Cleaning robot and cleaning system

Abstract

The invention provides a cleaning robot and a cleaning system, and relates to the technical field of intelligent robots, the robot is used for cleaning in water, and the robot comprises a receiver, a signal transfer piece and a first area; the receiver comprises a light-transmitting part and an optical sensor, the optical sensor is provided with a second area, and the second area is used for receiving visible light; the first area is a position except the second area, and the signal transfer piece is arranged on the first area; light beams contained in the visible light sequentially pass through the air, the water and the light transmitting part to reach the optical sensor, so that the receiver receives control information carried by the visible light, and the cleaning robot executes corresponding actions; when at least part of the light beam irradiates the first area, the signal transfer piece transfers the light beam of the first area to the second area; therefore, communication is directly realized based on visible light without a relay device, the structure is simplified, and the cost is reduced; the light beams reaching the first area are transferred to the second area through the signal transfer piece, so that the receiving efficiency of the light signals is improved.

Description

Technical Field

[0001] The present application relates to the technical field of intelligent robots, and in particular to a cleaning robot and a cleaning system. Background Art

[0002] Underwater cleaning robots are automated devices specially designed for cleaning and maintaining underwater environments. Due to the particularity of the underwater environment, traditional radio communications do not work well in water, making optical communications an important alternative.

[0003] In the prior art, when a device in the air emits visible light to communicate with an underwater cleaning robot, it needs to use a structure such as a float to achieve communication. That is, the device in the air emits visible light to the float, and then the float communicates with the underwater cleaning robot. The float is a relay device to achieve communication.

[0004] Since underwater cleaning robots need to rely on structures such as floats to achieve communication, not only are the structures required for communication complex, but the deployment and recovery of floats may also require additional time and human resources, increasing the overall cost, including hardware costs, maintenance costs, and possible deployment and recovery costs. Summary of the invention

[0005] The present application provides a cleaning robot and a cleaning system, which do not require the use of structures such as floats to achieve communication, and can directly achieve wireless control of the cleaning robot based on visible light, thereby simplifying the structure required for communication and greatly reducing costs. Compared with communication using a float structure, the operation is more convenient, thereby optimizing the user experience.

[0006] In a first aspect, the present application provides a cleaning robot, the cleaning robot is used for cleaning in water, the cleaning robot comprises a receiver, a signal transfer component and a first area;

[0007] The receiver includes a light-transmitting member and an optical sensor, wherein the optical sensor has a second area, and the second area is used to receive visible light; the first area is a position other than the second area, and the signal transfer member is arranged on the first area;

[0008] The visible light includes a light beam, which passes through the air, water and the light-transmitting element in sequence to reach the optical sensor, so that the receiver receives the control information carried in the visible light, and the control information is used to instruct the cleaning robot to perform an action corresponding to the control information; when at least part of the light beam is irradiated to the first area, the signal relay element transfers the light beam irradiated to the first area to the second area.

[0009] In this way, through the above design, the cleaning robot can effectively receive and process control information from the equipment in the air in an underwater environment, achieve reliable communication, and ensure that it can perform tasks as expected; in the present application, by setting the signal relay on the first area and changing the propagation path of the light beam, even if the light beam does not directly irradiate the second area of ​​the optical sensor, the signal relay can effectively transfer the light beam to the second area. This design improves the efficiency of signal reception and ensures that the cleaning robot can receive control information more reliably.

[0010] The design of the light-transmitting element and the first area can also provide physical protection for the optical sensor, preventing impurities or particles in the water from damaging the optical sensor.

[0011] Optionally, the signal transfer element is a reflective element; the reflective element includes at least one reflective surface, the reflective surface is used to reflect light, and the reflective surface faces the second area.

[0012] In this way, the design of the reflective element ensures that even if the light beam does not directly reach the second area, the propagation path of the light beam can be changed through the reflective surface, effectively guiding the light beam propagating to the first area to reach the optical sensor after changing the propagation path, thereby improving the efficiency and reliability of signal reception; through the design of the reflective surface, the energy loss of the light beam is reduced, ensuring that the optical sensor receives a sufficiently strong signal for processing.

[0013] Optionally, the reflective element includes one or more of a reflective mirror, reflective paper, and an electroplated reflective film.

[0014] Among them, the reflector usually has an extremely high reflectivity, which can effectively reflect the light beam to the second area and reduce the energy loss of the light beam. In particular, the mirror surface of the reflector can provide a precise reflection angle, which is suitable for applications that require high-precision light guidance.

[0015] Reflective paper is lightweight and easy to cut and shape, making it suitable for use in devices that require flexible design. Compared with other reflective materials, reflective paper is generally more cost-effective and suitable for large-scale applications.

[0016] Electroplated reflective film has good durability and corrosion resistance. This material can provide uniform reflection effect and is suitable for scenes that require stable light reflection.

[0017] In the present application, different reflective materials can be selected according to specific environmental requirements to optimize the light reflection effect. This selection of multiple reflective materials allows the design of the reflective element to be adjusted according to specific needs, providing greater flexibility.

[0018] Optionally, the reflective element is annular; and a side of the reflective element facing the second area has a reflective surface.

[0019] The annular design of the reflector allows the light beam to be captured from multiple directions. This omnidirectional receiving capability increases the probability of signal capture, especially when the light beam incident angle is not fixed. Since the annular reflector can reflect the light beam to the second area from different directions, the signal receiving efficiency is greatly improved. In addition, this annular structure provides greater design flexibility, making it adaptable to different light beam incident angles.

[0020] Optionally, the signal transfer component forms a cavity facing the second area; and the optical sensor is located in the cavity.

[0021] Among them, the cavity can play the role of gathering and guiding light signals, thereby enhancing the signal receiving capability of the optical sensor. In addition, the structure of the cavity can also provide physical protection to prevent the external environment from interfering with the optical sensor. Since the cavity is facing the second area, the optical sensor can more accurately receive the signal transferred from the signal transfer component, which helps to improve the reception efficiency.

