Underwater robot

Abstract

The invention relates to the technical field of intelligent cleaning equipment, in particular to an underwater robot which comprises a robot body and a filtering device arranged in the robot body. The bottom of the machine body is provided with a sewage suction port communicated with the filtering device; a water outlet is further formed in the side, avoiding the dirt suction opening, of the machine body; wherein a rollover stopping assembly is further arranged, the rollover stopping assembly is movably connected with the machine body, and when the machine body is rollover and stopped, the rollover stopping assembly extends out of the machine body along the bottom of the machine body, so that the machine body is fixed to a vertical external attachment wall; the swimming pool cleaning device is used for solving the problems that cleaning is poor, the swimming pool is prone to being influenced by waves and turned over or floats along with waves, impurities are inconvenient to collect, and the swimming pool cleaning device is not suitable for various swimming pools where base stations are not suitable. Powerful cleaning of corner positions of various swimming pools is realized; the machine body can be stably and efficiently cleaned through the side turning stop assembly, and impurities can be conveniently collected; no extra matching assembly needs to be installed, and the use convenience is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent cleaning equipment, and more specifically, to an underwater robot. Background Art

[0002] In the current context of technological innovation and the booming high-end manufacturing industry, the robotics industry has undoubtedly become the focus of global attention. Many major economies have regarded the robotics industry as a national strategy and are committed to maintaining and enhancing the competitive advantage of the manufacturing industry through the development of this field. Especially in the field of smart homes, the application of robots has penetrated into daily life, and various types of robots are gradually replacing manual labor to complete various complex household tasks.

[0003] Specifically in the field of pool cleaning, pool robots are becoming increasingly important as a professional cleaning device. These robots are specially designed to clean private or public pools, which not only significantly saves labor costs, but also has a more thorough and efficient cleaning effect than traditional manual cleaning methods. With the continuous advancement of technology and the gradual reduction of costs, the use of pool robots for pool cleaning has gradually become a trend, indicating that the pool cleaning industry will usher in a technology-driven revolution.

[0004] There are many problems to be solved in the motion mechanism of the existing swimming pool robot for underwater cleaning. The invention patent with publication number CN101481957B adopts a traditional crawler motion mechanism, which realizes rotation in situ with the central axis as the center through the reverse operation of the synchronous belts on both sides. The motion mechanism is difficult to adapt to the corners of the swimming pool, and it is easy to leave cleaning dead corners, and the motion mechanism is complex and large in size. The swimming pool cleaning robot provided by the invention patent with publication number US8241430B2 is provided with a pair of support brushes located at the front and rear ends respectively, and the rotation of the swimming pool cleaning robot is realized by using its differential angular rotation motion. Its disadvantage is that the motion mechanism and the cleaning mechanism are the same device, and it is difficult to perform their respective functions separately. The swimming pool cleaning robot provided by the invention patent with publication number US10294686B1 is provided with a water spray pump with different orientation angles at the central position of the back, and its water spray direction is limited, and it is set at the central position of the back, resulting in a large energy loss. The utility model patent with publication number CN221232567U provides a swimming pool robot system, which fixes the swimming pool cleaning robot on the base station through a base station, a control module and a locking device. The disadvantage is that the swimming pool cleaning robot can only be used in swimming pools with base stations installed, and cannot be flexibly used in a variety of swimming pools that are not suitable for installing base stations. Summary of the invention

[0005] The present invention aims to overcome at least one defect (shortcoming) of the above-mentioned prior art and provides an underwater robot for solving the problems that the motion mechanism of the swimming pool robot is difficult to adapt to the corners of the swimming pool, resulting in poor cleaning, the swimming pool robot is easily overturned or floats with the waves during the cleaning work, and is not convenient for collecting impurities, and the swimming pool robot cannot be used in a variety of swimming pools that are not suitable for installing base stations.

[0006] The technical solution adopted by the present invention is an underwater robot, comprising: a body, and a filtering device arranged in the body; a sewage suction port connected to the filtering device is provided at the bottom of the body; a water outlet is also provided on the side of the body avoiding the sewage suction port; the water outlet is provided with a water spray component, and the water output of the water outlet is controlled by the water spray component to adjust the moving direction of the body; wherein a rollover parking component is also provided, and the rollover parking component is movably connected to the body. When the body rolls over and stops, the rollover parking component extends along the bottom of the body to the outside of the body so that the body is fixed on the vertical external attachment wall.

