Underwater robot and its control method

Abstract

The present invention discloses an underwater robot and its control method. The underwater robot includes a robot main body. A sewage suction port is provided at the bottom of the robot main body. A first drain port communicating with the sewage suction port is provided at the top of the robot main body. A second drain port communicating with the first drain port is further provided at the bottom of the robot main body, and the second drain port is located on one side of the sewage suction port close to the front end. A pumping mechanism is arranged inside the robot main body and is disposed close to the first drain port. The pumping mechanism has a first state for controlling water flow to flow in from the sewage suction port and discharge through the first drain port, and a second state for controlling water flow to flow in from the first drain port and discharge through the second drain port. In the second state, the water flow discharged through the second drain port can lift the front end of the robot main body by a preset angle. The purpose of the present invention is to improve the obstacle-crossing ability of the underwater robot.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and particularly to an underwater robot and a control method thereof. Background Art

[0002] Underwater robots can be used for various underwater environment operations. For example, they can be used to clean swimming pools. When an underwater robot performs a cleaning operation in a swimming pool, it may need to cross the steps or obstacles at the bottom of the pool or climb to areas such as the side wall surface of the pool for cleaning. In existing solutions, the climbing of steps or obstacles mainly relies on the friction generated by the traveling mechanism (wheels or tracks) of the underwater robot. Since the friction between the traveling mechanism and the side wall of the pool or the side wall of the steps is small in the underwater environment, it is difficult for the robot to climb the side wall of the pool, steps, and obstacles, which affects the success rate of the underwater robot in climbing the side wall of the pool, steps, and obstacles. There is also a possibility that the underwater robot is trapped in a certain position, thereby affecting the cleaning range of the underwater robot. Summary of the Invention

[0003] The main object of the present invention is to provide an underwater robot, aiming to improve the obstacle-crossing ability of the underwater robot.

[0004] To achieve the above object, the underwater robot proposed by the present invention includes:

[0005] A robot main body, a sewage suction port is provided at the bottom of the robot main body, a first drain port communicating with the sewage suction port is provided at the top of the robot main body, and a second drain port communicating with the first drain port is further provided at the bottom of the robot main body. The second drain port is located on the front-end side of the sewage suction port close to the robot main body;

[0006] A pumping mechanism is provided inside the robot main body and is arranged close to the first drain port;

[0007] The pumping mechanism has a first state for controlling the water flow to flow in from the sewage suction port and discharge through the first drain port, and a second state for controlling the water flow to flow in from the first drain port and discharge through the second drain port. In the second state, the water flow discharged through the second drain port can lift the front end of the robot main body by a preset angle.

[0008] In an embodiment of the present invention, a detector is further provided at the front end of the robot main body. When it is detected that the distance between the robot main body and an obstacle is greater than a threshold value, the pumping mechanism operates in the first state;

[0009] When it is detected that the distance between the robot main body and an obstacle is less than or equal to the threshold value, the pumping mechanism operates in the second state.

[0010] In an embodiment of the present invention, the central axis of the first drain opening is vertically arranged, or the central axis of the first drain opening is inclined;

[0011] The central axis of the second drain opening is vertically arranged; or the central axis of the second drain opening is inclined.

[0012] In an embodiment of the present invention, the pumping mechanism includes: a motor disposed within the robot body; and

[0013] a propeller, the propeller being in transmission connection with the output shaft of the motor, and the propeller being disposed close to the first drain opening.

[0014] In an embodiment of the present invention, the underwater robot further includes a filtering component, the filtering component is disposed within the robot body, an opening of the filtering component is communicated with the sewage suction opening, and the filtering component covers the sewage suction opening, and the filtering component is further provided with a water passing opening communicated with the first drain opening.

[0015] In an embodiment of the present invention, the underwater robot further includes a first water baffle, the first water baffle is rotatably connected to one side of the sewage suction opening, when the pumping mechanism operates in the first state, the first water baffle opens the sewage suction opening, and when the pumping mechanism operates in the second state, the first water baffle closes the sewage suction opening.