[0022] Optionally, the second area has a photosensitive surface, and the height difference between the plane where the highest point of the signal transfer component is located and the photosensitive surface is 5-20 mm; the plane where the highest point is located is parallel to the photosensitive surface.

[0023] It can be understood that by setting the height difference between the highest point of the signal transfer component and the photosensitive surface to 5-20mm, the transmission path of the optical signal can be optimized. This height difference may be a reasonable range obtained through design and testing to ensure that the received signal strength and quality are good. By controlling the height difference, the loss of the optical signal during transmission can be reduced, which helps to improve the receiving sensitivity and accuracy of the optical sensor.

[0024] Optionally, the optical sensor is a solar panel.

[0025] Therefore, by setting the optical sensor as a solar panel, the cleaning robot can obtain energy in a lighted environment, thereby reducing dependence on external power sources and improving the independence and portability of the cleaning robot. The solar panel can not only be used for energy collection, but also for receiving signals, thereby enhancing the versatility of the cleaning robot. Since the cleaning robot can use solar energy for power supply, the operating cost can be significantly reduced.

[0026] Optionally, the cleaning robot further includes an angle adjustment component, the second area has a photosensitive surface, the light beam and the photosensitive surface form a first angle α, and the angle adjustment component is used to adjust the angle of the first angle α.

[0027] In this way, by adjusting the first angle α, it can be ensured that the light beam is incident on the photosensitive surface at a suitable angle, thereby improving the reception efficiency and accuracy of the optical signal. By optimizing the incident angle of the light beam, signal distortion and noise can be reduced, and the accuracy and reliability of signal processing can be improved.

[0028] Optionally, the angle range of the first angle α is: 30°≤α≤90°.

[0029] In this way, within the range of 30° to 90°, the light beam can be incident on the photosensitive surface at a more ideal angle, thereby further improving the photosensitive surface's efficiency in receiving light, and a larger incident angle, that is, the closer to 90°, can reduce the reflection and refraction losses of the light beam when entering the photosensitive surface, thereby improving the strength and quality of the received signal. Since the first angle α is allowed to be adjusted within the range of 30° to 90°, it is also possible to flexibly respond to different task requirements and environmental changes, and then the optimal signal reception angle can be adjusted on one side of the cleaning robot according to the incident angle of the light beam, so as to further improve the stability and reliability of signal reception during the movement of the cleaning robot in water.

[0030] Optionally, the upper surface of the light-transmitting member does not protrude from the body of the cleaning robot, and the light-transmitting member is made of a material with a light transmittance greater than zero.

[0031] Therefore, the design of the light-transmitting part being flush with the body reduces the risk of external physical damage, such as scratches or collisions, thereby helping to protect the internal optical sensors and other components. This flat appearance design can also reduce air and water resistance, especially when used in water, which helps to improve the movement efficiency of the cleaning robot. In the present application, the light-transmitting part is made of a material with a transmittance greater than zero, which can ensure that the optical signal effectively passes through the light-transmitting part to reach the internal optical sensor. The material with a transmittance greater than zero can be selected according to specific needs to optimize the optical performance. For example, a material with a high transmittance can be selected to improve the transmission efficiency of the optical signal.

[0032] Optionally, the light-transmitting member includes at least one light-transmitting area, and there is a first light-transmitting area facing the top cover of the cleaning robot in the at least one light-transmitting area.

[0033] In this way, by designing a specific light-transmitting area, light can be guided to reach the optical sensor inside the cleaning robot, thereby improving the efficiency and accuracy of receiving light signals. The design of the first light-transmitting area can ensure that light can enter the interior of the device, reduce the loss of light signals, and improve overall performance.

[0034] Optionally, the light-transmitting member includes at least two light-transmitting areas, and the at least two light-transmitting areas include a first light-transmitting area and a second light-transmitting area located on at least a portion of a side surface of the light-transmitting member; wherein the first light-transmitting area and the second light-transmitting area form a second angle.

[0035] In this way, by setting light-transmitting areas in different directions, light beams from multiple directions can be received. This design increases the coverage of the light beam, making it possible to receive light signals from multiple directions, thereby more accurately sensing the surrounding environment and improving reliability. The size and direction of the second angle can also be adjusted according to specific application requirements to optimize the reception and transmission path of the light signal.

[0036] Optionally, the cleaning robot includes a top cover, the top cover is provided with an installation cavity and an opening connected to the installation cavity, the receiver is arranged in the installation cavity through the opening, the light-transmitting member faces the opening, and the first area is located in the installation cavity.

[0037] In this way, integrating the above-mentioned components into the top cover makes the design of the cleaning robot more compact and efficient, saves space and simplifies the overall structure, wherein the receiver and the first area are placed in the installation cavity, and physical protection is provided by the top cover, which can also prevent dust, moisture and physical damage, and the design of the light-transmitting part facing the opening can ensure that the light beam is directly transmitted to the receiver, thereby improving the efficiency and accuracy of signal reception.

[0038] Optionally, the first area is located on the light-transmitting element and / or the optical sensor.

[0039] Among them, when designing the position of the first area, it can be adjusted according to specific application requirements and environmental conditions. This design that allows the first area to be located on the light-transmitting element and / or the optical sensor provides design flexibility, and thus can flexibly define which areas are used for receiving visible light and which areas are not used for receiving visible light, thereby improving the flexibility and adaptability of the overall design.

[0040] Optionally, the receiver also includes: a control board, which is electrically connected to the optical sensor, and the second area is used to convert visible light into electrical signals; the control board is used to process the electrical signals to obtain control information, and control the movement of the cleaning robot based on the control information, and / or control the cleaning robot to be in a corresponding working mode.

