Cleaning robot and water machine body

Abstract

The invention provides a cleaning robot and an overwater machine body. The cleaning robot comprises the overwater machine body and an underwater machine body. The overwater machine body is used for floating on the liquid level of a working water area; the underwater machine body is detachably connected with the overwater machine body and is used for cleaning at least one of the wall surfaces of the working water area and the water pool; wherein the water machine body comprises a functional module, and the functional module comprises at least one of a power supply module, a collection module, a power module, a communication module, a sensor module, a prompt module, a water quality detection module and a water quality improvement module. According to the cleaning robot and the overwater machine body, when the overwater machine body or the underwater machine body needs to be independently used, the overwater machine body can be separated from the underwater machine body. When the overwater machine body and the underwater machine body need to be used together for operation, the overwater machine body and the underwater machine body are assembled and connected, the overwater machine body can expand the functions of the cleaning robot, and the functions of the cleaning robot are diversified.

Description

Technical Field

[0001] The present invention relates to the technical field of cleaning equipment, and in particular to a cleaning robot and an aquatic machine body. Background Art

[0002] Cleaning robots working in aquatic environments can clean up debris such as floating objects (such as fallen leaves and dead insects), settled debris (such as sand and gravel), and sediments attached to the pool wall. Different application scenarios have different functional requirements for cleaning robots. However, the cleaning robots in the related art have a single function, and cleaning robots with a single function are difficult to meet the use requirements in different application scenarios. Summary of the invention

[0003] The invention provides a cleaning robot and an aquatic body, aiming to diversify the functions of the cleaning robot.

[0004] The present invention provides a cleaning robot, comprising:

[0005] A water body, used to float on the liquid surface of the working water area;

[0006] An underwater body, detachably connected to the above-water body, and used for cleaning at least one of the working water area and the wall of the pool;

[0007] Wherein, the above-water body includes a functional module, and the functional module includes at least one of the following: a power supply module, a collection module, a power module, a communication module, a sensor module, a prompt module, a water quality detection module, and a water quality improvement module.

[0008] In the cleaning robot of the embodiment of the present invention, the detachable connection method between the underwater body and the above-water body includes at least one of the following: magnetic connection, snap connection, screw locking connection, and plug connection.

[0009] In the cleaning robot of the embodiment of the present invention, the above-water body includes an assembly part, the underwater body includes a floating part for floating on the liquid surface of the working water area, and the assembly part is detachably connected to the floating part.

[0010] In the cleaning robot of the embodiment of the present invention, the assembly portion includes a first conductive connecting sub-portion, the floating portion includes a second conductive connecting sub-portion, and the first conductive connecting sub-portion is used for detachably connecting with the second conductive connecting sub-portion.

[0011] In the cleaning robot of the embodiment of the present invention, the assembly part is provided with a first magnetic part, and the first magnetic part is arranged corresponding to the first conductive connecting sub-part; the underwater body is provided with a second magnetic part, and the second magnetic part is arranged corresponding to the second conductive connecting sub-part, and the first magnetic part can be magnetically matched with the second magnetic part.

[0012] In the cleaning robot of the embodiment of the present invention, the assembly part further includes:

[0013] The liquid-proof member is disposed around the outside of the first conductive connecting sub-part and is used to prevent the first conductive connecting sub-part and the second conductive connecting sub-part from being liquid-proof when the first conductive connecting sub-part is connected to the second conductive connecting sub-part.

[0014] In the cleaning robot of the embodiment of the present invention, the above-water body comprises a first control switch and a first circuit, and when the above-water body is separated from the underwater body, the first control switch is used to control the first conductive connecting sub-part to be electrically disconnected from the first circuit; and / or;

[0015] When the above-water body is separated from the underwater body, the underwater body includes a second control switch and a second circuit, and the second control switch is used to control the electrical disconnection of the second conductive connecting sub-part and the second circuit.

[0016] In the cleaning robot of the embodiment of the present invention, the above-water body comprises:

[0017] The clamping part is movably arranged on the assembling part and is used for clamping on the assembling part to lock the floating part.

[0018] In the cleaning robot of the embodiment of the present invention, the power supply module is used to supply power to the electronic components of the above-water body and at least one of the underwater body; the power supply module includes at least one of the following: a solar charging panel, a battery, and a charging interface.

[0019] In the cleaning robot of the embodiment of the present invention, the power module is used to drive the water body to move; the power module includes at least one of the following: a traveling power mechanism and a posture adjustment mechanism, the traveling power mechanism is used to drive the water body to move, and the posture adjustment mechanism is used to adjust the posture of the water body.

[0020] In the cleaning robot of the embodiment of the present invention, the travel power mechanism and the posture adjustment mechanism each include at least one of the following: a motor, a steering gear, a propeller structure, a sail, and a liquid jet structure.

[0021] In the cleaning robot of the embodiment of the present invention, the sensor module includes:

[0022] The first sensor is used to detect first position information of the above-water body.

[0023] In the cleaning robot of the embodiment of the present invention, the sensor module includes:

[0024] A second sensor is used to detect environmental information around the above-water body;

[0025] The environmental information includes second position information of the underwater body; the above-water body can be communicatively connected with the underwater body so that the underwater body controls the movement of the underwater body according to the second position information.

[0026] In the cleaning robot of the embodiment of the present invention, the environmental information further includes at least one of location information of garbage and location information of obstacles.

[0027] In the cleaning robot of the embodiment of the present invention, the underwater body can obtain the second position information of the underwater body, so that the underwater body controls the movement of the underwater body according to the second position information.

