置6保持静平衡状态；当清洁机触壁时，水的阻力为零，触发装置6在弹性恢复力的作用下恢复至初始位置，触发传感器检测模块动作，将检测信号传递给控制模块，控制模块控制动力驱动装置动作，实现清洁机换向，反之，亦然，以此来实现清洁机的往返运动。
本实施例的工作过程：放入水中，清洁机启动，喷水推动清洁机前进，触发装置向后倒或在水的阻力作用下前侧的触发装置向后运动，霍尔传感器与触发装置上的磁铁脱开，霍尔传感器关闭；清洁机触壁，触发装置复位，其上携带的磁铁回到霍尔传感器附近，霍尔传感器感应到磁场信号打开；清洁机反向喷水推动清洁机向反方向行走，触发装置倒向前进方向的反方向或者该前进侧的触发装置在水的阻力的作用下向前进的反方向运动，霍尔传感器再次关闭；清洁机离开池壁，向对侧池壁前进，触壁后重复上述的换向过程，从而实现清洁机的往返运动。
当传感器检测模块为光电传感器时，在结构上，触发装置与实施例一、实施例二和实施例三的结构相同，不同之处是，不具有磁性部，触发单元的触发部为光路组件，这里光路组件为反光板或遮光板，根据所选择的光电传感器的类型决定，与磁性部一样，光路组件可与触发装置一体成型也可以单独设置在触发装置上，其工作过程与实施例一、实施例二和实施例 三的工作过程相同，不同之处是，光电传感器感应的是光信号，根据实施例一、实施例二和实施例三的工作过程，触发装置带动光路组件一起动作，在光电传感器与光路组件相配合的位置光信号相应发生改变，光电传感器将光信号的变化转换成电信号的变化，并进一步传递给控制模块2，控制模块2控制驱动装置工作，进而控制清洁机的动作，进而改变清洁机的行走方向，工作过程与实施例一、实施例二和实施例三的工作过程相同，这里不做具体说明。
上述的三个实施例对本发明的技术方案的具体实施方式做了进一步的说明，只是对于控制模块设置在清洁机本体内部密封部时的情况进行的说明，当控制模块处于清洁机本体的外部时，传感器检测模块与控制模块通过导线等进行电连接，工作原理相同，这里不做具体说明。
以上本发明的三个实施例进行的详细说明中所采用的清洁机为喷水推进方式的清洁机，采用其它方式推进(如以传动方式推进)的清洁机同样可以采用与本发明相同或相近的结构实现触壁检测功能，因工作方式相同，这里不再叙述。
本发明具有的优点和积极效果是：由于采用上述技术方案，使得泳池清洁机结构更加紧凑，且具有触壁检测装置，能够自动对清洁机触壁或接触其它障碍物时进行检测，使得清洁机在触壁时能够自动进行换向，结构简单紧凑，动作灵活，能够自主、高效地对泳池进行清洁；该泳池清洁机具有触壁检测装置，能够当清洁机进行清洁时对触壁动作进行检测，并自动改变行走方向，该触壁检测装置采用传感器进行检测，通过控制模块控制清洁机的电机的工作状态，进而改变清洁机的行走方向，使得清洁机在 泳池中进行清洗时，能够精确检测是否触壁，并进行换向，使得清洁机工作灵活，避免了时间控制造成的效率损失，尤其对于由电池提供动力的泳池清洁机具有很高的实用价值；触壁检测装置选择霍尔传感器，并设置有与霍尔传感器相配合使用的具有磁性部的触发装置，或者，触壁检测装置选择光电传感器，并设置有与光电传感器相配合使用的具有光路组件的触发装置，使得该种触壁检测装置能够快速的检测到清洁机触壁动作，结构简单，反应迅速、准确，动作灵活，满足使用需求。
以上对本发明的三个实施例进行了详细说明，但所述内容仅为本发明的较佳实施例，不能被认为用于限定本发明的实施范围。凡依本发明申请范围所作的均等变化与改进等，均应仍归属于本发明的专利涵盖范围之内。