[0041] Therefore, the present application can simplify the hardware and software design by centrally processing and executing control information through the control board, and the control board can receive and process control information in real time, ensuring timely response to external commands and improving the reliability of the cleaning robot. The control board can then accurately control the movement and working mode of the body, ensuring that the cleaning robot performs accurate actions, so that users can remotely control the cleaning robot and improve operational convenience.

[0042] In a second aspect, the present application provides a cleaning system, comprising a remote control device and a cleaning robot as described in any one of the first aspects, wherein the remote control device is used to generate visible light carrying control information.

[0043] Since the remote control device can generate visible light carrying control information, the user can remotely control the cleaning robot based on the remote control device, which is convenient for operation. In this way, the user can control the cleaning robot through simple operations, thereby improving user experience and convenience of operation.

[0044] It should be noted that the design and implementation of the cleaning robot can be found in the description of the first aspect and will not be repeated here. The cleaning system can realize efficient underwater visible light communication, and the effect of the cleaning system can be found in the corresponding description and effect of the first aspect.

[0045] In summary, the present application provides a cleaning robot and a cleaning system, the cleaning robot is equipped with a receiver, a signal transfer element and a first area, the receiver includes a light-transmitting element and an optical sensor, the optical sensor has a second area, the cleaning robot realizes communication with the device in the air based on visible light, after the device in the air sends out the control information in the form of visible light, the visible light beam passes through the air and water and reaches the light-transmitting element of the cleaning robot, after the light beam reaches the light-transmitting element, part of the light beam will propagate along the initial direction and irradiate the first area, part of the light beam will pass through the light-transmitting element to reach the second area of ​​the optical sensor; the first area is other positions in the cleaning robot except those covered by the second area, then in In an area where the light beam does not allow visible light to pass through, a signal relay is arranged on the area so that the signal relay can transfer the light beam irradiated to the first area to the second area. The second area is a part of the optical sensor and is used to receive visible light. In this way, the optical sensor can receive part of the light beam that passes through the light-transmitting element and part of the light beam that is transferred to the second area through the signal relay, thereby increasing the amount of received light beams and reducing signal loss. Furthermore, after the optical sensor receives the light beam, the control information carried therein can be extracted to instruct the cleaning robot to perform specific actions. The cleaning robot is used for cleaning in water, which may include above water, on the surface of the water and under water.

[0046] In this way, the cleaning robot provided by the present application can directly realize the communication between the underwater cleaning robot and the equipment in the air based on visible light, simplifying the structure required for communication. Compared with communication with the help of a floating structure, the operation is more convenient, and there is no need to rely on structures such as floats to realize communication, which greatly reduces the cost; and the cleaning robot in the present application, through the design of the signal transfer component, can ensure that even if the light beam does not directly reach the optical sensor, through the light beam transfer, it can also effectively transmit the light beam to the optical sensor, thereby increasing the intensity of the received visible light to ensure that the light signal has sufficient intensity when propagating in the water.

[0047] It is understandable that in a strong light environment, the visible light signal emitted by the device in the air may be interfered with by the light in the environment, thereby affecting the receiving effect of the optical sensor. The present application introduces a signal transfer component to gather or concentrate the visible light emitted by the device in the air, and then based on the enhancement and concentration of the light signal by the signal transfer component, the optical sensor can receive the signal from the device in the air more stably, thereby improving the stability of signal transmission. Since the stability of signal transmission is improved, the effective control distance of the device in the air over the cleaning machine is also increased accordingly. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] In order to more clearly illustrate the specific implementation of the present application or the technical solution in the prior art, the following is a brief introduction to the drawings required for the specific implementation or the prior art description. In all drawings, similar elements or parts are generally identified by similar reference numerals. In the drawings, the elements or parts are not necessarily drawn according to the actual scale. The drawings are:

[0049] Figure 1 An application scenario diagram of a cleaning robot provided in an embodiment of the present application;

[0050] Figure 2 A schematic diagram of a partial structure of a cleaning robot provided in an embodiment of the present application;

[0051] Figure 3 A structural block diagram of a cleaning robot provided in an embodiment of the present application;

[0052] Figure 4 A schematic diagram of a cross section of a receiver provided in an embodiment of the present application Figure 1 ;

[0053] Figure 5 A schematic diagram of the structure of a signal transfer component provided in an embodiment of the present application;

[0054] Figure 6 A schematic diagram of a cross section of a receiver provided in an embodiment of the present application Figure 2 ;

[0055] Figure 7 A schematic diagram of the structure of a light-transmitting element provided in an embodiment of the present application;

[0056] Figure 8 An exploded schematic diagram of a partial structure of a cleaning robot provided in an embodiment of the present application;

[0057] Fig. 9 A partial schematic diagram of another cleaning robot provided in an embodiment of the present application.

[0058] The above drawings have shown clear embodiments of the present application, which will be described in more detail later. These drawings and text descriptions are not intended to limit the scope of the present application in any way, but to illustrate the concept of the present application to those skilled in the art by referring to specific embodiments.

[0059] Reference numerals:

[0060] 100-user; 200-cleaning robot; 300-remote control; 21-receiver; 22-signal transfer component; 23-first area; 201-light-transmitting component; 202-optical sensor; 203-second area; 204-reflective surface; 31-cavity; 32-control board; 33-body; 34-installation cavity; 35-top cover; 41-first light-transmitting area; 42-second light-transmitting area. DETAILED DESCRIPTION

[0061] In order to make the purpose, technical solutions and advantages of this application clearer, the technical solutions in this application will be clearly and completely described below in combination with the embodiments of this application. Obviously, the described embodiments are part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0062] In the description of the present application, 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" 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 application 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 a limitation on the present application. In addition, the terms "first", "second", etc. are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. In the description of the present application, "multiple" means more than two, unless otherwise clearly and specifically defined.

[0063] The technical solution of the present application and how the technical solution of the present application solves the above-mentioned technical problems are described in detail below with specific embodiments. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The present application will be described below in conjunction with the accompanying drawings.