[0007] It is conducive to filtering impurities in the swimming pool through the filtering device in the machine body to complete the cleaning operation; it is conducive to replacing the water to be cleaned in the swimming pool through the water outlet and then discharging it, so that the water level of the swimming pool remains unchanged; it is conducive to providing propulsion or extrusion force to the machine body through the water spray component, controlling the water output and water output speed of each water outlet located at different positions of the machine body, so that the filtered clean water is discharged from a specific water outlet at a specific flow rate under the power of the water spray component, thereby adjusting the moving direction of the machine body; it is conducive to allowing the machine body to be suspended on the wall of the swimming pool through the rollover parking component, so that the machine body will not float with the waves or flip over due to the impact of the waves, thereby completing the cleaning operation efficiently and quickly, and it is also convenient to remove impurities in the filtering device. At the same time, the machine body can be charged in the wall hanging state to extend the cleaning working time of the machine body.

[0008] Furthermore, the rollover parking assembly is arranged at the front end or the rear end of the machine body, and the rollover parking assembly is slidably connected or rotatably connected to the machine body.

[0009] The rollover parking assembly arranged at one end of the machine body can save the number of rollover parking assemblies and facilitate the machine body to be hung on the wall, and different wall hanging modes can be realized through sliding connection or rotating connection.

[0010] Furthermore, the rollover parking assembly includes an extension arm and a sliding device, the extension arm is slidably connected to the sliding device, and the external attachment wall is provided with a concave cavity; when the rollover is parked, the sliding device drives the extension arm to slide to the side away from the body until the extension arm extends to the concave cavity of the external attachment wall and engages therewith, thereby forming a fixation between the body and the external attachment wall.

[0011] It is beneficial to realize horizontal extension of the extension arm through horizontal movement of the extension arm on the sliding device, so that the machine body can realize a horizontally movable wall-hanging state; and the stability of the machine body hanging on the wall is improved through the clamping connection between the extension arm and the concave cavity.

[0012] Furthermore, the rollover parking assembly includes a fixed arm and a rotating device, one end of the fixed arm is connected to the rotating device; when the rollover parking is performed, the rotating device drives the fixed arm to rotate toward the side away from the bottom of the body, until the fixed arm extends outside the bottom of the body and is perpendicular to the bottom surface of the body; the part of the fixed arm extending from the bottom surface of the body is used to abut against the external attachment wall to form a fixation between the body and the external attachment wall.

[0013] It is beneficial to realize the rotation and extension of the fixed arm through the cooperation of the fixed arm and the rotating device, so that the machine body can realize the angle-rotating wall-hanging state; the flexibility of the machine body hanging on the wall is improved by connecting the fixed wall and the rotating device.

[0014] Furthermore, the rollover parking assembly is provided with a fixing surface, and the fixing surface is used to contact and fix with the external attachment wall.

[0015] It is beneficial to further enhance the stability of the machine body hanging on the wall through the fixing surface.

[0016] Furthermore, at least the fixing surface is provided with a flexible attachment layer, or a first suction cup, or a covering tape.

[0017] It is beneficial to strengthen the stability of the connection between the machine body and the wall through adhesive by arranging a flexible attachment layer on the fixed surface, to strengthen the adsorption force of the machine body on the external attachment wall by arranging a first suction cup on the fixed surface, and to strengthen the adaptability of the machine body to external attachment walls of different shapes by arranging a track on the fixed surface.

[0018] Further, the rollover parking component is provided with a first magnetic sheet, and the external attachment wall is provided with a first magnetic body for cooperating with the first magnetic sheet for fixing, and the first magnetic sheet and the first magnetic body are used for position detection and secondary fixation after the rollover parking component and the external attachment arm are in place; or, the body is provided with a second magnetic sheet, and the external attachment wall is provided with a second magnetic body for cooperating with the second magnetic sheet for fixing, and the second magnetic sheet and the second magnetic body are used for position detection and secondary fixation after the rollover parking component and the external attachment arm are in place.