[0028] In the cleaning robot of the embodiment of the present invention, the collection module is used to collect garbage and / or oil in the working water area, and the collection module includes at least one of the following: a skimmer, an oil skimmer, a garbage collection module; and / or,

[0029] The communication module is used to communicate with the cleaning robot and external equipment; and / or,

[0030] The water quality detection module is used to detect water quality parameters of liquid; and / or,

[0031] The water quality improvement module is used to put in water quality improvement materials.

[0032] In the cleaning robot of the embodiment of the present invention, the underwater body comprises:

[0033] A first fuselage body, used to float at different depths of the working water area or sink to the bottom of the working water area to perform cleaning operations;

[0034] a first connecting member;

[0035] The floating part can float on the liquid surface, the first fuselage body is structurally connected to the floating part through the first connecting member, the first fuselage body is also electrically or communicatively connected to the floating part through the first connecting member, and the floating part is detachably connected to the water body.

[0036] In the cleaning robot of the embodiment of the present invention, the underwater body includes a mounting portion, and the above-water body includes a connecting portion for detachably connecting to the mounting portion.

[0037] In the cleaning robot of the embodiment of the present invention, the above-water body comprises:

[0038] A second fuselage body, used to float in the working waters;

[0039] a second connecting member;

[0040] The second fuselage body is structurally connected to the connecting part through the second connecting piece, the second fuselage body is also electrically or communicatively connected to the connecting part through the second connecting piece, and the connecting part is detachably connected to the underwater body.

[0041] The embodiment of the present invention further provides an above-water body, which is used to float on the liquid surface of the working water area and is used to be detachably connected to the underwater body of the cleaning robot; the above-water body includes:

[0042] The functional module includes at least one of the following: a power supply module, a collection module, a power module, a communication module, a sensor module, a prompt module, a water quality detection module, and a water quality improvement module.

[0043] The cleaning robot and the above-water body provided by the present invention are detachably connected to the underwater body of the cleaning robot, and the above-water body includes a functional module, which includes at least one of the following: a power supply module, a collection module, a power module, a communication module, a sensor module, a prompt module, a water quality detection module, and a water quality improvement module. Therefore, when the above-water body or the underwater body needs to be used independently, the above-water body can be separated from the underwater body, so that at least one of the above-water body and the underwater body can work flexibly and independently according to actual needs, thereby reducing the power and weight of the cleaning robot. When the above-water body and the underwater body need to be used together for operation, the above-water body and the underwater body can be assembled and connected. On the basis of ensuring that the cleaning robot can perform cleaning operations through the underwater body, the cleaning robot can also provide functions corresponding to at least one of the power supply module, the collection module, the power module, the communication module, the sensor module, the prompt module, the water quality detection module, and the water quality improvement module through the above-water body, thereby expanding the functions of the cleaning robot and diversifying the functions of the cleaning robot to meet the use requirements required by different application scenarios.

[0044] It should be understood that the above general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure of the embodiments of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying any creative work.

[0046] Figure 1 is a schematic structural diagram of a cleaning robot provided by an embodiment of the present invention;

[0047] Figure 2 is a schematic diagram of the structure of a functional module provided by an embodiment of the present invention;

[0048] Figure 3 is a schematic structural diagram of a water-based machine provided by an embodiment of the present invention;

[0049] Figure 4 is a schematic structural diagram of an underwater machine body provided by an embodiment of the present invention;

[0050] Figure 5 It is a schematic diagram of the connection between the above-water body and the underwater body provided by one embodiment of the present invention;

[0051] Figure 6 is a schematic structural diagram of a cleaning robot provided by an embodiment of the present invention;

[0052] Figure 7 is a schematic diagram of the structure of a functional module provided by an embodiment of the present invention;

[0053] Figure 8 is a schematic structural diagram of a cleaning robot provided by an embodiment of the present invention;

[0054] Fig. 9 is a schematic structural diagram of a cleaning robot provided by an embodiment of the present invention;

[0055] Fig.10 It is a schematic diagram of the structure of a cleaning robot provided by an embodiment of the present invention.

[0056] Description of reference numerals:

[0057] 1000. Cleaning robot;

[0058] 100. Waterborne body;

[0059] 10. Functional module; 11. Power supply module; 12. Collection module; 13. Power module; 131. Traveling power mechanism; 132. Posture adjustment mechanism; 14. Communication module; 15. Sensor module; 151. First sensor; 152. Second sensor; 16. Prompt module; 17. Water quality detection module; 18. Water quality improvement module;

[0060] 20. Assembly part; 21. First conductive connection sub-part; 22. First magnetic attraction part; 23. Liquid-proof part;

[0061] 30. first control switch; 40. first circuit; 50. engaging portion;

[0062] 60. Connecting part; 70. Second connecting member; 80. Second fuselage body;

[0063] 200, underwater body; 201, floating part; 2011, second conductive connecting sub-part; 2012, second magnetic attraction part; 202, first connecting part; 203, first body; 204, second control switch; 205, second circuit; 206, installation part. DETAILED DESCRIPTION

[0064] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0065] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined.

[0066] It should also be understood that the terms used in the present specification are only for the purpose of describing specific embodiments and are not intended to limit the present invention. As used in the present specification and the appended claims, unless the context clearly indicates otherwise, the singular forms "a", "an" and "the" are intended to include plural forms.

[0067] It should be further understood that the term "and / or" used in the present description and the appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0068] Some embodiments of the present invention are described in detail below in conjunction with the accompanying drawings. In the absence of conflict, the following embodiments and features in the embodiments can be combined with each other.

[0069] See also Figure 1 and Figure 2 The embodiment of the present invention provides a cleaning robot 1000, including an above-water body 100 and an underwater body 200, wherein the above-water body 100 is used to float on the liquid surface of the working water area. The underwater body 200 is detachably connected to the above-water body 100, and the underwater body 200 is used to clean at least one of the working water area and the wall of the pool. The above-water body 100 includes a functional module 10, and the functional module 10 includes at least one of the following: a power supply module 11, a collection module 12, a power module 13, a communication module 14, a sensor module 15, a prompt module 16, a water quality detection module 17, and a water quality improvement module 18.