[0064] In the related technology, when the device in the air emits visible light to communicate with the underwater cleaning robot, it needs to use structures such as floats to achieve communication. If the device in the air is a remote control that can emit visible light, the air can emit visible light to the float, and then the float communicates with the underwater cleaning robot. The float is a relay device to achieve communication.

[0065] Since underwater cleaning robots need to rely on structures such as floats to achieve communication, not only are the structures required for communication complex, but the deployment and recovery of floats may also require additional time and human resources, increasing the overall cost, including hardware costs, maintenance costs, and possible deployment and recovery costs.

[0066] In view of the above problems, the present application provides a cleaning robot, which is equipped with a receiver, a signal transfer element and a first area, the receiver includes a light-transmitting element and an optical sensor, the optical sensor has a second area, the cleaning robot realizes communication with the equipment in the air based on visible light, after the equipment in the air sends out the control information in the form of visible light, the light beam of the visible light passes through the air and water and reaches the light-transmitting element of the cleaning robot, after the light beam reaches the light-transmitting element, part of the light beam will propagate along the initial direction and irradiate the first area, part of the light beam will pass through the light-transmitting element to reach the second area of ​​the optical sensor; the first area is other positions in the cleaning robot except those covered by the second area, then when the light beam is not The area that allows visible light to pass through, because a signal relay is set on it, the signal relay can transfer the light beam irradiated to the first area to the second area. The second area is a part of the optical sensor and is used to receive visible light. In this way, the optical sensor can receive part of the light beam that passes through the light-transmitting element, and can also receive part of the light beam that is transferred to the second area through the signal relay, thereby increasing the amount of received light beams to reduce the loss of light signals; further, after the optical sensor receives the light beam, the control information carried therein can be extracted to instruct the cleaning robot to perform specific actions; wherein, the cleaning robot is used for cleaning in water, and the water may include above water, on the surface of the water, and under water.

[0067] In this way, the cleaning robot in the embodiment of the present application can directly realize communication between the underwater cleaning robot and the equipment in the air based on visible light, simplifying the structure required for communication. Compared with communication with the help of a float structure, the operation is more convenient, and there is no need to rely on structures such as floats to realize communication, which greatly reduces the cost; and the cleaning robot in the embodiment of the present application, through the design of the signal transfer component, can ensure that even if the light beam does not directly reach the optical sensor, it can effectively transmit the light beam to the optical sensor through light beam transfer, thereby increasing the intensity of the received visible light to ensure that the light signal has sufficient intensity when propagating in the water.

[0068] It is understandable that even in a strong light environment, the visible light signal emitted by the device in the air may be interfered with by the light in the environment, affecting the receiving effect of the optical sensor. In the embodiment of the present application, a signal transfer component is introduced to gather or concentrate the visible light emitted by the device in the air, and then based on the enhancement and concentration of the light signal by the signal transfer component, the optical sensor can receive the signal from the device in the air more stably, thereby improving the stability of signal transmission under strong light. Since the stability of signal transmission is improved, the effective control distance of the device in the air over the cleaning machine is also increased accordingly.

[0069] It should be noted that above water refers to the area above the surface of the water body, that is, the part in the air, and the water surface refers to the surface of the water body, that is, the boundary between water and air; underwater refers to the area below the surface of the water body, that is, the part completely covered by water. Therefore, the cleaning robot can be used for cleaning in various application scenarios on water, floating on the water surface and underwater.

[0070] For example, Figure 1 An application scenario diagram of a cleaning robot provided in an embodiment of the present application, such as Figure 1 As shown, the application scenario is a scenario in which a cleaning robot cleans a swimming pool, and the application scenario includes: a user 100 and a cleaning robot 200, wherein the user 100 communicates with the cleaning robot 200 based on visible light through an air device, such as a remote control 300. The embodiment of the present application does not specifically limit the air device used by the user 100 to communicate with the cleaning robot 200 through visible light, as long as it can emit visible light for communication, such as the device can also be a terminal device that can emit visible light.

[0071] Optional, Figure 2 A partial structural diagram of a cleaning robot provided in an embodiment of the present application is shown in FIG. Figure 2 As shown, the cleaning robot 200 is equipped with a receiver 21 and a signal transfer component 22, wherein the receiver 21 includes a light-transmitting component 201 and an optical sensor 202; Figure 2 The dashed box in the middle is a schematic cross-sectional view of a partial structure of the cleaning robot 200.

[0072] When the user 100 wants to clean the swimming pool, the cleaning robot 200 can be used to clean the swimming pool. After the cleaning robot 200 enters the water, the user 100 transmits visible light to the cleaning robot 200 through the remote control 300, so that the visible light beam passes through the air, water and the light-transmitting member 201 in sequence to reach the optical sensor 202; wherein the optical sensor 202 can receive part of the light beam that passes through the light-transmitting member 201, and can also receive part of the light beam transferred through the signal transfer member 22, so as to increase the amount of the received light beam, thereby reducing the loss of the optical signal.

[0073] In this way, after the optical sensor 202 receives the light beam, it can identify the control information carried in the visible light based on the receiver 21 to control itself to perform actions corresponding to the control information, such as moving left and right, cleaning, etc.

[0074] It should be noted that the cleaning robot 200 can also be applied to other scenarios, such as cleaning reservoirs, dams, aquariums, and cleaning oceans and lakes, etc., which require water cleaning. The embodiment of the present application does not limit the specific application scenarios of the cleaning robot 200.

[0075] Exemplary, combined Figure 2 The partial structure shown, Figure 3 A structural block diagram of a cleaning robot provided in an embodiment of the present application, such as Figure 3 As shown, the cleaning robot 200 includes not only a receiver 21 and a signal transfer element 22, but also a first area 23; the first area 23 is a position other than the second area 203; Figure 4 As shown, the oblique line portion in the figure is the first area 23.