[0019] It is beneficial to form electromagnetic induction through the cooperation of the first magnetic sheet of the rollover parking assembly and the first magnetic body in the external attachment wall, thereby further strengthening the connection stability between the rollover parking assembly and the external attachment wall; and to form electromagnetic induction through the cooperation of the second magnetic sheet of the machine body and the second magnetic body in the external attachment wall, thereby further strengthening the connection stability between the machine body and the external attachment wall.

[0020] Furthermore, a second suction cup is provided on the machine body, and the second suction cup is used to further fix the rollover parking assembly after it is in place with the external attachment wall.

[0021] It is beneficial to further strengthen the connection stability between the machine body and the external attachment wall through the second suction cup arranged on the machine body.

[0022] Furthermore, the water outlets are provided at the front and rear ends of the machine body, and when the rollover parking assembly is fixed to the external attachment wall, the water sprayed from the front water outlets can prevent the machine body from tilting its head upward.

[0023] It is advantageous that when the cleaned pool water is discharged through the water outlet, according to the setting of the water spray component, the water spray volume of the water outlet above the water surface of the wall-mounted body can be greater than the water spray volume of the water outlet below the water surface, thereby preventing the body from being impacted by waves and tilting back during the wall-mounted process, affecting the cleaning process.

[0024] Furthermore, a position identification module is provided on the side of the machine body close to the external attachment wall, for detecting and identifying whether the machine body has reached a fixed target on the external attachment wall, and the water spray assembly receives a signal sent by the position identification module.

[0025] It is beneficial to determine the distance of the machine body from the target position of the external attachment wall through the position recognition module, so as to send a signal to the water spray component to adjust the direction of the machine body in the water until it moves to the target position.

[0026] Furthermore, an angle recognition module is provided on the side of the rollover parking assembly close to the external attachment wall for detecting and identifying the angle α between the rollover parking assembly and the machine body when the rollover parking assembly is fixed in place, and the water spray assembly receives the signal sent by the angle recognition module.

[0027] It is helpful to determine through the angle recognition module whether the angle between the rollover parking assembly and the body during the fixation process of the rollover parking assembly and the external attachment wall reaches α, thereby sending a signal to the water spray assembly to adjust the height of the body in the water until the rollover parking assembly is fixed in place.

[0028] Furthermore, the body is provided with a battery assembly with a charging coil, and the battery assembly is used for wireless charging of the battery assembly after the rollover parking assembly and the external attachment arm are in place; the body is provided with a solar charging panel, which is charged when the rollover parking assembly and the external attachment arm are in place, and is discharged when the body floats on the water; the side of the body is also provided with a cleaning port for removing the filter device, and / or a charging interface.

[0029] It is beneficial to complete charging through contactless charging so that the machine body can be hung on the wall in water, thereby increasing the working time of the machine body in water. By arranging the cleaning port on the side of the machine body, the staff does not need to salvage impurities in the center of the swimming pool. They only need to open the cleaning port when the machine body is hung on the wall to complete the collection of impurities, thereby improving the efficiency of the machine body in completing cleaning operations.

[0030] Compared with the prior art, the beneficial effects of the present invention are as follows: the body and the filtering device of the swimming pool robot can flexibly adapt to the powerful cleaning of the corners of various swimming pools, and the cleaning work of replacing the filtered water can be achieved while maintaining the water level of the swimming pool; the body of the swimming pool robot is suspended on the wall of the swimming pool through the rollover parking component of the swimming pool robot, so that the body can stably and efficiently complete the cleaning work and is not affected by the waves. At the same time, the body docked on the wall can conveniently collect impurities in the filtering device to avoid manual salvage; the rollover parking component of the swimming pool robot allows the robot to achieve the flexible docking and wall-hanging effect of any swimming pool without the need for additional installation of matching components, thereby increasing the convenience of using the robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 It is a structural schematic diagram of the present invention.

[0032] Figure 2 It is a schematic diagram of the fixing of the extension arm and the concave cavity of the present invention.

[0033] Figure 3 It is a cross-sectional schematic diagram of the extension arm of the present invention extending out of the machine body.

[0034] Figure 4 It is a cross-sectional schematic diagram of the extension arm of the present invention being arranged in the machine body.

[0035] Figure 5 It is a schematic diagram of the fixing arm of the present invention cooperating with the external attachment wall for fixing.

[0036] Figure 6 It is a cross-sectional schematic diagram of the fixed arm of the present invention being arranged in the machine body.