[0016] In an embodiment of the present invention, the underwater robot further includes a second water baffle, the second water baffle is rotatably connected to one side of the second drain opening, when the pumping mechanism operates in the first state, the second water baffle closes the second drain opening, and when the pumping mechanism operates in the second state, the second water baffle opens the second drain opening.

[0017] In an embodiment of the present invention, the first water baffle opens the sewage suction opening, and the first water baffle rotates to the inside of the robot body;

[0018] When the second water baffle opens the second drain opening, the second water baffle rotates to the outside of the robot body.

[0019] The present invention also provides a control method for an underwater robot, including the following steps:

[0020] After the underwater robot is started, detect the distance between the robot body and an obstacle;

[0021] When it is detected that the distance between the robot body and the obstacle is greater than a threshold value, control the pumping mechanism to operate in a first state, so that water flows in from the sewage suction opening and is discharged through the first drain opening;

[0022] When the distance between the robot body and an obstacle is detected to be less than or equal to a threshold value, control the water pumping mechanism to operate in a second state, so that water flows in from the first drain outlet and is discharged via the second drain outlet, in order to lift the front end of the robot body by a preset angle.

[0023] In an embodiment of the present invention, in the step of when the distance between the robot body and an obstacle is detected to be less than or equal to a threshold value, controlling the water pumping mechanism to operate in a second state, so that water flows in from the first drain outlet and is discharged via the second drain outlet, in order to lift the front end of the robot body by a preset angle, the following is further included:

[0024] Determine the duration of the water pumping mechanism operating in the second state;

[0025] When the duration of the water pumping mechanism operating in the second state reaches a preset duration, control the water pumping mechanism to switch to operating in a first state.

[0026] In the technical solution of the present invention, the underwater robot includes a robot body and a water pumping mechanism provided inside the robot body. Among them, the bottom of the robot body is provided with a sewage suction port and a second drain outlet, the top of the robot body is provided with a first drain outlet communicated with the sewage suction port, the first drain outlet is communicated with the second drain outlet, and the position of the second drain outlet is also set on the side of the sewage suction port close to the front end. The water pumping mechanism is provided inside the robot body and close to the position of the first drain outlet. Taking the underwater robot performing cleaning operations in a swimming pool as an example, when the underwater robot is cleaning the bottom wall of the swimming pool, at this time, the water pumping mechanism controls the water flow to flow in from the sewage suction port and be discharged via the first drain outlet. The water flow discharged via the first drain outlet will generate a downward pressure on the robot body, so that the robot body contacts the bottom wall of the swimming pool to generate friction and walk normally; when the underwater robot encounters a steep slope, a step or the side wall of the swimming pool, at this time, the water pumping mechanism controls the water flow to flow in from the first drain outlet and be discharged via the second drain outlet. Since the second drain outlet is located at the bottom of the robot body and is arranged close to the front end, at this time, the water flow discharged via the second drain outlet will generate an upward thrust on the front end of the robot body, so that the front end of the robot body is lifted upward by a certain angle, that is, the front end of the robot body is tilted at a certain angle, so that the robot body can cross the steep slope, the step or climb up the side wall surface of the swimming pool, so that the underwater robot can easily cross the obstacle and ensure that the underwater robot can operate in a complex environment. Description of the Drawings

[0027] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on the structures shown in these drawings without creative efforts.

[0028] Figure 1 Structural schematic diagram of the side of an underwater robot according to an embodiment of the present invention;

[0029] Figure 2 Structural schematic diagram of the bottom of an underwater robot according to an embodiment of the present invention;

[0030] Figure 3 Schematic diagram of an underwater robot of the present invention crossing an obstacle;

[0031] Figure 4 is Figure 1 Internal structural schematic diagram of the underwater robot in

[0032] Figure 5 Control flowchart of an underwater robot according to an embodiment of the present invention;

[0033] Figure 6 Control flowchart of another embodiment of the present invention.