[0076] The receiver 21 includes a light-transmitting element 201 and an optical sensor 202 . The signal transfer element 22 is disposed on the first area 23 . The optical sensor 202 has a second area 203 , and the second area 203 is used to receive visible light.

[0077] After the device in the air emits visible light, the visible light contains a light beam, and then the light beam passes through the air, water and the light-transmitting element 201 in sequence to reach the optical sensor 202, so that the receiver 21 receives the control information carried in the visible light, and the control information is used to instruct the cleaning robot 200 to perform an action corresponding to the control information; when at least part of the light beam is irradiated to the first area 23, the signal relay 22 transfers the light beam irradiated to the first area 23 to the second area 203.

[0078] In the present application, the first area 23 is a part of the area inside the cleaning robot 200, and the first area 23 is other positions in the cleaning robot 200 except for the second area 203. For example, the first area 23 is at least a part of the area in the cleaning robot 200 that does not allow visible light to pass through and is not used to directly receive visible light. The embodiment of the present application does not specifically limit the distribution size and distribution position of the first area 23. By setting the signal transfer element 22 on the first area 23, the light beam irradiated to the first area 23 can be transferred to the second area 203 of the optical sensor 202. This design allows flexible processing of part of the light beam that does not directly reach the second area 203.

[0079] The wavelength of the visible light ranges from 500nm to 530nm. Within this wavelength range, the attenuation of the visible light is weak and the propagation distance is long.

[0080] It can be understood that the signal relay 22 transfers the light beam irradiated to the first area 23 to the second area 203. The transfer method can be to change the propagation path of the light with a certain probability. For example, the signal relay 22 can change the propagation path of the light beam and transfer the light beam from the first area 23 to the second area 203. This transfer can be achieved through optical devices such as a reflector; or it can be to transmit control information from the first area 23 to the second area 203 through the signal relay 22. For example, in the first area 23, the control information is encoded into a signal form, such as an electrical signal or an optical signal, and then transmitted to the second area 203 through the signal relay 22.

[0081] It should be noted that the embodiment of the present application does not specifically limit the form of the control information, for example, it may also be a radio signal.

[0082] Exemplarily, a device in the air, such as a remote control 300 or a control console, emits visible light that carries control information. The visible light is usually emitted in the form of a light beam. The emitted light beam passes through the air and water in turn, reaches the cleaning robot 200, and then passes through the light-transmitting element 201. The design of the light-transmitting element can allow the light beam to enter the interior of the cleaning robot 200, and may provide a certain degree of protection to prevent water and impurities from entering.

[0083] Furthermore, part of the light beam entering the cleaning robot 200 may directly irradiate the second area 203 of the optical sensor 202. The second area 203 is specifically used to receive and process visible light. If part of the light beam irradiates the first area 23, the signal relay 22 transfers the light beam irradiating the first area 23 to the second area 203, so that the part of the light beam does not directly reach the second area. The signal relay 22 can also ensure that the signal corresponding to the part of the light beam is effectively received.

[0084] Furthermore, after the optical sensor 202 receives the light beam, the light signal can be converted into an electrical signal, which contains control information for instructing the cleaning robot 200 to perform specific actions. The cleaning robot 200 can then perform corresponding operations based on the received control information, such as starting a cleaning program, changing the direction of movement, or adjusting other functions.

[0085] In this way, through the above design, the cleaning robot 200 can effectively receive and process control information from the equipment in the air in the underwater environment, achieve reliable communication, and ensure that it can perform tasks as expected; in the present application, by setting the signal transfer component 22 on the first area 23, the propagation path of the light beam is changed, even if the light beam does not directly irradiate the second area 203 of the optical sensor 202, the signal transfer component 22 can also effectively transfer the light beam to the second area 203. This design improves the efficiency of signal reception and ensures that the cleaning robot 200 can receive control information more reliably.

[0086] The design of the light-transmitting member 201 and the first region 23 can also provide physical protection for the optical sensor 202 to prevent impurities or particles in the water from damaging the optical sensor 202 .

[0087] It should be noted that in Figure 1 In the application scenario, taking the light intensity in the air as 10W as an example, if the cleaning robot 200 is only designed with a receiver 21 and no signal transfer component 22, the remote control emits visible light to the cleaning robot 200, and the visible light beam passes through the air, water and the light-transmitting component 201 to reach the optical sensor 202 of the cleaning robot 200, so that the receiver 21 receives the control information carried in the visible light, and then controls the cleaning robot 200 to perform an action corresponding to the control information. The remote control distance of the cleaning robot 200 corresponding to the remote control 300 is 4.6 meters. On the contrary, if the cleaning robot 200 is configured with a signal transfer component 22, the remote control distance of the cleaning robot 200 corresponding to the remote control 300 is 5.7 meters. It can be seen that the cleaning robot 200 configured with a signal transfer component 22 can increase the remote control distance by 1.1 meters when used for underwater cleaning.

[0088] Correspondingly, taking the light intensity in the air as 10W as an example, if the beam of visible light only passes through the air and the light-transmitting element 201 to reach the optical sensor 202 of the cleaning robot 200, so that the receiver 21 receives the control information carried in the visible light, and then controls the cleaning robot 200 to perform an action corresponding to the control information, the remote control distance of the remote controller 300 that can control the cleaning robot 200 is 4.3 meters. On the contrary, if the cleaning robot 200 is equipped with a signal transfer element 22, the remote control distance of the remote controller 300 that can control the cleaning robot 200 is 4.7 meters. It can be seen that the cleaning robot 200 equipped with a signal transfer element 22 can increase the remote control distance by 0.4 meters when used for water or surface cleaning.

[0089] The remote control distance may refer to the distance between the starting point of the visible light emitted by the remote controller 300 and the ending point where the cleaning robot 200 receives the visible light.