[0037] Description of the symbols in the accompanying drawings: machine body 100 , water outlet 110 , extension arm 210 , concave cavity 310 , fixed arm 220 . DETAILED DESCRIPTION

[0038] The drawings of the present invention are only for illustrative purposes and should not be construed as limiting the present invention. In order to better illustrate the following embodiments, some parts of the drawings may be omitted, enlarged or reduced, and do not represent the size of the actual product; it is understandable to those skilled in the art that some well-known structures and their descriptions in the drawings may be omitted. Example 1

[0039] like Figure 1-6As shown, this embodiment provides an underwater robot, which includes: a body 100, and a filtering device arranged in the body 100; a sewage suction port connected to the filtering device is arranged at the bottom of the body 100; a water outlet 110 is also arranged on the side of the body 100 avoiding the sewage suction port; the water outlet 110 is provided with a water spray component, and the water output of the water outlet 110 is controlled by the water spray component to adjust the moving direction of the body 100; the water outlet is provided with a water spray component, and the moving direction of the body is adjusted by adjusting the water output of the water spray component; wherein a rollover parking component is also provided, and the rollover parking component is movably connected to the body 100. When the body 100 rolls over and stops, the rollover parking component extends along the bottom of the body 100 to the outside of the body 100, so that the body 100 is fixed on the vertical external attachment wall.

[0040] In this embodiment, the body 100 is a hollow shell, so that the underwater robot will not be overweight; the filtering device is arranged in the body 100, so that the impurities are intercepted after the swimming pool water is sucked into the body 100 from the suction port, and the filtered clean water is discharged from the water outlet 110 and flows back into the swimming pool, thereby ensuring the continuous cleaning effect during the normal use of the swimming pool; the water spraying assembly is arranged in the body, and the water spraying assembly controls the drainage volume and drainage speed of the water outlet 110, thereby providing a propulsion force or a squeezing force for the body 100, so that the filtered clean water is discharged from the specific water outlet 110 at a specific flow rate under the power of the water spraying assembly, thereby adjusting the moving direction of the body 100; the rollover parking assembly is connected to the body 100, and the body 100 achieves a wall hanging effect through the rollover parking assembly, and the external attachment wall is the wall of the swimming pool. When the underwater robot is performing cleaning work, the body 100 floats on the water surface, and the rollover parking assembly is fixed on the wall of the swimming pool.

[0041] The rollover parking assembly is disposed at the front end or the rear end of the machine body 100 , and the rollover parking assembly is connected to the machine body 100 in a sliding connection or a rotational connection.

[0042] In this embodiment, when the rollover parking component is arranged at the front end of the body 100, the underwater robot is hung on the wall of the swimming pool. When the rollover parking component is arranged at the rear end of the body 100, the underwater robot is hung upside down on the wall of the swimming pool. Both have the same effect, except that when the garbage collection port and the charging port on the body 100 are close to the rear end, it is easier to operate the underwater robot when it is hung upside down.

[0043] The rollover parking assembly includes an extension arm 210 and a sliding device, the extension arm 210 is slidably connected to the sliding device, and the external attachment wall is provided with a cavity 310; when the rollover is parked, the sliding device drives the extension arm 210 to slide to the side away from the body 100 until the extension arm 210 extends to the cavity 310 of the external attachment wall and engages therewith, thereby forming a fixation between the body 100 and the external attachment wall.

[0044] In this embodiment, the rollover parking assembly and the machine body 100 can be connected in a sliding manner; when the rollover parking assembly is slidably connected to the machine body 100, the extension arm 210 is driven by the sliding device to extend outside the machine body 100. The extension arm 210 is not limited to being arranged in the machine body 100 or at the bottom of the machine body 100. By setting a concave cavity 310 on the wall of the swimming pool and fixing the extended extension arm 210, the wall hanging effect of the machine body 100 is achieved, thereby starting the cleaning operation. The upper part of the concave cavity 310 is also provided with a lid that can be rotated to open. When there is dust or dirt in the concave cavity 310, the lid can be opened manually for cleaning to prevent the extension arm 210 from moving when it is fixed with the concave cavity 310.