[0070] The cleaning robot 1000 provided in the above-mentioned embodiment has a surface body 100 and an underwater body 200 that are detachably connected, and the surface body 100 includes a functional module 10. The functional module 10 includes at least one of the following: a power supply module 11, a collection module 12, a power module 13, a communication module 14, a sensor module 15, a prompt module 16, a water quality detection module 17, and a water quality improvement module 18. Therefore, when the surface body 100 or the underwater body 200 needs to be used independently, the surface body 100 can be separated from the underwater body 200, so that at least one of the surface body 100 and the underwater body 200 can work flexibly and independently according to actual needs, thereby reducing the power and weight of the cleaning robot 1000. When it is necessary to use the above-water body 100 and the underwater body 200 to work together, the above-water body 100 and the underwater body 200 can be assembled and connected. On the basis of ensuring that the cleaning robot 1000 can perform cleaning operations through the underwater body 200, the cleaning robot 1000 can also provide functions corresponding to at least one of the power supply module 11, the collection module 12, the power module 13, the communication module 14, the sensor module 15, the prompt module 16, the water quality detection module 17, and the water quality improvement module 18 through the above-water body 100, thereby expanding the functions of the cleaning robot 1000 and diversifying the functions of the cleaning robot 1000 to meet the usage requirements of different application scenarios. It is highly practical and conducive to market promotion and application.

[0071] Exemplarily, the cleaning robot 1000 can clean at least one of sediment attached to the pool wall, floating objects floating on the water (such as fallen leaves, dead insects, etc.), and settled debris (such as sand and stones, etc.). The pool may include a swimming pool, a fish pond, a landscape pool, etc.

[0072] For example, when the above-water body 100 is connected to the underwater body 200 and performs cleaning operations, the above-water body 100 can float on the liquid surface of the working water area to perform the work, and the underwater body 200 can be suspended at different depths of the working water area or sink to the bottom of the working water area to perform the cleaning operation. It can be understood that in other embodiments, when the above-water body 100 is connected to the underwater body 200 and performs cleaning operations, the above-water body 100 can also be suspended at different depths of the working water area or sink to the bottom of the working water area to perform the work according to actual needs.

[0073] Exemplarily, when the above-water body 100 is separated from the underwater body 200, the above-water body 100 and the underwater body 200 can selectively work according to actual conditions; alternatively, the above-water body 100 or the underwater body 200 can work individually, and the above-water body 100 can be suspended at different depths of the working water area or sink to the bottom of the working water area to work according to actual needs, and the above-water body 100 can also float on the liquid surface of the working water area to work, and the underwater body 200 can be suspended at different depths of the working water area or sink to the bottom of the working water area to perform cleaning operations according to actual needs.

[0074] For example, when the cleaning robot 1000 is not needed, the above-water body 100 and the underwater body 200 can be assembled and connected to facilitate the storage or transportation of the cleaning robot 1000; alternatively, the above-water body 100 and the underwater body 200 can be separated so that the above-water body 100 and the underwater body 200 can be stored or transported separately.

[0075] For example, the underwater machine 200 can filter and clean the liquid in the working water area, and the underwater machine 200 can also clean the wall surface of the pool. The wall surface of the pool includes at least one of the inner peripheral wall and the inner bottom wall of the pool.

[0076] Exemplarily, the working water area includes an area in a pool containing liquid. In other embodiments, the working water area may also include a certain area of ​​water in an ocean or a lake.

[0077] Exemplarily, the functional module 10 includes a power supply module 11 , a collection module 12 , a power module 13 , a communication module 14 , a sensor module 15 , a prompt module 16 , a water quality detection module 17 or a water quality improvement module 18 .

[0078] Exemplarily, the functional module 10 includes at least two of the following: a power supply module 11, a collection module 12, a power module 13, a communication module 14, a sensor module 15, a prompt module 16, a water quality detection module 17, and a water quality improvement module 18. For example, the functional module 10 includes a power supply module 11, a collection module 12, a power module 13, a communication module 14, a sensor module 15, a prompt module 16, a water quality detection module 17, and a water quality improvement module 18. For another example, the functional module 10 includes a power supply module 11, a collection module 12, a power module 13, a communication module 14, a sensor module 15, and the like.

[0079] In some embodiments, the detachable connection between the underwater body 200 and the above-water body 100 includes at least one of the following: magnetic connection, snap connection, screw locking connection, plug connection, etc. In this way, the disassembly and assembly of the underwater body 200 and the above-water body 100 are convenient and quick.

[0080] See also Figures 3 to 5 In some embodiments, the above-water body 100 includes an assembly part 20, and the underwater body 200 includes a floating part 201 for floating on the liquid surface of the working water area, and the assembly part 20 and the floating part 201 are detachably connected. In this way, when the underwater body 200 is suspended at different depths of the working water area or sinks to the bottom of the working water area to perform cleaning operations, the floating part 201 is connected to the assembly part 20, so that the underwater body 200 and the above-water body 100 can be connected to form a whole for operation. When it is not necessary for the underwater body 200 and the above-water body 100 to be connected to form a whole for operation, the floating part 201 can be separated from the assembly part 20.

[0081] See also Figure 3 and Figure 4 In some embodiments, the assembly portion 20 includes a first conductive connecting sub-portion 21, and the floating portion 201 includes a second conductive connecting sub-portion 2011. The first conductive connecting sub-portion 21 is used to be detachably connected to the second conductive connecting sub-portion 2011 to achieve detachable electrical connection between the underwater body 200 and the above-water body 100.