[0090] Therefore, the test data show that the cleaning robot 200 equipped with the signal relay 22 can increase the remote control distance of the remote controller 300 to the cleaning robot 200 by 0.5 to 1.5 meters when performing underwater cleaning, compared with the cleaning robot 200 not equipped with the signal relay 22.

[0091] Optional, Figure 5 A schematic diagram of the structure of a signal transfer component provided in an embodiment of the present application is shown in FIG. Figure 5 As shown, the signal transfer element 22 is a reflective element; the reflective element includes at least one reflective surface 204 , the reflective surface 204 is used to reflect light, and the reflective surface 204 faces the second area 203 .

[0092] For example, Figure 5 As shown, taking the reflector as a hexahedron with four sides as an example, each side is a reflective surface 204 . When the light beam irradiates the reflective surface 204 , the reflective surface 204 reflects the light beam to the second area 203 .

[0093] It should be noted that the embodiment of the present application does not specifically limit the shape and size of the reflective element. The above is only an example. For example, the reflective element can also be an octahedron with six sides, a cylinder with sides, etc.

[0094] Because the light beam may be affected by water flow and other factors, and the reflector allows the light beam to be redirected in a complex environment to adapt to different incident angles and paths of the light beam, therefore, the application of the reflector enhances the flexibility of application.

[0095] Exemplarily, when the light beam emitted by the device in the air passes through the air and water to reach the cleaning robot 200, part of the light beam may illuminate the first area 23, and the light beam irradiating the first area 23 is captured and reflected by the reflective surface 204, that is, the reflected light beam is guided to the second area 203 of the optical sensor 202 to ensure that the optical sensor 202 can receive more light signals.

[0096] It should be noted that if Figure 5 As shown, the first area 23 can be located not only on the side of the reflector, but also on the bottom of the reflector except for the second area 203. The embodiment of the present application does not specifically limit the position and size of the first area 23, and the embodiment of the present application does not specifically limit the size and shape of the second area 203. The figure is only an example.

[0097] In this way, the design of the reflective element ensures that even if the light beam does not directly reach the second area 203, the propagation path of the light beam can be changed through the reflective surface 204, effectively guiding the light beam propagating to the first area 23 to reach the optical sensor 202 after changing the propagation path, thereby improving the efficiency and reliability of signal reception; through the design of the reflective surface 204, the energy loss of the light beam is reduced, ensuring that the optical sensor 202 receives a sufficiently strong signal for processing.

[0098] Optionally, the reflective element includes one or more of a reflective mirror, reflective paper, and an electroplated reflective film.

[0099] In the design of the cleaning robot 200, the signal relay 22 is defined as a reflector, the purpose of which is to guide the light beam to the second area 203 of the optical sensor 202 by reflecting the light. The reflector can be made of a variety of materials, including one or more of a reflective mirror, reflective paper and electroplated reflective film.

[0100] The reflector usually has a very high reflectivity, and can effectively reflect the light beam to the second area 203, reducing the energy loss of the light beam. In particular, the mirror surface of the reflector can provide a precise reflection angle, which is suitable for applications requiring high-precision light guidance.

[0101] Reflective paper is lightweight and easy to cut and shape, making it suitable for use in devices that require flexible design. Compared with other reflective materials, reflective paper is generally more cost-effective and suitable for large-scale applications.

[0102] Electroplated reflective film has good durability and corrosion resistance. This material can provide uniform reflection effect and is suitable for scenes that require stable light reflection.

[0103] It should be noted that the embodiment of the present application does not specifically limit the type and quantity of reflective materials used in the reflective element. Optionally, the reflective element can also be an in-mold labeling (IML) structure, and the middle surface layer of the IML structure is a reflective material.

[0104] In the present application, different reflective materials can be selected according to specific environmental requirements to optimize the light reflection effect. This selection of multiple reflective materials allows the design of the reflective element to be adjusted according to specific needs, providing greater flexibility.

[0105] Optionally, the reflector is annular; and a side of the reflector facing the second area 203 has a reflective surface 204 .

[0106] The ring is a three-dimensional structure formed around the second area 203, such as Figure 5As shown, the ring may have four faces, or may have more faces or a circular ring. The embodiment of the present application does not limit the specific form of expression corresponding to the ring.

[0107] Exemplarily, when the light beam emitted by the device in the air passes through the air and water to reach the cleaning robot 200, part of the light beam may shine on the annular reflector, which is designed to surround the second area 203 of the optical sensor. This structure can capture light beams from different directions.

[0108] The side of the annular reflector facing the second area 203 has a reflective surface 204 , and the reflective surface 204 reflects the light beam and guides it to the second area 203 of the optical sensor 202 .

[0109] The annular design of the reflector allows the light beam to be captured from multiple directions. This omnidirectional receiving capability improves the probability of signal capture, especially when the light beam incident angle is not fixed. Since the annular reflector can reflect the light beam to the second area 203 from different directions, the signal receiving efficiency is greatly improved. In addition, this annular structure provides greater design flexibility, allowing it to adapt to different light beam incident angles.

[0110] Optional, Figure 6 A schematic diagram of a cross section of a receiver provided in an embodiment of the present application Figure 2 ,like Figure 6 As shown, the signal transfer element 22 forms a cavity 31 facing the second area 203 ; the optical sensor 202 is located in the cavity 31 .

[0111] In the present application, the signal transfer component 22 is designed to be a cavity 31 that encloses a second area 203, indicating that the structure of the signal transfer component 22 may be annular or closed to form a specific space, and then the optical sensor 202 is placed in the cavity 31, which can not only protect the optical sensor 202, but also ensure that the optical sensor 202 can effectively receive the light signal from the first area 23 transferred by the signal transfer component 22.

