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US-20260125920-A1 - WALL CLIMBING METHOD OF UNDERWATER CLEANING DEVICE AND UNDERWATER CLEANING DEVICE

US20260125920A1US 20260125920 A1US20260125920 A1US 20260125920A1US-20260125920-A1

Abstract

A wall climbing method for an underwater cleaning device and an underwater cleaning device are disclosed. When the underwater cleaning device is about to start or has started wall climbing, a forward end of the device is caused to be slightly lifted or tend to be slightly lifted.

Inventors

  • Youjiang Wang
  • Cheng Li

Assignees

  • WYBOTICS CO., LTD.

Dates

Publication Date
20260507
Application Date
20251027
Priority Date
20230425

Claims (16)

  1. 1 . A wall climbing method for an underwater cleaning device, wherein water is discharged from a water outlet of the underwater cleaning device after being filtered by the underwater cleaning device; when the underwater cleaning device is about to start or has started wall climbing, a forward end is caused to be slightly lifted or tend to be slightly lifted.
  2. 2 . The wall climbing method according to claim 1 , wherein causing the forward end to be slightly lifted or tend to be slightly lifted is implemented by at least one of: reducing a force exerted by the underwater cleaning device on a pool bottom; and causing a horizontal distance from a center of gravity of the underwater cleaning device to a rear end of the underwater cleaning device to be less than or equal to a horizontal distance from a center of buoyancy to the rear end.
  3. 3 . The wall climbing method according to claim 2 , wherein reducing the force exerted by the underwater cleaning device on the pool bottom comprises: reducing a water pressure at the water outlet.
  4. 4 . The wall climbing method according to claim 3 , wherein reducing the water pressure at the water outlet comprises: reducing a driving force of a driving unit acting on water at the water outlet.
  5. 5 . The wall climbing method according to claim 2 , wherein the horizontal distance from the center of gravity of the underwater cleaning device to the rear end is less than or equal to the horizontal distance from the center of buoyancy to the rear end; or when the underwater cleaning device is about to start or has started wall climbing, the horizontal distance from the center of gravity to the rear end is less than or equal to the horizontal distance from the center of buoyancy to the rear end.
  6. 6 . The wall climbing method according to claim 1 , wherein the water outlet is arranged so that its axis has a vertical component located between a center of gravity of the underwater cleaning device and the forward end.
  7. 7 . The wall climbing method according to claim 1 , further comprising: when the underwater cleaning device performs wall climbing, increasing a pressure exerted by the underwater cleaning device on a pool wall, thereby achieving wall climbing.
  8. 8 . The wall climbing method according to claim 7 , wherein increasing the pressure exerted by the underwater cleaning device on the pool wall comprises: increasing a water pressure at the water outlet.
  9. 9 . The wall climbing method according to claim 8 , wherein increasing the water pressure at the water outlet comprises: increasing a driving force of a driving unit acting on water at the water outlet.
  10. 10 . The wall climbing method according to claim 2 , wherein, when the underwater cleaning device is about to start or has started wall climbing, causing the horizontal distance from the center of gravity of the underwater cleaning device to the rear end to be less than or equal to the horizontal distance from the center of buoyancy to the rear end comprises any one of: configuring the center of gravity of the underwater cleaning device so that the horizontal distance from the center of gravity to the rear end is less than or equal to the horizontal distance from the center of buoyancy to the rear end; and when the underwater cleaning device is about to start or has started wall climbing, adjusting the center of gravity of the underwater cleaning device so that the horizontal distance from the center of gravity to the rear end is less than or equal to the horizontal distance from the center of buoyancy to the rear end.
  11. 11 . The wall climbing method according to claim 10 , wherein adjusting the center of gravity of the underwater cleaning device so that the horizontal distance from the center of gravity to the rear end is less than or equal to the horizontal distance from the center of buoyancy to the rear end comprises any one of: providing a movable gravity block in a housing of the underwater cleaning device, and driving the gravity block to move by a driving assembly; and providing a buoyancy chamber in the housing of the underwater cleaning device, and driving the buoyancy chamber to discharge or take in water by the driving assembly.
  12. 12 . An underwater cleaning device, wherein the underwater cleaning device is configured to perform wall climbing using the wall climbing method according to claim 1 .
  13. 13 . The underwater cleaning device according to claim 12 , comprising: a wall-contact identification unit and a control unit; wherein the wall-contact identification unit is configured to: in response to identifying that the underwater cleaning device contacts a wall and is about to start or has started wall climbing, send a signal to the control unit so that the control unit issues a command to a driving unit, to cause the forward end of the underwater cleaning device to be slightly lifted or tend to be slightly lifted, thereby achieving wall climbing.
  14. 14 . The underwater cleaning device according to claim 13 , wherein issuing the command by the control unit to the driving unit to cause the forward end of the underwater cleaning device to be slightly lifted or tend to be slightly lifted comprises at least one of: issuing the command by the control unit to the driving unit, to reduce a water pressure at the water outlet and thus reduce a force exerted by the underwater cleaning device on a pool bottom; and issuing the command by the control unit to the driving unit, to adjust a horizontal distance from a center of gravity of the underwater cleaning device to a rear end of the underwater cleaning device to be less than or equal to a horizontal distance from a center of buoyancy to the rear end.
  15. 15 . The underwater cleaning device according to claim 13 , wherein the control unit is further configured to: when the underwater cleaning device completes a wall climbing initiation action and starts wall climbing, issue the command to the driving unit to increase a water pressure at the water outlet and thus increase a force exerted by the underwater cleaning device on a pool bottom.
  16. 16 . The underwater cleaning device according to claim 12 , further comprising: a water inlet disposed on or connected to a housing, a filtering unit disposed inside the housing, and a water outlet disposed on or connected to the housing, wherein, under an action of the driving unit, water enters through the water inlet, is filtered and then discharged through the water outlet.