[0034] Explanation of the reference numerals in the drawings:

[0035] Label Name Label Name 100 Underwater robot 30 Pumping mechanism 10 Robot main body 31 Motor 11 Housing 33 Propeller 111 Sewage suction port 40 Detector 113 First drain outlet 50 Filter component 115 Second drain outlet 60 First water baffle 13 Traveling component 70 Second water baffle 15 Cleaning roller

[0036] The realization of the object of the present invention, functional features and advantages will be further described with reference to the embodiments and the accompanying drawings. Detailed implementation manners

[0037] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0038] It should be noted that all the directional indications (such as up, down, left, right, front, back...) in the embodiments of the present invention are only used to explain the relative position relationship and movement conditions between components in a specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indications will also change accordingly.

[0039] In the present invention, unless otherwise clearly defined and limited, the terms "connection", "fixation", etc. should be understood in a broad sense. For example, "fixation" can be a fixed connection, a detachable connection, or integrated; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two components or the interaction relationship between two components, unless otherwise clearly limited. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

[0040] In addition, in the present invention, descriptions such as "first" and "second" are for descriptive purposes only, and should not be construed as indicating or implying their relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include at least one such feature. In addition, the meaning of "and / or" appearing throughout the text is that it includes three parallel scenarios. Taking "A and / or B" as an example, it includes scenario A, or scenario B, or a scenario where both A and B are satisfied simultaneously. In addition, the technical solutions between various embodiments can be combined with each other, but it must be based on the ability of those of ordinary skill in the art to implement. When the combination of technical solutions results in contradictions or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0041] The present invention provides an underwater robot 100.

[0042] Please refer to Figures 1 to 4 , the underwater robot 100 provided by the present invention includes:

[0043] A robot main body 10, a sewage suction port 111 is provided at the bottom of the robot main body 10, a first drain port 113 communicating with the sewage suction port 111 is provided at the top of the robot main body 10, a second drain port 115 communicating with the first drain port 113 is further provided at the bottom of the robot main body 10, and the second drain port 115 is located on the side of the sewage suction port 111 close to the front end of the robot main body 10;

[0044] A pumping mechanism 30 is provided inside the robot main body 10 and is arranged close to the first drain port 113;

[0045] The pumping mechanism 30 has a first state for controlling water flow to flow in from the sewage suction port 111 and discharge through the first drain port 113, and a second state for controlling water flow to flow in from the first drain port 113 and discharge through the second drain port 115. In the second state, the water flow discharged through the second drain port 115 can lift the front end of the robot main body 10 by a preset angle.

[0046] In the technical solution of the present invention, the underwater robot 100 includes a robot body 10 and a pumping mechanism 30 arranged inside the robot body 10, wherein a sewage suction port 111 and a second drainage port 115 are provided at the bottom of the robot body 10, and a first drainage port 113 connected to the sewage suction port 111 is provided at the top of the robot body 10, the first drainage port 113 is connected to the second drainage port 115, and the position of the second drainage port 115 is also set on the side of the sewage suction port 111 close to the front end, and the pumping mechanism 30 is arranged in the robot body 10 and close to the first drainage port 113. Taking the underwater robot 100 performing cleaning operations in a swimming pool as an example, when the underwater robot 100 is cleaning the bottom wall of the swimming pool, at this time, the pumping mechanism 30 controls the water flow to flow in from the sewage suction port 111 and be discharged through the first drain port 113. The water flow discharged through the first drain port 113 will generate downward pressure on the robot body 10, so that the robot body 10 contacts the bottom wall of the swimming pool to generate friction and walk normally; when the underwater robot 100 encounters obstacles such as steep slopes, steps or the side walls of the swimming pool, at this time, the pumping mechanism 30 controls the water flow to flow in from the first drain port 113 And discharged through the second drain port 115. Since the second drain port 115 is located at the bottom of the robot body 10 and is arranged close to the front end, at this time, the water flow discharged through the second drain port 115 will generate an upward thrust on the front end of the robot body 10, so that the front end of the robot body 10 is lifted upward by a certain angle, that is, the front end of the robot body 10 is tilted at a certain angle, so that the robot body 10 can cross steep slopes, steps or climb up the side wall of the swimming pool, so that the underwater robot 100 can easily cross obstacles, ensuring that the underwater robot 100 can operate in a complex environment.

