Robot Swimming Pool Cleaner Capable of Adjusting Water Flow Jetting Direction and Control Method thereof

Abstract

A robot swimming pool cleaner includes a housing. The housing is provided with a water inlet and a vector nozzle, a drainage power mechanism is arranged inside the housing, a top part of the vector nozzle is a bending portion, a bottom part of the vector nozzle is a vertical portion, and the vertical portion is in transmission connection with a rotation power mechanism; the control mechanism is in electric signal connection with the rotation power mechanism, and by controlling the rotation angle of the vector nozzle, the operating posture and trajectory of the robot swimming pool cleaner may be adjusted by cooperating with a driving wheel. The swimming pool bottom and the swimming pool wall may be effectively cleaned.

What is claimed is: 
     
         1 . A robot swimming pool cleaner capable of adjusting a water flow jetting direction, comprising a housing, a bottom part of the housing being provided with a driving wheel, wherein the housing is provided with a water inlet and a vector nozzle, a drainage power mechanism is arranged inside the housing to drive a water flow to be sucked in by the water inlet and jetted out by a drainage port of the vector nozzle, a garbage filtering and collecting mechanism is further arranged inside the housing, and the garbage filtering and collecting mechanism is arranged between the water inlet and the vector nozzle to filter and collect dirt in water;
 a top part of the vector nozzle is a bending portion, so that a counter-acting force of the water flow jetted has a component force towards the bottom part of the housing;   a bottom part of the vector nozzle is a vertical portion, the vertical portion is in transmission connection with a rotation power mechanism to drive the vector nozzle to rotate by the rotation power mechanism, the rotation of the vector nozzle takes the axis of the vertical portion as a rotation axis, and the jetting direction of the water flow is adjusted in the rotation process, so that the size of the component force of the counter-acting force of the water flow jetted in front, back and side directions of the housing is adjusted; and   a control mechanism is further arranged inside the housing, the control mechanism is in electric signal connection with the rotation power mechanism, and by controlling the rotation angle of the vector nozzle, the operating posture and trajectory of the robot swimming pool cleaner is adjusted by cooperating with a driving wheel.   
     
     
         2 . The robot swimming pool cleaner capable of adjusting the water flow jetting direction according to  claim 1 , wherein the housing is respectively provided with a first sensor and a second sensor on both ends adjacent to the front end and rear end, the first sensor and the second sensor are both in electric signal connection with the control mechanism to identify a water surface position and feed the water surface position back to the control mechanism, so that the control mechanism judges the cleaning range at a water line on a wall of the swimming pool. 
     
     
         3 . The robot swimming pool cleaner capable of adjusting the water flow jetting direction according to  claim 1 , wherein the angle formed by the axial direction of the drainage port of the vector nozzle and the positive axial direction of the housing is fixed, and the formed angle is between 20 and 70 degrees. 
     
     
         4 . The robot swimming pool cleaner capable of adjusting the water flow jetting direction according to  claim 1 , wherein the drainage port of the vector nozzle is connected with a straight pipe, the straight pipe is coaxially arranged with the drainage port, and the length of the straight pipe is at least twice greater than the diameter of the drainage port. 
     
     
         5 . The robot swimming pool cleaner capable of adjusting the water flow jetting direction according to  claim 1 , wherein there are at least two vector nozzles, each vector nozzle is correspondingly provided with a drainage power mechanism and a rotation power mechanism, and the control mechanism is in electric signal connection with both the drainage power mechanism and the rotation power mechanism to synergistically adjust the operating posture and trajectory of the robot swimming pool cleaner under the control of the control mechanism. 
     
     
         6 . The robot swimming pool cleaner capable of adjusting the water flow jetting direction according to  claim 1 , wherein it further comprises a cleaning mechanism, the cleaning mechanism comprises a rolling brush, the rolling brush is arranged at the bottom part of the housing and located in front of the water inlet, the garbage filtering and collecting mechanism comprises a filtering chamber, and the filtering chamber is arranged inside the housing and communicated with the water inlet. 
     
     
         7 . The robot swimming pool cleaner capable of adjusting the water flow jetting direction according to  claim 1 , wherein the periphery of the top part of the vector nozzle is provided with a flow deflector, the flow deflector is spherical-crown-shaped, cylindrical or conical, and the flow deflector is coaxially arranged with the vertical portion of the vector nozzle. 
     
     
         8 . The robot swimming pool cleaner capable of adjusting the water flow jetting direction according to  claim 1 , wherein the drainage port is provided with a rectifying grid. 
     
     
         9 . A control method of the robot swimming pool cleaner capable of adjusting the water flow jetting direction according to  claim 1 , comprising generating a component force towards the bottom part of the housing by a water flow jetted from the vector nozzle, as to achieve the improvement of grip of the driving wheel while a swimming pool bottom is cleaned by the robot swimming pool cleaner, or achieve the attachment of the robot swimming pool cleaner to the swimming pool wall while the water line on the swimming pool wall is cleaned by the robot swimming pool cleaner. 
     
     
         10 . The control method of the robot swimming pool cleaner capable of adjusting the water flow jetting direction according to  claim 9 , further comprising deflecting the direction of the water flow jetted towards the side direction of the housing by rotating the vector nozzle, as to achieve that the steering of the robot swimming pool cleaner is assisted while a swimming pool bottom is cleaned by the robot swimming pool cleaner, or achieve that the robot swimming pool cleaner is pushed to move towards the side direction of the housing while the water line on the swimming pool wall is cleaned by the robot swimming pool cleaner.