[0045] The rollover parking assembly includes a fixed arm 220 and a rotating device, one end of the fixed arm 220 is connected to the rotating device; when the rollover parking is performed, the rotating device drives the fixed arm 220 to rotate toward the side away from the bottom of the body 100, until the fixed arm 220 extends to the outside of the bottom of the body 100 and is perpendicular to the bottom surface of the body 100; the part of the fixed arm 220 extending from the bottom surface of the body 100 is used to abut against the external attachment wall to form a fixation between the body 100 and the external attachment wall.

[0046] In this embodiment, the rollover parking assembly and the body 100 may be connected in a rotational manner; when the rollover parking assembly is rotationally connected to the body 100, the fixed arm 220 is driven by the rotating device to rotate out from the bottom of the body 100 until the fixed arm 220 and the bottom surface of the body 100 are perpendicular to each other, so that the fixed arm 220 is in contact with the horizontal surface of the swimming pool bank, and the bottom surface of the body 100 is in contact with the vertical wall of the swimming pool, thereby forming a wall-hanging fixing effect between the body 100 and the external attachment wall.

[0047] The rollover parking assembly is provided with a fixing surface, and the fixing surface is used to contact and fix with the external attachment wall.

[0048] In this embodiment, since the underwater robot floats on the water surface when performing cleaning operations in the water, the rollover parking assembly is used to fix the body 100 to the wall of the swimming pool, and the fixing surface is used to further strengthen the stability of the rollover parking assembly and the external attachment wall. When the water waves in the swimming pool always hit the side of the body 100 away from the wall of the swimming pool, the body 100 is not easily affected and flipped backwards, thereby affecting the completion of the cleaning operation.

[0049] At least the fixing surface is provided with a flexible attachment layer, or a first suction cup, or a covering tape.

[0050] In this embodiment, the fixing surface includes multiple types, and the flexible attachment layer is silicone or soft colloid. When the surface of the extension arm 210 or the fixed arm 220 is provided with silicone or soft colloid, it will form good adhesion with the smooth horizontal surface of the swimming pool bank, so that the wall hanging effect of the body 100 is more stable; when the surface of the extension arm 210 or the fixed arm 220 is provided with a first suction cup, the moment the extension arm 210 or the fixed arm 220 contacts the swimming pool bank, the first suction cup is firmly fixed to the horizontal surface of the swimming pool bank under the action of the gravity of the underwater robot itself; when the surface of the extension arm 210 or the fixed arm 220 is provided with a track, the track overcomes the non-horizontal shape of the swimming pool bank and forms a stable connection between the extension arm 210 or the fixed arm 220 and the horizontal surface of the swimming pool bank.

[0051] The rollover parking assembly is provided with a first magnetic sheet, and the external attachment wall is provided with a first magnetic body for cooperating with the first magnetic sheet for fixing. The first magnetic sheet and the first magnetic body are used for position detection and secondary fixation after the rollover parking assembly and the external attachment arm are in place; or, the body 100 is provided with a second magnetic sheet, and the external attachment wall is provided with a second magnetic body for cooperating with the second magnetic sheet for fixing. The second magnetic sheet and the second magnetic body are used for position detection and secondary fixation after the rollover parking assembly and the external attachment arm are in place.

[0052] In this embodiment, the first magnetic sheet is a metal sheet, and the first magnetic body is an electromagnet. When the rollover parking assembly is close to the fixed swimming pool target position, the electromagnetic induction between the metal sheet and the electromagnet strengthens the fixing effect; the second magnetic sheet is a metal sheet, and the second magnetic body is an electromagnet. When the machine body 100 is close to the fixed swimming pool target position, the electromagnetic induction between the metal sheet and the electromagnet strengthens the fixing effect. When it is necessary to detach from the fixation, the magnetism of the magnetic body can be eliminated by simply turning off the power, and the metal sheet and the magnetic body can be detached from the fixation.

[0053] The body 100 is provided with a second suction cup, and the second suction cup is used for further fixing the rollover parking assembly after it is in place with the external attachment wall.

[0054] In this embodiment, the second suction cup provided on the body 100 can be provided at the bottom of the body 100. When the body 100 is close to the target position of the swimming pool, the extension arm 210 or the fixed arm 220 has been fixed in place, and the second suction cup is extended from the bottom of the body 100 to the outside of the body 100. The water outlet 110 provided on the top of the body 100 corresponding to the bottom of the body 100 provides the second suction cup with a force for the body 100 to press the wall of the swimming pool by discharging clean water, so that the second suction cup can adsorb the body 100 to the wall of the swimming pool, thereby further enhancing the wall-hanging stability of the underwater robot.