[0047] In this embodiment, the robot body 10 includes a housing 11, a walking component 13, a cleaning roller 15 and a driving mechanism (not shown in the figure), the housing 11 has a front end and a rear end that are relatively arranged, the walking component 13 is arranged on both sides of the housing 11 in the width direction to support the housing 11, the cleaning roller 15 is arranged at the bottom of the housing 11, and the driving mechanism is arranged inside the housing 11, and is connected to the walking component 13 and the cleaning roller 15 in a transmission manner to drive the walking component 13 to drive the entire robot body 10 forward, and at the same time, the driving mechanism also drives the cleaning roller 15 to roll to clean the travel position. It can be understood that the robot body 10 also includes a power supply system (not shown in the figure), a control system (not shown in the figure), etc., and the power supply system and the control system are both arranged in the housing 11.

[0048] In one embodiment, the walking component 13 can be a wheel body. Among them, the diameter of the wheel body at the front end is greater than that of the wheel body at the rear end to improve the obstacle-crossing ability of the front-end wheel body. In another embodiment, a crawler can also be provided on the outer side of the wheel body, so that the walking component 13 is formed into a crawler structure to increase the contact area and friction between the robot main body 10 and the pool wall, enabling the underwater robot 100 to adapt to complex environments and improving the stability during walking.

[0049] In another embodiment, the number of the cleaning drums 15 can be two. The cleaning drums 15 can be provided at both the front end and the rear end of the robot main body 10 to improve the cleaning ability of the underwater robot 100.

[0050] In this embodiment, the sewage suction port 111 and the first drain port 113 are communicated to form a first water flow channel (not shown in the figure). The first water flow channel can be formed inside the housing 11, or a first conduit (not shown in the figure) can be provided between the sewage suction port 111 and the first drain port 113, and the first water flow channel is formed inside the first conduit. Similarly, the first drain port 113 and the second drain port 115 are communicated to form a second water flow channel (not shown in the figure). The second water flow channel can be formed by the internal structure of the housing 11, or a second conduit (not shown in the figure) can be provided between the first drain port 113 and the second drain port 115, and the second water flow channel is formed inside the second conduit. The arrangement of the first conduit and the second conduit can simplify the design difficulty of the housing 11 and improve the flexibility of the flow directions of the first water flow channel and the second water flow channel.

[0051] The pumping mechanism 30 is arranged at the confluence of the first water flow channel and the second water flow channel, so that when the pumping mechanism 30 switches between the first state and the second state, it can change the water flow direction through the inside of the robot main body 10. It can be understood that the pumping mechanism 30 includes a motor 31 and a propeller 33. Among them, the motor 31 can be fixed to the inner wall surface of the water flow channel through structures such as screws or buckles. The axial direction of the motor 31 is also consistent with the extension direction of the water flow channel to reduce the area occupied by the motor 31 in the water flow channel and reduce the influence of the motor 31 on the water flow. The propeller 33 is connected to the output shaft of the motor 31, and the motor 31 drives the propeller 33 to rotate, so as to generate negative pressure in the water flow channel, thereby sucking external water flow and discharging it through the first drain port 113 or the second drain port 115, so that the discharged water flow exerts pressure or thrust on the robot main body 10. It can be understood that by controlling the forward or reverse rotation of the motor 31, the propeller 33 can change the water flow direction to realize the switching of the pumping mechanism 30 between the first state and the second state.

[0052] Please continue to refer to Figures 1 to 4, in an embodiment of the present invention, a detector 40 is further provided at the front end of the robot body 10. When the distance between the robot body 10 and an obstacle is greater than a threshold value, the water pumping mechanism 30 operates in a first state;

[0053] When the distance between the robot body 10 and an obstacle is less than or equal to the threshold value, the water pumping mechanism 30 operates in a second state. In this embodiment, by providing the detector 40 at the front end of the robot body 10, the distance to the obstacle in front is detected by the detector 40, providing a data basis for switching the working state of the water pumping mechanism 30. The obstacles in this embodiment can be floor drains at the bottom of the swimming pool, steps, side walls of the swimming pool, etc. In one embodiment, the detector 40 can be a distance detector 40 such as a sonar sensor, an optoelectronic sensor, a laser rangefinder, etc. The distance threshold between the robot body 10 and an obstacle can be 0.2 m, or 0.5 m, or 1 m, etc., and can be reasonably set according to actual requirements. Of course, in addition to the distance between the robot body 10 and an obstacle, the detector 40 can also detect the height of the obstacle, providing a more comprehensive data basis for switching the working state of the water pumping mechanism 30.

