Intelligent and efficient water cleaning robot

Abstract

The invention discloses an intelligent and efficient water cleaning robot which comprises at least one pair of ship bodies (1), a front garbage conveying device (2) and a rear garbage conveying device (3) are arranged between every two adjacent ship bodies (1), a first collecting frame (4) is arranged between each front garbage conveying device (2) and the corresponding rear garbage conveying device (3), and a mechanical arm (5) is arranged on each ship body (1). A garbage picking end is arranged at the tail end of the mechanical arm (5), a second collecting frame (6) is arranged on one side of the mechanical arm (5), and a propeller (12) is arranged at the tail end of the ship body (1). The method has the characteristics that the garbage treatment efficiency is improved, and the garbage treatment category range is expanded.

Description

Technical Field

[0001] The invention relates to an above-water cleaning device, in particular to an intelligent and efficient above-water cleaning robot. Background Art

[0002] At present, a large part of the pollution of the water environment comes from solid waste floating on the water surface. Therefore, it is necessary to recycle the water surface waste in time to protect the water surface ecological environment.

[0003] In the past, the main way to clean up garbage on the water surface was to salvage it manually, which was costly, had a low safety factor and was greatly affected by environmental factors. With the development of science and technology, many water cleaning robots, including tipping bucket type, conveyor belt type, baffle type, etc., have emerged, but their picking methods are generally single and the scope of garbage salvage is relatively narrow.

[0004] At present, the main types of solid garbage on the water surface include domestic garbage, aquatic plant garbage, etc., which are generally light in weight and of different sizes, such as common plastic bottles of different types, broken foam plastics, etc. These garbage are easily scattered in different locations with the flow of water, making it difficult to centrally handle them. Each time the garbage is salvaged, the hull needs to be moved to a different position, and then the direction of the hull needs to be adjusted so that the garbage salvaging tools on the hull can be aimed at the garbage, which is time-consuming. Therefore, the existing water cleaning robots have low efficiency in collecting various types of garbage on the water surface and are not suitable for handling surface garbage with large differences in volume and quality. Summary of the invention

[0005] The purpose of the present invention is to provide an intelligent and efficient water cleaning robot, which has the characteristics of improving the efficiency of garbage disposal and expanding the scope of garbage disposal categories.

[0006] The technical solution of the present invention is as follows: an intelligent and efficient water cleaning robot comprises at least one pair of hulls, a front garbage conveying device and a rear garbage conveying device are arranged between two adjacent hulls, a first collecting frame is arranged between the front garbage conveying device and the rear garbage conveying device, a mechanical arm is arranged on each hull, a garbage picking end is arranged at the end of the mechanical arm, a second collecting frame is arranged on one side of the mechanical arm, and a propeller is arranged at the tail end of the hull.

[0007] In the aforementioned intelligent and efficient water cleaning robot, a clamping device is provided above the first collecting frame, a baffle is provided at the bottom of the first collecting frame, the baffle is rotatably connected to one side of the first collecting frame through a rotating shaft, a torsion spring is sleeved on the rotating shaft, one end of the torsion spring is connected to the baffle, and the other end of the torsion spring is connected to the first collecting frame, and a conveyor belt is provided below the first collecting frame.

[0008] In the aforementioned intelligent and efficient water cleaning robot, the clamping device includes a hydraulic cylinder, and a clamping plate located directly above the first collection frame is provided on the output shaft of the hydraulic cylinder; the clamping plate includes a main board, and mounting grooves are provided on both sides of the main board, and a movable plate is connected to the mounting groove through a spring.

[0009] In the aforementioned intelligent and efficient water cleaning robot, the two opposite outer sides of the first collecting frame are connected to a number of winding drums for corresponding rotation, and a binding rope is wound on the winding drum. One end of the binding rope is wound on the winding drum on one of the outer sides, and the other end of the binding rope passes around the bottom of the baffle and is wound on the winding drum on the other outer side.

[0010] In the aforementioned intelligent and efficient water cleaning robot, the outer side surface of the first collecting frame is located between the winding drum and the baffle and is provided with a guide ring and a guide cylinder in sequence, a guide groove is provided in the guide cylinder, and several pairs of straightening wheels are provided in the guide groove along the extension direction of the binding rope.