[0055] The water outlets 110 are disposed at the front and rear ends of the machine body 100 . When the rollover parking assembly is fixed to the external attachment wall, water spraying from the front water outlets 110 can prevent the machine body 100 from tilting its head upward.

[0056] In this embodiment, the water outlet 110 is provided at the front and rear ends of the body 100 for discharging the filtered clean water in the swimming pool. When the rollover parking assembly is fixed on the external attachment wall, the water outlet 110 provided at the front end of the body 100 prevents the body 100 from tilting its head upward due to the impact of water waves during the fixing process by spraying water.

[0057] A position identification module is also provided on the side of the machine body 100 close to the external attachment wall, for detecting and identifying whether the machine body 100 has reached a fixed target on the external attachment wall, and the water spray assembly receives a signal sent by the position identification module.

[0058] In this embodiment, the position identification module is used to detect and identify whether the body 100 has reached the fixed target on the external attached wall. When the body 100 has not reached the fixed target on the external attached wall, the water output volume and water output speed of each water outlet 110 are adjusted by the water spray component to adjust the distance between the body 100 and the external attached wall, thereby preventing the body 100 from flipping over.

[0059] The side of the rollover parking assembly close to the external attachment wall is also provided with an angle recognition module for detecting and identifying the angle α between the rollover parking assembly and the machine body 100 when the rollover parking assembly is fixed in place, and the water spray assembly receives the signal sent by the angle recognition module.

[0060] In this embodiment, the angle recognition module is used to detect and identify the angle between the fixed arm 220 and the body 100 when the fixed arm 220 is fixed in place. When the angle α has not yet been reached, the water output and water output speed of each water outlet 110 are adjusted by the water spray assembly to adjust the angle between the fixed arm 220 and the body 100, thereby preventing the body 100 from tipping over.

[0061] The body 100 is provided with a battery assembly with a charging coil, and the battery assembly is used for wireless charging of the battery assembly after the rollover parking assembly and the external attachment arm are in place; the body 100 is provided with a solar charging panel, which is charged when the rollover parking assembly and the external attachment arm are in place, and is discharged when the body 100 floats on the water; the side of the body 100 is also provided with a cleaning port for removing the filter device, and / or a charging interface.

[0062] In this embodiment, a battery assembly with a charging coil is provided on the body 100, and a coil is provided on the external attachment wall. The coil in the body 100 and the coil in the external attachment wall are inductively coupled, thereby realizing non-contact charging of the body 100; a solar charging panel is provided on the body 100, and a solar charging device is provided on the shore of the swimming pool, which is used to directly charge the solar charging panel or to place the detachable solar charging panel in the body 100 after it is fully charged, thereby realizing the use of sustainable energy of the body 100. The cleaning port provided on the side of the body 100 can concentrate and quickly process the filtered garbage and impurities, and a charging interface can also be provided on the side of the body 100, so that the underwater robot can be charged on shore. Example 2

[0063] In this embodiment, a cleaning method of an underwater robot capable of automatically hanging on a wall is provided, comprising the following steps:

[0064] S1. After the underwater robot enters the target position in the swimming pool, it finely adjusts its underwater position through the water spray component;

[0065] S2. Open the filter device in the body 100 to filter and salvage impurities in the target position of the swimming pool;

[0066] S3 determines the nearest distance to the pool wall as the attachment wall, by rolling over the extension arm 210 and the sliding device in the parking assembly, or the fixed arm 220 and the rotating device, the body 100 is docked on the attachment wall;

[0067] S4. The body 100 is fixed to the attachment wall by the fixed surface of the rollover parking assembly, and / or the first magnetic sheet in the rollover parking assembly, and / or the second magnetic sheet in the body 100;

[0068] S5. The battery assembly with the coil in the body 100 is wirelessly charged when the body 100 is fixed to the attachment wall;

[0069] S6. Repeat steps S1 to S5 until the filtration and salvage task is completed;

[0070] S7. The machine body 100 is lifted out of the water through the buoyancy assembly and / or through the rollover parking assembly.