[0054] Please continue to refer to Figure 4 , in an embodiment of the present invention, the central axis of the first drain opening 113 is vertically arranged, or the central axis of the first drain opening 113 is obliquely arranged;

[0055] The central axis of the second drain opening 115 is vertically arranged; or the central axis of the second drain opening 115 is obliquely arranged.

[0056] In the technical solution of this embodiment, since the water flow discharged through the first drain opening 113 applies a downward pressure to the robot body 10, the central axis of the first drain opening 113 is set in the vertical direction. In this way, the water flow discharged through the first drain opening 113 is vertically upward. At this time, the water flow applies a downward pressure in the vertical direction to the robot body 10, thereby increasing the friction between the robot body 10 and the bottom wall and improving the cleaning effect. In another embodiment, the central axis of the first drain opening 113 is obliquely arranged. For example, the central axis of the first drain opening 113 is inclined towards the rear end of the robot body 10, so that the water flow discharged through the first drain opening 113 flows obliquely backward and upward. At this time, the pressure applied by the water flow to the robot body 10 can be decomposed into a downward pressure directly below and a driving force towards the front end of the robot body 10. In this way, it can assist the robot body 10 to move in the forward direction. It can be understood that in order to ensure uniform force on the robot body 10, the position of the first drain opening 113 is approximately located at the center position of the top.

[0057] According to the same principle, the central axis of the second drain port 115 is set in the vertical direction. In this way, the water flow discharged through the second drain port 115 is vertically downward. At this time, the water flow exerts an upward vertical thrust on the robot main body 10. Under the action of this thrust, the front end of the robot main body 10 can be lifted upward by a preset angle, so that the front end of the robot main body 10 can easily cross the obstacle. In another embodiment, the central axis of the second drain port 115 is inclined, for example, the central axis of the second drain port 115 is inclined toward the front end of the robot main body 10. At this time, the water flow discharged through the second drain port 115 flows obliquely forward. At this time, the thrust exerted by the water flow on the robot main body 10 can be decomposed into an upward thrust and a driving force toward the front end of the robot main body 10. In this way, it can assist the robot main body 10 to move in the forward direction.

[0058] In this embodiment, the angle at which the front end of the robot main body 10 is lifted upward can be reasonably set according to actual needs and will not be limited here.

[0059] Please continue to refer to Figure 4 In an embodiment of the present invention, the underwater robot 100 further includes a filtering component 50. The filtering component 50 is disposed inside the robot main body 10. The opening of the filtering component 50 is communicated with the sewage suction port 111 and covers the sewage suction port 111. The filtering component 50 is further provided with a water passing port communicated with the first drain port 113. In this embodiment, the filtering component 50 is used to filter and collect the sundries, dirt and other substances cleaned. The filtering component 50 is disposed inside the housing 11, which can prevent the collected sundries from protruding from the bottom surface of the robot main body 10 and affecting the underwater robot 100. Specifically, the filtering component 50 can be a structure formed by recessing the inside of a box on the housing 11. The filtering component 50 can also be a detachable connection structure of the housing 11. For example, the filtering component 50 can be a filter screen, and the holes of the filter screen form the water passing port; or the filtering component 50 is a storage box with an opening and a water passing port, and the storage box is detachably fixed inside the housing 11, and its opening is communicated with the sewage suction port 111. When the underwater robot 100 is started, when the pumping mechanism 30 operates in the first state, when the water flow flows in from the sewage suction port 111 at the bottom of the robot main body 10, the sundries and dirt in the swimming pool are also sucked into the inside of the filtering component 50.