[0112] Therefore, the cavity 31 can play the role of gathering and guiding light signals, thereby enhancing the signal receiving capability of the optical sensor 202. In addition, the structure of the cavity 31 can also provide physical protection to prevent the external environment from interfering with the optical sensor 202. Since the cavity 31 is facing the second area 203, the optical sensor 202 can more accurately receive the signal transferred from the signal transfer element 22, which helps to improve the reception efficiency.

[0113] Optional, Figure 4 A schematic diagram of a cross section of a receiver provided in an embodiment of the present application Figure 1 ,like Figure 4As shown, the second area 203 has a photosensitive surface, and the height difference between the plane where the highest point of the signal transfer element 22 is located and the photosensitive surface is 5-20 mm; the plane where the highest point is located is parallel to the photosensitive surface.

[0114] Among them, the height difference between the plane where the highest point of the signal transfer component 22 is located and the photosensitive surface is 5-20mm, which means that there is a specific vertical distance between the highest point of the signal transfer component 22 and the photosensitive surface, and the vertical distance is 5-20mm. The surface of the second area 203 of the photosensitive surface is used to receive light signals.

[0115] It can be understood that by setting the height difference between the highest point of the signal transfer component 22 and the photosensitive surface to 5-20mm, the transmission path of the optical signal can be optimized. This height difference may be a reasonable range obtained through design and testing to ensure that the received signal strength and quality are good. By controlling the height difference, the loss of the optical signal during the transmission process can be reduced, which helps to improve the receiving sensitivity and accuracy of the optical sensor 202.

[0116] Optionally, the optical sensor 202 is a solar panel.

[0117] The optical sensor 202 is configured as a solar panel, which means that the optical sensor 202 can not only be used to receive light signals, but also can be used to convert light energy into electrical energy.

[0118] Therefore, by setting the optical sensor 202 as a solar panel, the cleaning robot 200 can obtain energy in a lighted environment, thereby reducing dependence on an external power source and improving the independence and portability of the cleaning robot 200. The solar panel can not only be used for energy collection, but also can receive signals, thereby enhancing the versatility of the cleaning robot 200. Since the cleaning robot 200 can use solar energy for power supply, the operating cost can be significantly reduced.

[0119] Optionally, the cleaning robot 200 further includes an angle adjustment component, the second area 203 has a photosensitive surface, the light beam and the photosensitive surface form a first angle α, and the angle adjustment component is used to adjust the angle of the first angle α.

[0120] In the present application, an angle is formed between the light beam and the photosensitive surface, which is called the first angle α. The first angle α determines how the light beam is incident on the photosensitive surface. The angle adjustment component is used to adjust the first angle α, which means that the angle adjustment component can dynamically change the angle of the light beam incident on the photosensitive surface to optimize the reception of the light signal.

[0121] It should be noted that the incident angle of the light beam may be different under different lighting conditions or environments. Therefore, the angle adjustment component can adjust the first angle α according to environmental changes to ensure that better performance is always obtained.

[0122] In this way, by adjusting the first angle α, it can be ensured that the light beam is incident on the photosensitive surface at a suitable angle, thereby improving the reception efficiency and accuracy of the optical signal. By optimizing the incident angle of the light beam, signal distortion and noise can be reduced, and the accuracy and reliability of signal processing can be improved.

[0123] Optionally, the angle range of the first angle α is: 30°≤α≤90°.

[0124] Exemplarily, the angle adjustment component adjusts the corresponding first angle α according to the change in the incident angle of the light beam, so that the angle between the light beam and the photosensitive surface is maintained in the range of 30° to 90°, and can switch to any angle within the range, such as switching to 45°. Furthermore, since the angle adjustment component is allowed to adjust this angle range under different light sources and environmental conditions, it can ensure better light reception effects in various situations.

[0125] In this way, within the range of 30° to 90°, the light beam can be incident on the photosensitive surface at a more ideal angle, thereby further improving the photosensitive surface's efficiency in receiving light, and a larger incident angle, that is, the closer to 90°, can reduce the reflection and refraction losses of the light beam when entering the photosensitive surface, thereby improving the strength and quality of the received signal. Since the first angle α is allowed to be adjusted within the range of 30° to 90°, it is also possible to flexibly respond to different task requirements and environmental changes, and then the optimal signal reception angle can be adjusted on one side of the cleaning robot according to the incident angle of the light beam, so as to further improve the stability and reliability of signal reception during the movement of the cleaning robot in water.

[0126] Optional, Figure 7 A schematic diagram of the structure of a light-transmitting member provided in an embodiment of the present application is shown in FIG. Figure 7 and Figure 2 As shown, the upper surface of the light-transmitting member 201 does not protrude from the body 33 of the cleaning robot 200 , and the light-transmitting member 201 is made of a material with a light transmittance greater than zero.

[0127] The upper surface of the light-transmitting member 201 is flush with the body 33 of the cleaning robot 200 , which means that the light-transmitting member 201 does not protrude from the outer surface of the body 33 . This design can keep the appearance of the cleaning robot 200 smooth and streamlined.

[0128] It should be noted that the light-transmitting member 201 is made of a material with a light transmittance greater than zero, which means that the light-transmitting member 201 can allow a light beam to pass through, but the specific light transmittance depends on the selection of the material and the application requirements. For example, the material with a light transmittance greater than zero can be transparent acrylonitrile butadiene styrene copolymer (ABS), polycarbonate (PC), transparent polyvinyl chloride (PVC), acrylic, etc. The embodiment of the present application does not specifically limit the material with a light transmittance greater than zero.

[0129] Therefore, the design of the light-transmitting member 201 being flush with the body 33 reduces the risk of external physical damage, such as scratches or collisions, thereby helping to protect the internal optical sensor 202 and other components. This flat appearance design can also reduce air and water resistance, especially when used in water, which helps to improve the movement efficiency of the cleaning robot 200. In the present application, the light-transmitting member 201 is made of a material with a transmittance greater than zero, which can ensure that the optical signal effectively passes through the light-transmitting member 201 to reach the internal optical sensor 202. The material with a transmittance greater than zero can be selected according to specific needs to optimize the optical performance. For example, a material with a high transmittance can be selected to improve the transmission efficiency of the optical signal.