[0011] In the aforementioned intelligent and efficient water cleaning robot, the front garbage conveying device includes a rotating roller, both ends of which are rotatably connected to the hull on both sides via a transmission shaft, the transmission shaft is driven by a rotating motor, and a plurality of trash blocking plates are provided on the rotating roller along the circumferential direction, through holes are evenly provided on the trash blocking plates, a boss extending to one side is provided on the top of the trash blocking plate, and a plurality of transverse grooves are provided on the surface of the trash blocking plate.

[0012] In the aforementioned intelligent and efficient water cleaning robot, the rear garbage conveying device includes an inclined main conveying frame, the upper end of the main conveying frame is located above the first collecting frame, the lower end of the main conveying frame extends into the water, and side conveying frames are provided on both sides of the inlet of the main conveying frame. The side conveying frames are rotatably connected to the main conveying frame through a connecting shaft driven by a stepper motor, and the main conveying frame and the side conveying frame are both provided with grid-type conveyor belts driven by rollers.

[0013] In the aforementioned intelligent and efficient water cleaning robot, a position detector is provided inside the second collecting frame, a covering plate is provided on the top of the second collecting frame, one side of the covering plate is rotatably connected to the second collecting frame, a ferromagnetic counterweight is provided on the other side of the covering plate, and a magnetic body is provided on the top of the covering plate; an inner electromagnet that cooperates with the ferromagnetic counterweight and is adsorbed is provided on the inner wall of the second collecting frame, an extension portion is provided on one side of the top end of the second collecting frame, an outer electromagnet that cooperates with the magnetic body and is adsorbed is provided on the extension portion, and both the inner electromagnet and the outer electromagnet are electrically connected to the position detector.

[0014] In the aforementioned intelligent and efficient water cleaning robot, the position detector includes a controller, an infrared transmitter and an infrared receiver, an annular groove is provided on the inner wall of the second collection frame, the infrared transmitter and the infrared receiver correspond one to one and are distributed in an array in the annular groove, and a light-transmitting plate is provided at the opening of the annular groove.

[0015] In the aforementioned intelligent and efficient water cleaning robot, a vacuum air bag is provided at the bottom of the hull, and a camera is provided at the top of the hull.

[0016] Compared with the prior art, the present invention has the following beneficial effects:

[0017] The present invention sets at least two hulls of the same structure to increase the accommodation space and buoyancy, and cooperates with the propeller so that the overall mechanism can float on the water surface and operate normally. A front garbage conveying device and a rear garbage conveying device are set on the hull to salvage, convey and collect floating plant garbage on the water surface on the front and rear sides of the hull respectively. The set mechanical arm adopts a mechanical arm that can rotate in a plane and swing up and down. In conjunction with the garbage picking end, it can accurately grab or pick up garbage bags, plastic bottles and other fixed garbage on the side of the hull, thereby expanding the garbage cleaning range, increasing the amount of garbage cleaning, improving the garbage cleaning efficiency, and enhancing the robot's ability to handle various garbage; and different types of garbage can be obtained by different tools, and collected by the first collection frame and the second collection frame respectively, so as to realize the classification of different types and volumes of water garbage, which is convenient for subsequent garbage disposal.

[0018] Therefore, the present invention has the characteristics of improving the garbage treatment efficiency and expanding the range of garbage treatment categories. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a structural schematic diagram of the present invention.

[0020] Figure 2 It is a structural schematic diagram of the clamping device.

[0021] Figure 3 It is a structural schematic diagram of the clamping plate.

[0022] Figure 4 It is a schematic diagram of the external structure of the first collection frame.

[0023] Figure 5 It is a structural schematic diagram of the front garbage conveying device.

[0024] Figure 6 It is a schematic diagram of the structure of the second collection frame.

[0025] Figure 7 It is a schematic diagram of the distribution structure of infrared transmitters and infrared receivers.

[0026] The marks in the attached drawings are: 1, hull; 11, camera; 12, propeller; 2, front garbage conveying device; 21, rotating roller; 22, transmission shaft; 23, dirt blocking plate; 24, through hole; 25, boss; 26, transverse groove; 3, rear garbage conveying device; 31, main conveying frame; 32, side conveying frame; 33, connecting shaft; 34, roller; 4, first collecting frame; 41, pressing device; 411, hydraulic cylinder; 412, main board; 413, mounting groove; 414, movable plate; 415, spring; 42. baffle; 43. rotating shaft; 44. conveyor belt; 45. take-up drum; 46. restraining rope; 47. guide ring; 48. guide cylinder; 481. guide groove; 482. straightening wheel; 5. mechanical arm; 51. mechanical claw; 52. net bag; 6. second collection frame; 61. covering plate; 62. ferromagnetic counterweight; 63. magnetic body; 64. inner electromagnet; 65. extension part; 66. outer electromagnet; 67. annular groove; 671. infrared transmitter; 672. infrared receiver; 68. light-transmitting plate. DETAILED DESCRIPTION

[0027] The present invention will be further described below in conjunction with the embodiments, but they are not intended to limit the present invention.