[0060] Please continue to refer to Figure 4, in an embodiment of the present invention, the underwater robot 100 further includes a first water baffle 60, which is rotatably connected to one side of the sewage suction port 111. When the pumping mechanism 30 operates in the first state, the first water baffle 60 opens the sewage suction port 111. When the pumping mechanism 30 operates in the second state, the first water baffle 60 closes the sewage suction port 111. In this embodiment, the first water baffle 60 and the housing 11 are rotatably connected through a rotating shaft. The rotating shaft and the first water baffle 60 can be an integral structure, or the rotating shaft and the first water baffle 60 can be a split structure. The two ends of the rotating shaft are rotatably connected to the housing 11.

[0061] When the pumping mechanism 30 operates in the first state, the water pressure at the sewage suction port 111 is greater than the water pressure at the first drain port 113, causing a negative pressure in the first water flow. Under the action of the negative pressure, the first water baffle 60 is in a state of opening the sewage suction port 111, allowing water to flow in from the sewage suction port 111. When the pumping mechanism 30 operates in the second state, the water pressure between the sewage suction port 111 and the first drain port 113 is balanced, and the first water baffle 60 can close the sewage suction port 111 to prevent the debris collected in the filter component 50 from flowing out. It should be noted that a limiting structure (not shown in the figure) is also provided on the housing 11. The limiting structure is located inside the sewage suction port 111 and on the side of the first water baffle 60 away from the rotating shaft. The limiting structure is used to limit the rotation of the first water baffle 60 to the outside of the housing 11. In this way, the first water baffle 60 can only open towards the inside of the housing 11 to avoid the first water baffle 60 opening towards the outside of the housing 11, which may affect the movement of the underwater robot 100.

[0062] Please continue to refer to Figure 4, in an embodiment of the present invention, the underwater robot 100 further includes a second water baffle 70, which is rotatably connected to one side of the second drain opening 115. When the pumping mechanism 30 operates in the first state, the second water baffle 70 closes the second drain opening 115. When the pumping mechanism 30 operates in the second state, the second water baffle 70 opens the second drain opening 115. In this embodiment, the second water baffle 70 and the housing 11 are also rotatably connected through a rotating shaft. The rotating shaft and the second water baffle 70 can be an integral structure or a split structure, which is not limited herein. Both ends of the rotating shaft are rotatably connected to the housing 11. When the pumping mechanism 30 operates in the first state, the water pressure between the second drain opening 115 and the first drain opening 113 is balanced, and the second water baffle 70 is in a state of closing the second drain opening 115. When the pumping mechanism 30 operates in the second state, the water pressure at the first drain opening 113 is greater than the water pressure at the second drain opening 115, causing a negative pressure to be generated in the second water flow passage. Under the action of the negative pressure, the second water baffle 70 rotates outwardly relative to the housing 11 to open the second drain opening 115, so that water can flow in from the first drain opening 113 and out from the second drain opening 115.

[0063] Similarly, a limiting structure (not shown in the figure) is also provided on the housing 11. The limiting structure is located inside the second drain opening 115 and on the side of the second water baffle 70 away from the rotating shaft. The limiting structure is used to limit the second water baffle 70 from rotating to the inside of the housing 11. In this way, the second water baffle 70 can only open towards the outside of the housing 11. In another possible embodiment, it is also possible to set the area of the second water baffle 70 to be larger than the second drain opening 115, so that the second water baffle 70 can only rotate outwardly relative to the housing 11.

[0064] In one embodiment, the first water baffle 60 and the second water baffle 70 can be made of lightweight materials, such as plastic materials or acrylic materials, etc.

[0065] In another embodiment, a motor (not shown in the figure) can also be provided and connected to the first water baffle 60 and the second water baffle 70 respectively, so as to control the opening or closing of the first water baffle 60 and the second water baffle 70 respectively through the motor, improving the accuracy.

[0066] Please refer to Figure 5 , the present invention also provides a control method for the underwater robot 100, including the following steps:

[0067] Step S10: After the underwater robot 100 is started, detect the distance between the robot main body 10 and the obstacle;

[0068] Step S20: When it is detected that the distance between the robot main body 10 and the obstacle is greater than the threshold value, control the water pumping mechanism 30 to operate in the first state, so that water flows in from the sewage suction port 111 and is discharged through the first drain port 113;

[0069] Step S30: When it is detected that the distance between the robot main body 10 and the obstacle is less than or equal to the threshold value, control the water pumping mechanism 30 to operate in the second state, so that water flows in from the first drain port 113 and is discharged through the second drain port 115, so as to lift the front end of the robot main body 10 by a preset angle.