Description

The present application claims priority to Chinese Patent Application No. 202310454893.6, titled “WALL CLIMBING METHOD FOR UNDERWATER CLEANING DEVICE AND UNDERWATER CLEANING DEVICE” and filed on Apr. 25, 2023, the entire contents of which are incorporated herein by reference. TECHNICAL FIELD The present application relates to the technical field of pool cleaning, and particularly to a wall climbing method for an underwater cleaning device and an underwater cleaning device. BACKGROUND With the development of computer technology, robot technology has also developed rapidly. For example, users can use a sweeping robot to clean the floors of their houses, a window cleaning robot to clean the windows of their houses, a pool cleaning robot to clean the pool, etc. SUMMARY The present application provides a wall climbing method for an underwater cleaning device and an underwater cleaning device, which make it easier for the underwater cleaning device to climb a pool wall. The technical solutions are as follows. In one aspect, a wall climbing method for an underwater cleaning device is provided. When the underwater cleaning device is about to start or has started wall climbing, a forward end is caused to be slightly lifted or tend to be slightly lifted. Wherein water is discharged from a water outlet of the underwater cleaning device after being filtered by the underwater cleaning device. In the other aspect, an underwater cleaning device is provided, which is configured to perform wall climbing using the above-mentioned wall climbing method. By using the above-mentioned technical solutions, after the underwater cleaning device contacts the wall, the force exerted by the underwater cleaning device on the pool bottom is reduced, so that the forward end is slightly lifted or tends to be slightly lifted, so as to climb the wall. BRIEF DESCRIPTION OF THE DRAWINGS To describe the technical solutions in the embodiments of the present application more clearly, the accompanying drawings used in describing the embodiments are briefly introduced below. Apparently, the accompanying drawings described below are merely some embodiments of the present application. Other drawings can be obtained from these accompanying drawings by those of ordinary skills in the art without creative efforts. FIG. 1 is a state schematic diagram of an underwater cleaning device in a stationary state underwater according to an embodiment of the present application; FIG. 2 is another state schematic diagram of the underwater cleaning device in a stationary state underwater according to an embodiment of the present application; FIG. 3 is a state schematic diagram of the underwater cleaning device traveling underwater according to an embodiment of the present application; FIG. 4 is a state schematic diagram of the underwater cleaning device at the moment of wall contact according to an embodiment of the present application; FIG. 5 is a state schematic diagram of the underwater cleaning device in an initial wall-climbing phase according to an embodiment of the present application; FIG. 6 is a state schematic diagram of the underwater cleaning device during wall climbing according to an embodiment of the present application; FIG. 7 is a state schematic diagram of the underwater cleaning device fully positioned on a pool wall according to an embodiment of the present application; FIG. 8 is a state schematic diagram of the underwater cleaning device walking underwater according to an embodiment of the present application; and FIG. 9 is a state schematic diagram of the underwater cleaning device traveling underwater according to an embodiment of the present application (the device is provided with a buoyancy chamber). DETAILED DESCRIPTION The present application will be further described below in conjunction with the accompanying drawings and specific embodiments. The pool cleaning machine is primarily used for cleaning a pool. Cleaning is achieved by the machine traversing the pool during travel and filtering water at a position where the machine travels. Wherein the pool may be a swimming pool. The pool cleaning machine can travel in a pool mainly because it can sink underwater due to its weight being greater than its buoyant force and then can be driven by a power unit. In practical applications, under certain scenarios (e.g., 1. when cleaning pool walls; 2. after the cleaning work is completed, the pool cleaning machine climbs the pool wall to be partially exposed above the water surface, thereby facilitating the observation and removal by the personnel beside the pool), the pool cleaning machine is also required to travel on the pool wall. To enable the pool cleaning machine to travel on the pool wall, an improvement is made to the pool cleaning machine by positioning the water outlet on an upper side of the pool cleaning machine. During wall climbing, the pool cleaning machine can be pressed tightly against the pool wall due to a pressure on the pool w