[0082] See also Figures 3 to 5In some embodiments, the assembly part 20 is provided with a first magnetic member 22, and the first magnetic member 22 is provided corresponding to the first conductive connection sub-part 21; the underwater body 200 is provided with a second magnetic member 2012, and the second magnetic member 2012 is provided corresponding to the second conductive connection sub-part 2011, and the first magnetic member 22 can be magnetically matched with the second magnetic member 2012. Exemplarily, the second magnetic member 2012 is provided at the floating part 201. The provision of the first magnetic member 22 and the second magnetic member 2012 can realize the rapid positioning and adsorption between the assembly part 20 and the floating part 201, so that the connection between the assembly part 20 and the floating part 201 is fast and reliable, and the connection between the first conductive connection sub-part 21 and the second conductive connection sub-part 2011 is reliable.

[0083] See also Figure 3 and Figure 4 In some embodiments, the assembly portion 20 further includes a liquid-proof member 23, which is disposed around the outside of the first conductive connection sub-portion 21. The liquid-proof member 23 is used to prevent liquid from entering the first conductive connection sub-portion 21 and the second conductive connection sub-portion 2011 when the first conductive connection sub-portion 21 is connected to the second conductive connection sub-portion 2011, thereby ensuring the reliability and safety of the electrical connection between the first conductive connection sub-portion 21 and the second conductive connection sub-portion 2011. Exemplarily, the liquid-proof member 23 includes a sealing ring, a rubber ring, or a liquid-proof layer formed by sealing oil or sealing grease.

[0084] See also Figure 6 In some embodiments, the above-water body 100 includes a first control switch 30 and a first circuit 40. When the above-water body 100 is separated from the underwater body 200, the first control switch 30 is used to control the first conductive connecting sub-part 21 to be electrically disconnected from the first circuit 40, so that the above-water body 100 separated from the underwater body 200 can be effectively liquid-proof, thereby ensuring the safety of use of the above-water body 100 separated from the underwater body 200.

[0085] See also Figure 6 In some embodiments, when the above-water body 100 is separated from the underwater body 200, the underwater body 200 includes a second control switch 204 and a second circuit 205, and the second control switch 204 is used to control the electrical disconnection of the second conductive connecting sub-part 2011 and the second circuit 205, so that the underwater body 200 separated from the above-water body 100 can be effectively liquid-proof, thereby ensuring the safety of use of the underwater body 200 separated from the above-water body 100.

[0086] See also Figure 3 , exemplarily, the first control switch 30 includes a conductive spring or a conductive spring, etc. The second control switch 204 includes a conductive spring or a conductive spring, etc.

[0087] See also Figure 3 and Figure 5 In some embodiments, the above-water body 100 includes a clamping portion 50, which is movably disposed on the assembly portion 20, and is used to clamp the assembly portion 20 to lock the floating portion 201. In this way, on the one hand, the liquid-proof performance of the connection between the assembly portion 20 and the floating portion 201 can be enhanced, and on the other hand, the connection reliability between the assembly portion 20 and the floating portion 201 can be improved to prevent the floating portion 201 from being easily separated from the assembly portion 20 when the above-water body 100 or the underwater body 200 is dragged.

[0088] Exemplarily, after the first conductive connection sub-part 21 and the second conductive connection sub-part 2011 are connected in place, the engaging part 50 is moved relative to the assembly part 20, so that the engaging part 50 is engaged with the matching part (not shown) on the assembly part 20 to lock the floating part 201. Exemplarily, one end of the engaging part 50 is movably connected to the assembly part 20, and the other end of the engaging part 50 can be engaged with or disengaged from the matching part. After the first conductive connection sub-part 21 and the second conductive connection sub-part 2011 are connected in place, the other end of the engaging part 50 is engaged with the matching part to lock the floating part 201, thereby improving the connection reliability between the assembly part 20 and the floating part 201. When it is necessary to separate the assembly part 20 from the floating part 201, the other end of the engaging part 50 can be disengaged from the matching part. Exemplarily, one of the engaging part 50 and the matching part includes a slot, and the other includes a convex part.

[0089] In some embodiments, the power supply module 11 is used to supply power to at least one of the electronic components (such as the power module 13, the communication module 14 or the sensor module 15, etc.) of the above-water body 100 and the underwater body 200, so as to ensure that the above-water body 100 and the underwater body 200 can operate normally. The power supply module 11 includes at least one of the following: a solar charging panel, a battery, and a charging interface.

[0090] Exemplarily, the solar charging panel can continuously provide electrical energy to the electronic components of the above-water body 100 and at least one of the underwater body 200 by collecting light, thereby reducing the energy consumption of the cleaning robot 1000 and ensuring the endurance of the cleaning robot 1000.

[0091] Exemplarily, the battery can store electrical energy and supply power to at least one of the electronic components of the above-water body 100 and the underwater body 200 to ensure the endurance of the cleaning robot 1000 .

[0092] Exemplarily, the external power supply device can be connected to the charging interface via an external cable, thereby supplying power to the electronic components of the above-water body 100 and at least one of the underwater body 200 , thereby ensuring the endurance of the cleaning robot 1000 .

[0093] See also Figure 7In some embodiments, the power module 13 is used to drive the water body 100 to move; the power module 13 includes at least one of the following: a traveling power mechanism 131 and a posture adjustment mechanism 132, the traveling power mechanism 131 is used to drive the water body 100 to move, and the posture adjustment mechanism 132 is used to adjust the posture of the water body 100. The power module 13 can make the water body 100 move and change direction. Exemplarily, the posture adjustment mechanism 132 may include two electric drive wheels independently installed on both sides of the bottom of the water body 100, and the speed difference between the electric drive wheels on both sides is used to turn, so as to realize the walking and changing direction of the water body 100.