[0070] In this embodiment, when the underwater robot 100 is started, the operating state of the water pumping mechanism 30 can be switched according to the distance between the robot main body 10 and the obstacle. Among them, the obstacle can be a floor drain, a step, a pool side wall, etc. at the bottom of the pool. The detector 40 can be a distance detector 40 such as a sonar sensor, an optoelectronic sensor, or a laser rangefinder. The distance threshold between the robot main body 10 and the obstacle can be 0.2 m, or 0.5 m, or 1 m, etc., and can be reasonably set according to actual requirements.

[0071] Of course, in addition to the distance between the robot main body 10 and the obstacle, the detector 40 can also detect the height of the obstacle to provide a more comprehensive data basis for switching the working state of the water pumping mechanism 30.

[0072] The detector 40 detects the distance between the robot main body 10 and the obstacle in real time, and transmits the detected distance signal to the control system. After receiving the detected distance signal, the control system compares it with the pre-stored threshold value. When the current distance obtained by the comparison is greater than the threshold value, the control system controls the water pumping mechanism 30 to operate in the first state. When the current distance obtained by the comparison is greater than the threshold value, the control system controls the water pumping mechanism 30 to operate in the second state. Among them, in the first state, the water pumping mechanism 30 controls the water to flow in from the sewage suction port 111 and is discharged through the first drain port 113. The water discharged through the first drain port 113 will generate a downward pressure on the robot main body 10, so that the robot main body 10 contacts the bottom wall of the pool to generate friction and walk normally.

[0073] In the second state, the pumping mechanism 30 controls the water flow to flow in from the first drain port 113 and discharge through the second drain port 115. Since the second drain port 115 is located at the bottom of the robot body 10 and is disposed near the front end, at this time, the water flow discharged through the second drain port 115 will generate an upward thrust on the front end of the robot body 10, causing the front end of the robot body 10 to be lifted upward by a certain angle, that is, the front end of the robot body 10 tilts upward at a certain angle, enabling the robot body 10 to cross a steep slope, a step or climb up the side wall surface of the swimming pool, so that the underwater robot 100 can easily cross the obstacle and ensure that the underwater robot 100 can operate in a complex environment.

[0074] Further, please refer to Figure 6 , in one embodiment, when the pumping mechanism 30 starts to operate in the second state, it further includes step S31: determining the duration of the pumping mechanism 30 operating in the second state; step S33: when the duration of the pumping mechanism 30 operating in the second state reaches a preset duration, controlling the pumping mechanism 30 to switch to operating in the first state. In this embodiment, by predicting the duration required for the underwater robot 100 to cross the obstacle and setting the corresponding value, after the pumping mechanism 30 operates in the second state for a set duration, the underwater robot 100 can successfully cross the obstacle or successfully climb up the side wall of the swimming pool. At this time, the pumping mechanism 30 is switched to operate in the first state to implement the cleaning operation of the underwater robot 100. It can be understood that the preset duration can be reasonably set according to actual needs. For example, the preset duration can be 3 seconds, 5 seconds or 10 seconds, etc. It should be noted that there can be multiple preset durations. In this way, a reasonable preset duration can be selected according to the size, height, etc. of the obstacle to improve the flexibility of the underwater robot 100, etc.

[0075] The above are only the preferred embodiments of the present invention, and do not limit the patent scope of the present invention accordingly. Any equivalent structural transformation made by using the content of the specification and drawings of the present invention under the inventive concept of the present invention, or direct / indirect application in other related technical fields, is included in the patent protection scope of the present invention.