Claims (17)

  1. 泳池清洁机的触壁检测装置，所述泳池清洁机的触壁检测装置设于清洁机主功能部上，所述清洁机主功能部包括清洁机本体以及与清洁机本体连接的控制模块和动力驱动装置，其特征在于：所述泳池清洁机的触壁检测装置包括传感器触壁检测装置，所述传感器触壁检测装置包括触发单元和传感器检测模块，所述触发单元与所述清洁机本体连接，所述传感器检测模块与所述控制模块电连接，所述控制模块与所述动力驱动装置电连接，所述触发单元与所述传感器检测模块相配合，触发所述传感器检测模块，产生检测信号。
  2. [根据细则91更正 08.10.2019]　
    根据权利要求1所述的泳池清洁机的触壁检测装置，其特征在于：所述触发单元包括具有触发部的触发装置，所述具有触发部的触发装置与所述清洁机本体连接，所述触发部相对于所述清洁机本体做相对运动，所述传感器检测模块的位置与所述触发部的运动轨迹的特征点的位置相配合。
  3. 根据权利要求2所述的泳池清洁机的触壁检测装置，其特征在于：所述触发部相对于所述清洁机本体做往复运动。
  4. [根据细则91更正 08.10.2019]　
    根据权利要求2或3所述的泳池清洁机的触壁检测装置，其特征在于：所述触发部的运动轨迹的特征点的位置包括其运动轨迹的初始位置和折返点的位置。
  5. [根据细则91更正 08.10.2019]　
    根据权利要求4所述的泳池清洁机的触壁检测装置，其特征在于：所述传感器检测模块的位置与所述触发部的运动轨迹的初始位置或折返点的位置相配合。
  6. 根据权利要求1或2或3或5所述的泳池清洁机的触壁检测装置，其 特征在于：所述传感器检测模块的数量至少为一个。
  7. 根据权利要求2所述的泳池清洁机的触壁检测装置，其特征在于：所述触发部为磁性部，所述磁性部为可产生磁场的物质或装置。
  8. 根据权利要求7所述的泳池清洁机的触壁检测装置，其特征在于：所述磁性部为磁铁。
  9. 根据权利要求1-3,5,7,8任一项所述的泳池清洁机的触壁检测装置，其特征在于：所述传感器检测模块为霍尔传感器。
  10. 根据权利要求2所述的泳池清洁机的触壁检测装置，其特征在于：所述触发部为光路组件，所述光路组件为反光板或遮光板。
  11. 根据权利要求1-3,5,10所述的泳池清洁机的触壁检测装置，其特征在于：所述传感器检测模块为光电传感器。
  12. 根据权利要求2所述的泳池清洁机的触壁检测装置，其特征在于：所述触发装置的数量至少为一个，所述触发装置上设有浮力舱或触发装置整体或部分由浮力材料一体制成。
  13. 根据权利要求12所述的泳池清洁机的触壁检测装置，其特征在于：所述浮力舱内设有浮力材料或密闭的空气。
  14. 根据权利要求2所述的泳池清洁机的触壁检测装置，其特征在于：所述触发装置的数量至少为一个，所述触发装置上设有重块或触发装置整体或部分由重力材料一体制成。
  15. 根据权利要求2所述的泳池清洁机的触壁检测装置，其特征在于：所述触发装置的数量至少为一个，所述触发装置上设有弹性件或触发装置整体或部分为弹性材料一体制成。
  16. 根据权利要求15所述的泳池清洁机的触壁检测装置，其特征在于：所述弹性件为弹簧。
  17. 根据权利要求2或12或14或15所述的泳池清洁机的触壁检测装置，其特征在于：所述触发装置包括至少一个阻力板。
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CA3096929A1 (en) 2019-03-26
CN110409877A (zh) 2019-11-05
EP3626912A4 (en) 2020-08-26
EP3626912A1 (en) 2020-03-25
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WO2019205861A1 (zh) 2019-10-31
CA3096929C (en) 2023-09-05

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