[0094] Understandably, in some usage scenarios, it is difficult to accurately move the above-water body 100 to the target position by dragging the underwater body 200 to drive the above-water body 100. The above-water body 100 of this embodiment can actively move under the drive of the power module 13 to fine-tune the position or posture of the above-water body 100, so that the above-water body 100 can more accurately move to the target position for cleaning and other tasks.

[0095] In other embodiments, the power module 13 may be omitted or not work, and the underwater body 200 may drive the above-water body 100 to move.

[0096] In some embodiments, the traveling power mechanism 131 includes at least one of the following: a motor, a steering gear, a propeller structure, a sail, a fluid jet structure, etc. The attitude adjustment mechanism 132 includes at least one of the following: a motor, a steering gear, a propeller structure, a sail, a fluid jet structure.

[0097] Exemplarily, the sail is located on the above-water part of the water body 100 and can utilize the power of wind to assist in driving the water body 100 to move, thereby enabling the water body 100 to move within a certain range and reducing the electrical energy or fuel required to power the water body 100.

[0098] Exemplarily, the liquid jet structure may include two water jets and related structures; the two water jets are arranged on the geometric center line of the water body 100, and the water jet directions are opposite, and the line connecting the water jet directions is 180 degrees. By adjusting the flow rate of the two jets, the water body 100 can be moved forward and backward. In other embodiments, the liquid jet structure may include two water jets arranged non-collinearly at the bottom of the water body 100, and the water body 100 can be turned or moved forward by using the differential speed and jet speed of the two nozzles.

[0099] See also Figure 7In some embodiments, the sensor module 15 includes a first sensor 151, and the first sensor 151 is used to detect the first position information of the water body 100. The water body 100 can use its own first sensor 151 to form a full map mode, locate and navigate the position of the water body 100, and realize the cleaning of the fixed point area of ​​the liquid surface or the bottom of the working water area.

[0100] Exemplarily, the first sensor 151 is disposed on the above-water part of the above-water body 100. When the above-water body 100 floats on the liquid surface of the working water area, the first sensor 151 can float on the liquid surface of the working water area to work, thereby reducing the influence of the liquid in the working water area on the first sensor 151 and improving the positioning accuracy.

[0101] Exemplarily, the first sensor 151 includes at least one of the following: a binocular vision sensor, a radar, a global positioning system sensor, etc.

[0102] Exemplarily, the first position information is position information of the above-water body 100 relative to a first reference object, and the first reference object may include the earth, a pool, a preset position of the pool, or the underwater body 200, etc.

[0103] See also Figure 7 In some embodiments, the sensor module 15 includes a second sensor 152, which is used to detect environmental information around the above-water body 100, wherein the environmental information may include obstacle information, floating object information, etc.; the environmental information may also include second position information of the underwater body 200; the above-water body 100 can be connected to the underwater body 200 in communication, so that the underwater body 200 controls the movement of the underwater body 200 according to the second position information. The second sensor 152 can track the underwater body 200, and then determine the relative position of the underwater body 200, thereby assisting the navigation and positioning of the underwater body 200 and better planning the overall cleaning path.

[0104] Exemplarily, the second sensor 152 is arranged on the above-water part of the above-water body 100. When the above-water body 100 can float on the liquid surface of the working water area and work, the second sensor 152 can float on the liquid surface of the working water area and work, thereby reducing the influence of the liquid in the working water area on the second sensor 152 and improving the navigation positioning accuracy of the underwater body 200.

[0105] Exemplarily, the second sensor 152 is disposed in the underwater part of the water body 100. When the water body 100 is able to float on the liquid surface of the working water area and work, the second sensor 152 can remain below the liquid surface of the working water area and work, thereby reducing the impact of the fluctuating liquid surface in the working water area on the second sensor 152 and improving the navigation positioning accuracy of the underwater body 200.

[0106] Exemplarily, the second position information is position information of the underwater body 200 relative to a second reference object, and the second reference object may include a preset position of a pool or the above-water body 100, etc.

[0107] Exemplarily, the first sensor 151 can detect the first position information of the above-water body 100, and the second sensor 152 can detect the second position information of the underwater body 200 relative to the above-water body 100. The above-water body 100 can communicate with the underwater body 200, so that the cleaning robot 1000 can navigate and locate the underwater body 200 according to the first position information and the second position information, so as to better plan the overall cleaning path.

[0108] Exemplarily, the second sensor 152 includes at least one of the following: a visual sensor, a time-of-flight TOF sensor, an ultrasonic sensor, a laser ranging sensor, an infrared ranging sensor, a sonar sensor, a radar, etc.

[0109] In some embodiments, the environmental information further includes at least one of the location information of the garbage and the location information of the obstacle. Exemplarily, the environmental information includes the location information of the garbage, and according to the location information of the garbage, the above-water body 100 or the underwater body 200 can move to the corresponding position to clean the garbage. Exemplarily, the environmental information includes the location information of the obstacle, so that the above-water body 100 or the underwater body 200 can avoid the obstacle, thereby ensuring that the cleaning robot 1000 can work smoothly.

[0110] In some embodiments, the underwater body 200 can obtain the second position information of the underwater body 200, so that the underwater body 200 controls the movement of the underwater body 200 according to the second position information, thereby locating and navigating the position of the underwater body 200, and achieving cleaning of fixed areas of the liquid surface or bottom of the working water area.

[0111] In some embodiments, the collection module 12 is used to collect garbage and / or oil in the working water area, and the collection module 12 includes at least one of the following: a skimmer, an oil skimmer, a garbage collection module, etc. In this way, when the above-water body 100 and the underwater body 200 are assembled and connected, the above-water body 100 can filter or clean the liquid in the working water area, and the underwater body 200 can clean at least one of the working water area and the wall of the pool. The above-water body 100 and the underwater body 200 can work at the same time, which effectively improves the cleaning efficiency of the cleaning robot 1000 and improves the user experience.