[0028] Example:

[0029] like Figure 1-Figure 7 As shown, an intelligent and efficient water cleaning robot comprises at least one pair of hulls 1, a front garbage conveying device 2 and a rear garbage conveying device 3 are arranged between the two adjacent hulls 1, a first collecting frame 4 is arranged between the front garbage conveying device 2 and the rear garbage conveying device 3, and a mechanical arm 5 is arranged on each hull 1, and a garbage picking end is arranged at the end of the mechanical arm 5, and the garbage picking end comprises at least one of a mechanical claw 51 and a net bag 52. The mechanical arms 5 at different positions can be equipped with different garbage picking ends, so that solid garbage of different sizes, such as plastic bottles, plastic bags, foam boards, etc., can be picked up more quickly and accurately. A second collecting frame 6 is arranged on one side of the mechanical arm 5, and drainage holes are arranged on the first collecting frame 4 and the second collecting frame 6; a propeller 12 is arranged at the tail end of the hull 1.

[0030] The present invention sets at least two hulls 1 of the same structure to increase the accommodation space and buoyancy, and cooperates with the propeller 12 so that the overall mechanism can float on the water surface and operate normally. A front garbage conveying device 2 and a rear garbage conveying device 3 are set on the hull 1 to salvage, transport and collect floating plant garbage on the water surface on the front and rear sides of the hull 1 respectively. The mechanical arm 5 is a mechanical arm 5 that can rotate in a plane and swing up and down. In conjunction with the garbage picking end, it can accurately grab or pick up garbage bags, plastic bottles and other fixed garbage on the side of the hull 1, thereby expanding the garbage cleaning range, increasing the amount of garbage cleaning, improving the garbage cleaning efficiency, and enhancing the robot's ability to handle various garbage; and different types of garbage can be obtained by different tools, and collected by the first collection frame 4 and the second collection frame 6 respectively, so as to realize the classification of different types and volumes of water garbage, which is convenient for subsequent garbage disposal.

[0031] A clamping device 41 is provided above the first collection frame 4, and a baffle 42 is provided at the bottom of the first collection frame 4. The baffle 42 is rotatably connected to one side of the first collection frame 4 through a rotating shaft 43. A torsion spring is sleeved on the rotating shaft 43, and one end of the torsion spring is connected to the baffle 42, and the other end of the torsion spring is connected to the first collection frame 4. A conveyor belt 44 is provided below the first collection frame 4. The clamping device 41 squeezes the garbage in the first collection frame 4, compresses the garbage, reduces the volume of the garbage, and discharges the squeezed water through the drain hole of the first collection frame 4. The torsion force of the torsion spring adopts a large torsion force. When the squeezing force of the clamping device 41 is greater than the torsion force of the torsion spring, the baffle 42 is pushed to open, and the squeezed garbage is discharged from the bottom outlet of the first collection frame 4 to the transmission belt, realizing automatic compression, discharge and transportation of the garbage.

[0032] The clamping device 41 includes a hydraulic cylinder 411, and a clamping plate located just above the first collection frame 4 is provided on the output shaft of the hydraulic cylinder 411; the clamping plate includes a main plate 412, and mounting grooves 413 are provided on both sides of the main plate 412, and a movable plate 414 is connected to the mounting groove 413 through a spring 415. The size of the clamping plate matches the inner diameter of the first collection frame 4, and the side of the movable plate 414 matches the side of the first collection frame 4. In this embodiment, the first collecting frame 4 used is a trapezoidal shape that is larger at the top and smaller at the bottom. When the clamping plate moves downward in the first collecting frame 4, the movable plate 414 is squeezed by the two side walls of the first collecting frame 4 and gradually retracts into the mounting groove 413 so that the size of the clamping plate matches the inner wall space of the first collecting frame, and the side of the movable plate 414 is an inclined surface, so that it can better fit with the inner wall of the first collecting frame 4, thereby improving the comprehensiveness of the compression of the garbage by the clamping plate; and the collected garbage is squeezed from the large mouth to the small mouth in the first collecting frame 4, and the side of the first collecting frame 4 will also cause a certain squeezing force on the garbage, thereby making the garbage compressed more tightly and with a higher degree of compression.