[0071] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the technical solution of the present invention, and are not intended to limit the specific implementation methods of the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the claims of the present invention shall be included in the protection scope of the claims of the present invention.

Claims

1. An underwater robot, comprising: A body, and a filtering device disposed in the body; The bottom of the machine body is provided with a sewage suction port connected to the filtering device; A water outlet is also provided on one side of the machine body avoiding the sewage suction port; The water outlet is provided with a water spray assembly, and the water output of the water outlet is controlled by the water spray assembly to adjust the moving direction of the machine body; It is characterized in that a rollover parking component is also provided, and the rollover parking component is movably connected to the body. When the body rolls over and stops, the rollover parking component extends along the bottom of the body to the outside of the body so that the body is fixed on the vertical external attachment wall.

2. An underwater robot according to claim 1, characterized in that: The rollover parking assembly is arranged at the front end or the rear end of the machine body, and the rollover parking assembly is connected to the machine body in a sliding connection or a rotational connection.

3. An underwater robot according to claim 2, characterized in that: The rollover parking assembly includes an extension arm and a sliding device, the extension arm is slidably connected to the sliding device, and the external attachment wall is provided with a concave cavity; when the rollover parking is performed, the sliding device drives the extension arm to slide to the side away from the body until the extension arm extends to the concave cavity of the external attachment wall and engages therewith, thereby forming a fixation between the body and the external attachment wall.

4. An underwater robot according to claim 2, characterized in that: The rollover parking assembly includes a fixed arm and a rotating device, one end of the fixed arm is connected to the rotating device; when the rollover parking is performed, the rotating device drives the fixed arm to rotate toward the side away from the bottom of the body, until the fixed arm extends outside the bottom of the body and is perpendicular to the bottom surface of the body; the part of the fixed arm extending from the bottom surface of the body is used to abut against the external attachment wall to form a fixation between the body and the external attachment wall.

5. An underwater robot according to claim 3 or 4, characterized in that: The rollover parking assembly is provided with a fixing surface, and the fixing surface is used to contact and fix with the external attachment wall.

6. An underwater robot according to claim 5, characterized in that: At least the fixing surface is provided with a flexible attachment layer, or a first suction cup, or a covering tape.

7. An underwater robot according to any one of claims 3 or 4, characterized in that: The rollover parking component is provided with a first magnetic sheet, and the external attachment wall is provided with a first magnetic body for cooperating with the first magnetic sheet for fixing. The first magnetic sheet and the first magnetic body are used for position detection and secondary fixation after the rollover parking component and the external attachment arm are in place; or, a second magnetic sheet is provided on the machine body, and the external attachment wall is provided with a second magnetic body for cooperating with the second magnetic sheet for fixing. The second magnetic sheet and the second magnetic body are used for position detection and secondary fixation after the rollover parking component and the external attachment arm are in place.

8. The underwater robot according to claim 1, characterized in that: The machine body is provided with a second suction cup, and the second suction cup is used for further fixing the rollover parking assembly after it is matched with the external attachment wall.

9. The underwater robot according to claim 1, characterized in that: The water outlets are provided at the front and rear ends of the machine body. When the rollover parking assembly is fixed to the external attachment wall, the machine body is prevented from tilting its head upward by spraying water from the front water outlets.

10. The underwater robot according to claim 1, characterized in that: A position identification module is also provided on the side of the machine body close to the external attachment wall, which is used to detect and identify whether the machine body has reached a fixed target on the external attachment wall, and the water spray component receives a signal sent by the position identification module.

11. The underwater robot according to claim 1, characterized in that: The side of the rollover parking assembly close to the external attachment wall is also provided with an angle recognition module for detecting and identifying the angle α between the rollover parking assembly and the machine body when the rollover parking assembly is fixed in place, and the water spray assembly receives the signal sent by the angle recognition module.

12. An underwater robot according to any one of claims 1-4 or 8-11, characterized in that: The body is provided with a battery assembly with a charging coil, and the battery assembly is used for wireless charging of the battery assembly after the rollover parking assembly and the external attachment arm are in place; the body is provided with a solar charging panel, which is charged when the rollover parking assembly and the external attachment arm are in place, and is discharged when the body floats on the water; the side of the body is also provided with a cleaning port for removing the filter device, and / or a charging interface.

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