[0112] Exemplarily, the garbage collection module may include a debris collection device or a debris processing device, etc. When the liquid surface is cleaned, the garbage picked up may be crushed by the debris collection device or the debris processing device.

[0113] In some embodiments, the communication module 14 is used to communicate and connect the cleaning robot 1000 and external devices. Compared with the communication module 14 provided in the first body 203 of the underwater body 200, the communication module 14 of this embodiment is provided in the water body 100. The water body 100 and the communication module 14 can float on the liquid surface of the working water area when working, reducing the influence of the liquid in the working water area on the electromagnetic waves, and improving the communication quality and communication stability. In addition, the communication module 14 is provided in the water body 100. Since the water body 100 is large, and in some embodiments, the power supply module is provided on the water body 100, the power supply of the whole system is more sufficient, and the restrictions on the volume and power of the communication module 14 are avoided, so that the design power of the communication module 14 can be increased to ensure the communication quality of the communication module 14 to a certain extent. Exemplarily, the external device may include at least one of a maintenance base station, a terminal (such as a mobile phone, etc.), a remote controller, etc.

[0114] In some embodiments, the water quality detection module 17 is used to detect water quality parameters of the liquid. For example, according to the water quality parameters, it can be determined whether to perform water quality improvement work on the liquid in the working water area in the future.

[0115] In some embodiments, the water quality improvement module 18 is used to put water quality improvement materials. Exemplarily, when the water quality parameters meet the preset conditions, the water quality improvement module 18 can put water quality improvement materials into the working water area, thereby improving the water quality of the liquid in the working water area. Exemplarily, the water quality improvement materials include at least one of purification materials and sterilization materials.

[0116] Exemplarily, the water quality parameters of the pool can be detected by the water quality detection module 17. When the water quality is poor, the water quality improvement module 18 can be used to release medicines to improve the water quality. The communication module 14 can also communicate with the user terminal to generate a water quality detection report on the app of the user terminal. At the same time, the user can also use the app to control the medicine release module to manually release water quality improvement materials.

[0117] In some embodiments, the prompt module 16 is used to prompt people around the cleaning robot 1000 to know the existence of the cleaning robot 1000, thereby improving the safety of the cleaning robot 1000. The prompt module 16 can provide prompts in at least one of light, sound, and signboards. Exemplarily, the prompt module 16 includes at least one of a warning unit and a speaker.

[0118] It is understandable that the number of the above-water bodies 100 can be designed according to actual needs, such as one, two, three, four or more. For example, the number of the above-water bodies 100 includes multiple, and multiple above-water bodies 100 can be selectively connected to the underwater body 200; different functional modules can be configured on the multiple above-water bodies 100; or, multiple above-water bodies 100 can also be connected to the underwater body 200 at the same time, which is not limited here, and the user can adapt according to the actual usage scenario.

[0119] See also Figure 1 and Figure 4 In some embodiments, the underwater body 200 includes a floating portion 201, a first connecting member 202, and a first body 203. The first body 203 is used to float at different depths of the working water area or sink to the bottom of the working water area to perform cleaning operations. The floating portion 201 can float on the liquid surface, and the first body 203 is structurally connected to the floating portion 201 through the first connecting member 202. The first body 203 is also electrically connected or communicationally connected to the floating portion 201 through the first connecting member 202. The floating portion 201 is detachably connected to the above-water body 100. When the first body 203 is working underwater, the floating portion 201 can float on the liquid surface, so that the floating portion 201 can be connected to the above-water body 100 floating on the liquid surface.

[0120] Exemplarily, the first connecting member 202 includes a connecting cable or a connecting rope, etc.

[0121] See also Figure 8 In some embodiments, the underwater body 200 includes a mounting portion 206, and the above-water body 100 includes a connecting portion 60 for detachably connecting with the mounting portion 206. In this way, when the underwater body 200 is suspended at different depths of the working water area or sinks to the bottom of the working water area to perform cleaning operations, the mounting portion 206 is connected to the connecting portion 60, so that the underwater body 200 and the above-water body 100 can be connected to form a whole for operation. When it is not necessary for the underwater body 200 and the above-water body 100 to be connected to form a whole for operation, the mounting portion 206 can be separated from the connecting portion 60.

[0122] For example, the connection method between the installation portion 206 and the connection portion 60 may refer to the connection method between the assembly portion 20 and the floating portion 201 , which will not be described in detail herein.

[0123] For example, the specific structure of the mounting portion 206 may refer to the structure of the assembly portion 20 . The structure of the connecting portion 60 is adapted to the structure of the mounting portion 206 .

[0124] See also Figure 8In some embodiments, the above-water body 100 includes a connecting portion 60, a second connecting member 70, and a second body 80, and the second body 80 is used to float in the working waters. The second body 80 is structurally connected to the connecting portion 60 through the second connecting member 70, and the second body 80 is also electrically connected or communicatively connected to the connecting portion 60 through the second connecting member 70, and the connecting portion 60 is detachably connected to the underwater body 200. When the underwater body 200 is working underwater and the second body 80 can float on the liquid surface to work, the connecting portion 60 can go deep underwater to connect with the mounting portion 206 of the underwater body 200. It can be understood that the setting of the second connecting member 70 provides a guarantee for the connecting portion 60 to go deep underwater to connect with the mounting portion 206.

[0125] Exemplarily, the second connecting member 70 includes a connecting cable or a connecting rope, etc.

[0126] Understandably, Figure 1 , Figure 3 and Figure 8 The schematic diagram of the water body 100 is only exemplary, but does not limit the number, shape and / or structure of the water body 100. In actual application, the number, shape and / or structure of the water body 100 can be changed according to the actual application scenario.