[0033] The two opposite outer sides of the first collection frame 4 are connected to a plurality of reel drums 45 for corresponding rotation. The reel drums 45 are wound with binding ropes 46. One end of the binding rope 46 is wound on the reel drum 45 on one outer side, and the other end of the binding rope 46 is wound around the bottom of the baffle 42 and wound on the reel drum 45 on the other outer side. The binding rope 46 is wound around the bottom of the outlet of the first collection frame 4 and upwardly wound on two corresponding reel drums 45. When the compressed garbage in the first collection frame 4 is squeezed and discharged from the bottom outlet of the first collection frame 4, the binding rope 46 is automatically wound out from the reel drum 45 as the compressed garbage moves, and the bottom and side of the compressed garbage are limited and bound, so as to facilitate the subsequent bundling, transportation and collection of the garbage, and avoid the garbage being loose and difficult to sort.

[0034] The outer side of the first collection frame 4 is located between the winding drum 45 and the baffle 42 and is provided with a guide ring 47 and a guide cylinder 48 in sequence. A guide groove 481 is provided in the guide cylinder 48, and a plurality of pairs of straightening wheels 482 are provided in the guide groove 481 along the extension direction of the binding rope 46. The binding rope 46 passes through the guide ring 47 and the guide cylinder 48 to bind the garbage. The guide ring 47 guides the binding rope 46 to ensure that the binding rope 46 is not easily deviated when it is wound off the winding drum 45, thereby improving the position accuracy of the garbage binding and packaging; the guide cylinder 48 straightens the binding rope 46 through the straightening wheel 482 to ensure that the binding rope 46 maintains flatness and straightness, thereby facilitating the packaging of the compressed garbage. The binding rope 46 is generally made of steel wire rope.

[0035] The front garbage conveying device 2 includes a rotating roller 21, and the two ends of the rotating roller 21 are rotatably connected to the hull 1 on both sides through a transmission shaft 22. The transmission shaft 22 is driven by a rotating motor. A plurality of trash blocking plates 23 are arranged along the circumferential direction on the rotating roller 21, and through holes 24 are evenly arranged on the trash blocking plates 23. The rotating motor drives the transmission shaft 22 to rotate, thereby driving the rotating roller 21 to rotate so that the trash blocking plates 23 rotate from front to back to salvage plastic foam fragments, weeds and other garbage on the water area, and as the trash blocking plates 23 rotate, the salvaged garbage is accurately put into the first collection frame 4, realizing large-scale garbage cleaning. The through holes 24 arranged on the surface of the trash blocking plates 23 can effectively reduce resistance and prevent water accumulation.

[0036] The top of the trash-blocking plate 23 is provided with a boss 25 extending to one side, and the surface of the trash-blocking plate 23 is provided with a plurality of transverse grooves 26. The boss 25 is provided to facilitate the salvage of the hooked garbage during the working process and prevent the garbage from falling; the transverse grooves 26 increase the friction with the garbage, further facilitate the garbage scooping and prevent the garbage from falling.

[0037] The rear garbage conveying device 3 includes a main conveying frame 31 which is tilted, the upper end of the main conveying frame 31 is located above the first collection frame 4, the lower end of the main conveying frame 31 extends into the water, and side conveying frames 32 are provided on both sides of the inlet of the main conveying frame 31. The side conveying frames 32 are rotatably connected to the main conveying frame 31 through a connecting shaft 33 driven by a stepping motor, and a grid-type conveyor belt 44 driven by a roller 34 is provided on both the main conveying frame 31 and the side conveying frame 32. Plants such as weeds and dead branches floating on the water surface are conveyed to the first collection frame 4 through the main conveying frame 31, and the water surface plants diffused at the inlet can be gathered through the rotatable side conveying frame 32 at the inlet, thereby expanding the collection range of garbage and concentrating them in the middle of the main conveying frame 31, assisting the main conveying frame 31 to quickly convey and reduce the situation where garbage is attached to the main conveying frame 31.