Claims

1. An underwater robot, characterized in that, Comprising: A robot main body (10), a sewage suction port (111) is provided at the bottom of the robot main body (10), a first drain port (113) communicating with the sewage suction port (111) is provided at the top of the robot main body (10), a second drain port (115) communicating with the first drain port (113) is further provided at the bottom of the robot main body (10), and the second drain port (115) is located on the front-end side of the sewage suction port (111) close to the robot main body (10); A water pumping mechanism (30), which is arranged inside the robot main body (10) and is close to the first drain port (113); The water pumping mechanism (30) has a first state for controlling water flow to flow in from the sewage suction port (111) and be discharged through the first drain port (113), and a second state for controlling water flow to flow in from the first drain port (113) and be discharged through the second drain port (115). In the second state, the water flow discharged through the second drain port (115) can lift the front end of the robot main body (10) by a preset angle.

2. The underwater robot according to claim 1, characterized in that A detector (40) is further provided at the front end of the robot main body (10). When the distance between the robot main body (10) and an obstacle is detected to be greater than a threshold value, the water pumping mechanism (30) operates in the first state; When the distance between the robot main body (10) and an obstacle is detected to be less than or equal to the threshold value, the water pumping mechanism (30) operates in the second state.

3. The underwater robot according to claim 1, characterized in that, The central axis of the first drain port (113) is vertically arranged, or the central axis of the first drain port (113) is inclined; The central axis of the second drain port (115) is vertically arranged; or the central axis of the second drain port (115) is inclined.

4. The underwater robot according to claim 3, characterized in that, The water pumping mechanism (30) includes: a motor (31), which is arranged inside the robot main body (10); and A propeller (33), the propeller (33) is in transmission connection with the output shaft of the motor (31), and the propeller (33) is close to the first drain port (113).

5. The underwater robot according to claim 1, characterized in that, The underwater robot further includes a filtering component (50), the filtering component (50) is arranged inside the robot main body (10), the opening of the filtering component (50) communicates with the sewage suction port (111), and the filtering component (50) covers the sewage suction port (111). The filtering component (50) is further provided with a water passing port communicating with the first drain port (113).

6. The underwater robot according to any one of claims 1 to 5, characterized in that The underwater robot further includes a first water baffle (60), the first water baffle (60) is rotatably connected to one side of the sewage suction port (111). When the water pumping mechanism (30) operates in the first state, the first water baffle (60) opens the sewage suction port (111). When the water pumping mechanism (30) operates in the second state, the first water baffle (60) closes the sewage suction port (111).

7. The underwater robot according to claim 6, characterized in that, The underwater robot further includes a second water baffle (70), which is rotatably connected to one side of the second drain opening (115). When the pumping mechanism (30) operates in the first state, the second water baffle (70) closes the second drain opening (115). When the pumping mechanism (30) operates in the second state, the second water baffle (70) opens the second drain opening (115).

8. The underwater robot according to claim 7, characterized in that, The first water baffle (60) opens the dirt suction port (111), and the first water baffle (60) rotates to the inside of the robot body (10); When the second water baffle (70) opens the second drain opening (115), the second water baffle (70) rotates to the outside of the robot body (10).

9. A control method for an underwater robot, characterized in that, It includes the following steps: After the underwater robot is started, detect the distance between the robot body (10) and an obstacle; When it is detected that the distance between the robot body (10) and the obstacle is greater than a threshold value, control the pumping mechanism (30) to operate in the first state, so that water flows in from the dirt suction port (111) and is discharged through the first drain opening (113); When it is detected that the distance between the robot body (10) and the obstacle is less than or equal to the threshold value, control the pumping mechanism (30) to operate in the second state, so that water flows in from the first drain opening (113) and is discharged through the second drain opening (115) to lift the front end of the robot body (10) by a preset angle.

10. The control method of the underwater robot according to claim 9, characterized in that, In the step of when it is detected that the distance between the robot body (10) and the obstacle is less than or equal to the threshold value, control the pumping mechanism (30) to operate in the second state, so that water flows in from the first drain opening (113) and is discharged through the second drain opening (115) to lift the front end of the robot body (10) by a preset angle, it further includes: Determine the duration of the pumping mechanism (30) operating in the second state; When the duration of the pumping mechanism (30) operating in the second state reaches a preset duration, control the pumping mechanism (30) to switch to operate in the first state.

Images