[0127] Likewise, Figure 1 , Figure 4 and Figure 8 The schematic diagram of the underwater body 200 is only exemplary, but does not limit the shape and / or structure of the underwater body 200. In actual application, the shape and / or structure of the underwater body 200 can be changed according to the actual application scenario.

[0128] See also Figure 2 and Figure 3 The embodiment of the present invention further provides an above-water body 100, which is used to float on the liquid surface of the working water area and to be detachably connected to the underwater body 200 of the cleaning robot 1000; the above-water body 100 includes a functional module 10, and the functional module 10 includes at least one of the following: a power supply module 11, a collection module 12, a power module 13, a communication module 14, a sensor module 15, a prompt module 16, a water quality detection module 17, and a water quality improvement module 18.

[0129] The above-mentioned embodiment provides a cleaning surface body 100, which is detachably connected to the underwater body 200. The surface body 100 includes a functional module 10, which includes at least one of the following: a power supply module 11, a collection module 12, a power module 13, a communication module 14, a sensor module 15, a prompt module 16, a water quality detection module 17, and a water quality improvement module 18. Therefore, when the surface body 100 or the underwater body 200 needs to be used independently, the surface body 100 can be separated from the underwater body 200, so that at least one of the surface body 100 and the underwater body 200 can work flexibly and independently according to actual needs, thereby reducing the power and weight of the cleaning robot 1000. When it is necessary to use the above-water body 100 and the underwater body 200 to work together, the above-water body 100 and the underwater body 200 can be assembled and connected. On the basis of ensuring that the cleaning robot 1000 can perform cleaning operations through the underwater body 200, the cleaning robot 1000 can also provide functions corresponding to at least one of the power supply module 11, the collection module 12, the power module 13, the communication module 14, the sensor module 15, the prompt module 16, the water quality detection module 17, and the water quality improvement module 18 through the above-water body 100, thereby expanding the functions of the cleaning robot 1000 and diversifying the functions of the cleaning robot 1000 to meet the usage requirements of different application scenarios. It is highly practical and conducive to market promotion and application.

[0130] Exemplarily, the above-water body 100 includes the above-water body 100 of any one of the above-mentioned embodiments. The underwater body 200 includes the underwater body 200 of any one of the above-mentioned embodiments.

[0131] See also Fig. 9 In some embodiments, the power supply module 11 includes a solar charging panel 111, a first battery 112, and a charging interface 113. The solar charging panel 111 of the above-water body 100 can use solar energy to power the above-water body 100, the first battery 112 of the above-water body 100 can power the above-water body 100, and the second battery (not shown) of the underwater body 200 can power the underwater body 200. The power supply systems of the above-water body 100 and the underwater body 200 can also be electrically connected to achieve complementarity, so that each component can be selectively used according to the application scenarios of different products. For example, after the first battery 112 is fully charged, the solar charging panel 11 can charge the second battery of the underwater body 200. The above-water body 100 may be provided with a charging interface 113, and the user may charge the above-water body 100 through the charging interface 113; the user may also charge the underwater body 100 through the charging interface 113, and the underwater body 100 does not need to be fished out when charging, which improves the convenience of charging the underwater body 100. For example, please refer to Figure 1 , Figure 4 and Fig. 9 , the floating part 201 and the first connecting member 202 can be connected through the charging interface 113, so as to charge the underwater body 100. Figure 8 and Fig. 9 , the mounting portion 206 and the connecting portion 60 can be connected through the charging interface 113 to charge the underwater body 100.

[0132] See also Fig.10 In some embodiments, the first sensor 151 includes a binocular vision sensor 1511, a laser radar 1512, and a global positioning system (GPS) sensor 1513. The above-water body 100 can use its own binocular vision sensor 1511, laser radar 1512, and global positioning system sensor 1513 to form a full map mode to locate and navigate its position on the water surface. At the same time, the above-water body 100 can also track the underwater body 200 by adding a second sensor 152 set downward, and the second sensor 152 includes a visual sensor 1521 and an ultrasonic sensor 1522. The second sensor 152 is used to track the underwater body 200, and then the relative position of the underwater body 100 is determined. Finally, the floating part 201 is connected to the above-water body 100 to realize communication between the above-water body 100 and the underwater body 200, assist the navigation and positioning of the underwater body 200, and better plan the overall cleaning path.

[0133] See also Fig. 9 and Fig.10 In some embodiments, the collection module 12 includes a skimmer 121 and a garbage collection module 122. The laser radar 1512 of the water body 100 can realize full map scanning. The water body 100 can use the full map function of the laser radar 1512 and use the skimmer 121 and the garbage collection module 122 to clean the fixed area on the water surface or the bottom of the water; it can also realize the patrol mode through the binocular vision sensor 1511 to actively identify the garbage on the water surface, and use the skimmer 121 and the garbage collection module 122 to clean the garbage.

[0134] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "mechanically coupled" and "coupled" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection. It can be a mechanical connection or an electrical connection. It can be directly connected or indirectly connected through an intermediate medium. It can be the internal connection of two elements or the interaction relationship between two elements. The mechanical coupling or coupling of two components includes direct coupling and indirect coupling, for example, direct fixed connection, connection through a transmission mechanism, etc. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0135] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0136] The disclosure above provides many different embodiments or examples for realizing different structures of the present invention. In order to simplify the disclosure of the present invention, the components and settings of specific examples are described above. Of course, they are merely examples, and the purpose is not to limit the present invention. In addition, the present invention may repeat reference numerals and / or reference letters in different examples, and this repetition is for the purpose of simplification and clarity, and does not itself indicate the relationship between the various embodiments and / or settings discussed. In addition, the present invention provides various specific examples of processes and materials, but those of ordinary skill in the art may appreciate the application of other processes and / or the use of other materials.