[0038] A position detector is provided inside the second collecting frame 6, a covering plate 61 is provided on the top of the second collecting frame 6, one side of the covering plate 61 is rotatably connected to the second collecting frame 6, a ferromagnetic counterweight 62 is provided on the other side of the covering plate 61, and a magnetic body 63 is provided on the top of the covering plate 61; an inner electromagnet 64 which cooperates with the ferromagnetic counterweight 62 for adsorption is provided on the inner wall of the second collecting frame 6, an extension portion 65 is provided on one side of the top end of the second collecting frame 6, an outer electromagnet 66 which cooperates with the magnetic body 63 for adsorption is provided on the extension portion 65, and both the inner electromagnet 64 and the outer electromagnet 66 are electrically connected to the position detector.

[0039] When the second collecting frame 6 is not filled with garbage, the outer electromagnet 66 is energized to absorb the covering plate 61 through the magnetic body 63, so that the covering plate 61 opens the second collecting frame 6. The position detector arranged in the second collecting frame 6 is used to detect the garbage storage situation in the second collecting frame 6. When the position detector detects that the garbage reaches the preset position in the second collecting frame 6, the outer electromagnet 66 is powered off, and the covering plate 61 flips downward to cover the second collecting frame 6 under the action of the ferromagnetic counterweight block 62. At the same time, the inner electromagnet 64 is energized to absorb the ferromagnetic counterweight block 62, thereby fixing the covering plate 61 to prevent the garbage in the second collecting frame 6 from overflowing.

[0040] The position detector includes a controller, an infrared transmitter 671 and an infrared receiver 672. An annular groove 67 is provided on the inner wall of the second collection frame 6. The infrared transmitter 671 and the infrared receiver 672 correspond to each other and are distributed in an array in the annular groove 67. A light-transmitting plate 68 is provided at the opening of the annular groove 67. The annular groove 67 is set at a preset position of the second collection frame 6. When no garbage is installed, the infrared transmitter 671 emits infrared light, and the infrared receiver 672 receives the infrared light accordingly. When the garbage is filled to the position of the annular groove 67, the infrared light between the infrared transmitter 671 and the infrared receiver 672 is blocked for a long time, so that the infrared receiver 672 sends a signal to the controller, and the controller controls the outer electromagnet 66 to be powered off, and the inner electromagnet 64 to be powered on, and the cover plate 61 is closed.

[0041] A vacuum air bag is provided at the bottom of the hull 1 . Two vacuum air bags can be provided, which are respectively located on both sides of the bottom of the hull 1 to increase the amount of water discharged and improve the overall balance of the hull 1 .

[0042] A camera 11 is provided on the deck of the hull 1, which is helpful to expand the observation field, better understand the garbage situation on the water area, and obtain the garbage on the water surface more accurately.

[0043] Working process: the propeller 12 drives the cleaning robot to travel on a large area of ​​water, and at the same time uses the camera 11 to observe the situation in the water area and understand the location of the garbage; when garbage is observed, the cleaning robot is driven to move to the side of the garbage, suspends above the water area through the vacuum air bag, obtains the garbage on the water area through the mechanical arm 5 and / or the front garbage conveying device 2 and the rear garbage conveying device 3, and picks it up into the corresponding first collection frame 4 and second collection frame 6 for classified collection; when the garbage in the first collection frame 4 is full, the garbage is compressed by the pressing device 41; when the garbage in the second collection frame 6 is full, the second collection frame 6 is closed by the covering plate 61 to prevent the garbage from overflowing.

[0044] It should be understood that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit it. For those skilled in the art, the technical solutions described in the above embodiments can be modified, or some of the technical features therein can be replaced by equivalents; and all these modifications and replacements should fall within the scope of protection of the claims attached to the present invention.

Claims

1. An intelligent and efficient water cleaning robot, Features: The invention comprises at least one pair of hulls (1), a front garbage conveying device (2) and a rear garbage conveying device (3) are arranged between two adjacent hulls (1), a first collecting frame (4) is arranged between the front garbage conveying device (2) and the rear garbage conveying device (3), each hull (1) is provided with a mechanical arm (5), a garbage picking end is arranged at the end of the mechanical arm (5), a second collecting frame (6) is arranged on one side of the mechanical arm (5), and a propeller (12) is arranged at the tail end of the hull (1).