[0137] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples" means that the specific method steps, features, structures, materials, or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific method steps, features, structures, materials, or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0138] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed by the present invention, and these modifications or replacements should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention shall be based on the protection scope of the claims.

Claims

1. A cleaning robot, characterized in that: include: A water body, used to float on the liquid surface of the working water area; An underwater body, detachably connected to the above-water body, and used for cleaning at least one of the working water area and the wall of the pool; Wherein, the above-water body includes a functional module, and the functional module includes at least one of the following: a power supply module, a collection module, a power module, a communication module, a sensor module, a prompt module, a water quality detection module, and a water quality improvement module.

2. The cleaning robot according to claim 1, characterized in that: The detachable connection method between the underwater body and the above-water body includes at least one of the following: magnetic connection, snap connection, screw locking connection, and plug connection.

3. The cleaning robot according to claim 1, characterized in that: The above-water body comprises an assembly part, and the underwater body comprises a floating part for floating on the liquid surface of the working water area, and the assembly part is detachably connected to the floating part.

4. The cleaning robot according to claim 3, characterized in that: The assembly portion includes a first conductive connection sub-portion, and the floating portion includes a second conductive connection sub-portion, wherein the first conductive connection sub-portion is used for detachably connecting with the second conductive connection sub-portion.

5. The cleaning robot according to claim 4, characterized in that: The assembly part is provided with a first magnetic part, and the first magnetic part is arranged corresponding to the first conductive connecting sub-part; the underwater body is provided with a second magnetic part, and the second magnetic part is arranged corresponding to the second conductive connecting sub-part, and the first magnetic part can be magnetically matched with the second magnetic part.

6. The cleaning robot according to claim 4, characterized in that: The assembly unit further comprises: The liquid-proof member is disposed around the outside of the first conductive connecting sub-part and is used to prevent the first conductive connecting sub-part and the second conductive connecting sub-part from being liquid-proof when the first conductive connecting sub-part is connected to the second conductive connecting sub-part.

7. The cleaning robot according to claim 4, characterized in that: The above-water body comprises a first control switch and a first circuit, and when the above-water body is separated from the underwater body, the first control switch is used to control the first conductive connection sub-part to be electrically disconnected from the first circuit; and / or; When the above-water body is separated from the underwater body, the underwater body includes a second control switch and a second circuit, and the second control switch is used to control the electrical disconnection of the second conductive connecting sub-part and the second circuit.

8. The cleaning robot according to claim 3, characterized in that: The above-water body comprises: The clamping part is movably arranged on the assembling part and is used for clamping on the assembling part to lock the floating part.

9. The cleaning robot according to claim 1, characterized in that: The power supply module is used to supply power to at least one of the electronic components of the above-water body and the underwater body; the power supply module includes at least one of the following: a solar charging panel, a battery, and a charging interface.

10. The cleaning robot according to claim 1, characterized in that: The power module is used to drive the water body to move; the power module includes at least one of the following: a traveling power mechanism and a posture adjustment mechanism, the traveling power mechanism is used to drive the water body to move, and the posture adjustment mechanism is used to adjust the posture of the water body.

11. The cleaning robot according to claim 10, characterized in that: The traveling power mechanism and the attitude adjustment mechanism both include at least one of the following: a motor, a steering gear, a propeller structure, a sail, and a liquid jet structure.

12. The cleaning robot according to claim 1, characterized in that: The sensor module comprises: The first sensor is used to detect first position information of the above-water body.

13. The cleaning robot according to claim 1 or 12, characterized in that: The sensor module comprises: A second sensor is used to detect environmental information around the above-water body; The environmental information includes second position information of the underwater body; the above-water body can be communicatively connected with the underwater body so that the underwater body controls the movement of the underwater body according to the second position information.

14. The cleaning robot according to claim 13, characterized in that: The environmental information also includes at least one of location information of garbage and location information of obstacles.

15. The cleaning robot according to claim 1, characterized in that: The underwater body can obtain the second position information of the underwater body, so that the underwater body controls the movement of the underwater body according to the second position information.

16. The cleaning robot according to claim 1, characterized in that: The collection module is used to collect garbage and / or oil pollution in the working waters, and the collection module includes at least one of the following: a skimmer, an oil skimmer, a garbage collection module; and / or, The communication module is used to communicate with the cleaning robot and external equipment; and / or, The water quality detection module is used to detect water quality parameters of liquid; and / or, The water quality improvement module is used to put in water quality improvement materials.

17. The cleaning robot according to claim 1, characterized in that: The underwater body comprises: A first fuselage body, used to float at different depths of the working water area or sink to the bottom of the working water area to perform cleaning operations; a first connecting member; The floating part can float on the liquid surface, the first fuselage body is structurally connected to the floating part through the first connecting member, the first fuselage body is also electrically or communicatively connected to the floating part through the first connecting member, and the floating part is detachably connected to the water body.

18. The cleaning robot according to claim 17, characterized in that: The underwater body comprises a mounting portion, and the above-water body comprises a connecting portion for detachably connecting with the mounting portion.

19. The cleaning robot according to claim 17, characterized in that: The above-water body comprises: A second fuselage body, used to float in the working waters; a second connecting member; The second fuselage body is structurally connected to the connecting part through the second connecting piece, the second fuselage body is also electrically or communicatively connected to the connecting part through the second connecting piece, and the connecting part is detachably connected to the underwater body.

20. A water-based body, characterized in that: The above-water body is used to float on the liquid surface of the working water area and is used to be detachably connected to the underwater body of the cleaning robot; the above-water body includes: The functional module includes at least one of the following: a power supply module, a collection module, a power module, a communication module, a sensor module, a prompt module, a water quality detection module, and a water quality improvement module.

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