2. An intelligent and efficient water cleaning robot according to claim 1, Features: A pressing device (41) is provided above the first collecting frame (4), a baffle (42) is provided at the bottom of the first collecting frame (4), the baffle (42) is rotatably connected to one side of the first collecting frame (4) via a rotating shaft (43), a torsion spring is sleeved on the rotating shaft (43), one end of the torsion spring is connected to the baffle (42), and the other end of the torsion spring is connected to the first collecting frame (4), and a conveyor belt (44) is provided below the first collecting frame (4).

3. An intelligent and efficient water cleaning robot according to claim 2, Features: The clamping device (41) comprises a hydraulic cylinder (411), and a clamping plate located directly above the first collecting frame (4) is provided on the output shaft of the hydraulic cylinder (411); the clamping plate comprises a main board (412), and mounting grooves (413) are provided on both sides of the main board (412), and a movable plate (414) is connected in the mounting groove (413) via a spring (415).

4. The intelligent and efficient water cleaning robot according to claim 2, Features: The two opposite outer sides of the first collecting frame (4) are connected to a plurality of winding drums (45) for corresponding rotation, and a binding rope (46) is wound on the winding drum (45), one end of the binding rope (46) is wound on the winding drum (45) on one of the outer sides, and the other end of the binding rope (46) is wound around the bottom of the baffle (42) and wound on the winding drum (45) on the other outer side.

5. An intelligent and efficient water cleaning robot according to claim 4, Features: A guide ring (47) and a guide cylinder (48) are provided in sequence on the outer side surface of the first collecting frame (4) between the winding cylinder (45) and the baffle (42); a guide groove (481) is provided in the guide cylinder (48); and a plurality of pairs of straightening wheels (482) are provided in the guide groove (481) along the extension direction of the binding rope (46).

6. The intelligent and efficient water cleaning robot according to claim 1, Features: The front garbage conveying device (2) comprises a rotating roller (21), the two ends of which are rotatably connected to the hull (1) on both sides via a transmission shaft (22), the transmission shaft (22) being driven by a rotating motor, a plurality of trash blocking plates (23) being provided on the rotating roller (21) along a circumferential direction, through holes (24) being evenly arranged on the trash blocking plates (23), a boss (25) extending to one side being provided on the top of the trash blocking plates (23), and a plurality of transverse grooves (26) being provided on the surface of the trash blocking plates (23).

7. The intelligent and efficient water cleaning robot according to claim 1, Features: The rear garbage conveying device (3) comprises a main conveying frame (31) which is inclined, the upper end of the main conveying frame (31) is located above the first collecting frame (4), the lower end of the main conveying frame (31) extends into the water, side conveying frames (32) are provided on both sides of the inlet of the main conveying frame (31), the side conveying frames (32) are rotatably connected to the main conveying frame (31) through a connecting shaft (33) driven by a stepping motor, and the main conveying frame (31) and the side conveying frame (32) are both provided with a grid-type conveyor belt (44) driven by a roller (34).

8. The intelligent and efficient water cleaning robot according to claim 1, Features: A position detector is provided inside the second collection frame (6), a cover plate (61) is provided on the top of the second collection frame (6), one side of the cover plate (61) is rotatably connected to the second collection frame (6), a ferromagnetic counterweight (62) is provided on the other side of the cover plate (61), and a magnetic body (63) is provided on the top of the cover plate (61); an inner electromagnet (64) which cooperates with the ferromagnetic counterweight (62) for adsorption is provided on the inner wall of the second collection frame (6), an extension portion (65) is provided on one side of the top of the second collection frame (6), an outer electromagnet (66) which cooperates with the magnetic body (63) for adsorption is provided on the extension portion (65), and both the inner electromagnet (64) and the outer electromagnet (66) are electrically connected to the position detector.

9. The intelligent and efficient water cleaning robot according to claim 8, Features: The position detector comprises a controller, an infrared transmitter (671) and an infrared receiver (672); an annular groove (67) is provided on the inner wall of the second collection frame (6); the infrared transmitter (671) and the infrared receiver (672) correspond to each other one by one and are distributed in an array in the annular groove (67); a light-transmitting plate (68) is provided at the opening of the annular groove (67).

10. The intelligent and efficient water cleaning robot according to claim 1, Features: A vacuum air bag is provided at the bottom of the hull (1), and a camera (11) is provided at the top of the hull (1).

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