[0130] Optional, Figure 8 An exploded schematic diagram of a cleaning robot structure provided in an embodiment of the present application is shown in FIG. Figure 8 As shown, the light-transmitting member 201 includes at least one light-transmitting area, and there is a first light-transmitting area 41 facing the top cover 35 of the cleaning robot 200 in the at least one light-transmitting area.

[0131] In the present application, the light-transmitting member 201 includes one or more light-transmitting areas, which are part of the light-transmitting member and are used to allow light to pass through, and the light beam is composed of light; and the first light-transmitting area 41 is a specific area in the light-transmitting member 201, facing the top cover 35 of the cleaning robot 200, which means that the first light-transmitting area 41 is designed to directly face the top cover of the cleaning robot 200, so that light can pass through to the optical sensor 202.

[0132] It should be noted that if the light-transmitting member 201 includes multiple light-transmitting areas, the light-transmitting member 201 may protrude from the body 33 of the cleaning robot 200 so that at least part of the side of the light-transmitting member 201 can also transmit part of the light beam. The embodiment of the present application does not specifically limit the distribution range and number of the light-transmitting areas. The above is merely an example.

[0133] It is understandable that the design of the light-transmitting area can be adjusted and optimized according to specific application requirements to adapt to different optical components and functional requirements.

[0134] In this way, by designing a specific light-transmitting area, light can be guided to reach the optical sensor 202 inside the cleaning robot 200, thereby improving the reception efficiency and accuracy of the light signal, and the design of the first light-transmitting area 41 can ensure that light can enter the interior of the device, reduce the loss of light signals, and improve overall performance.

[0135] Optional, Fig. 9 A partial schematic diagram of another cleaning robot provided in an embodiment of the present application is shown in FIG. Figure 8 and Fig. 9 As shown, the light-transmitting element 201 includes at least two light-transmitting areas, including a first light-transmitting area 41 and a second light-transmitting area 42 located on at least part of the side surface of the light-transmitting element 201; wherein the first light-transmitting area 41 and the second light-transmitting area 42 form a second angle.

[0136] Among them, the first light-transmitting area 41 is located at the top or front of the light-transmitting element 201, and is used to receive or transmit the light beam from the front or top. The second light-transmitting area 42 is located on the side of the light-transmitting element 201, and is used to receive or transmit the light beam from the side. A second angle is formed between the first light-transmitting area 41 and the second light-transmitting area 42, which means that the directions of the two light-transmitting areas are different, and light beams from different directions can be received.

[0137] It should be noted that the embodiment of the present application does not specifically limit the angle of the second angle. Optionally, the second angle can be 90°.

[0138] For example, Fig. 9 As shown, in a case where the upper surface of the light-transmitting member 201 protrudes from the body 33 of the cleaning robot 200, the light-transmitting member 201 includes a first light-transmitting area 41 and a second light-transmitting area 42. The second light-transmitting area 42 is located on the side of the light-transmitting member 201, and can be located on one side or distributed on each side of the side. The embodiment of the present application does not specifically limit the distribution quantity and distribution position of the second light-transmitting area 42.

[0139] The dotted frame is a cross-sectional schematic diagram of a partial structure of the cleaning robot 200 , in which the light-transmitting component 201 of the cleaning robot 200 protrudes out of the body 33 .

[0140] Optionally, the side surface of the light-transmitting member 201 may also include a non-light-transmitting area.

[0141] In this way, by setting light-transmitting areas in different directions, light beams from multiple directions can be received. This design increases the coverage of the light beam, making it possible to receive light signals from multiple directions, thereby more accurately sensing the surrounding environment and improving reliability. The size and direction of the second angle can also be adjusted according to specific application requirements to optimize the reception and transmission path of the light signal.

[0142] Optional, such as Figure 8 As shown, the cleaning robot 200 includes a top cover 35 , which is provided with a mounting cavity 34 and an opening connected to the mounting cavity 34 , the receiver 21 is arranged in the mounting cavity 34 through the opening, the light-transmitting member 201 faces the opening, and the first area 23 is located in the mounting cavity 34 .

[0143] In the present application, the top cover 35 is a part of the cleaning robot 200 , and is designed with a mounting cavity 34 and an opening communicating with the mounting cavity 34 , so that other components can be accommodated and protected inside the top cover 35 .

[0144] The mounting cavity 34 is used to accommodate the receiver 21 and other related components. The existence of the opening enables the receiver 21 to be placed in the mounting cavity through the opening. The receiver 21 is set in the mounting cavity 34 through the opening, which means that the receiver 21 is protected inside the top cover 35 and can receive the light beam through the opening.

[0145] The light-transmitting member 201 faces the opening, which ensures that the light beam can be effectively transmitted to the receiver 21 . This design allows the light beam to pass through the light-transmitting member 201 into the mounting cavity 34 and be captured by the receiver 21 .

[0146] In this way, the above-mentioned components are integrated into the top cover 35, making the design of the cleaning robot 200 more compact and efficient, saving space and simplifying the overall structure, wherein the receiver 21 and the first area 23 are placed in the installation cavity 34, and physical protection is provided by the top cover 35, which can also prevent dust, moisture and physical damage, and the design of the light-transmitting member 201 facing the opening can ensure that the light beam is directly transmitted to the receiver 21, thereby improving the efficiency and accuracy of signal reception.

[0147] Optionally, the first area 23 is located on the light-transmitting element 201 and / or the optical sensor 202 .

[0148] Among them, when designing the position of the first area 23, it can be adjusted according to specific application requirements and environmental conditions. This design that allows the first area 23 to be located on the light-transmitting element and / or the optical sensor provides design flexibility, and thus can flexibly define which areas are used for receiving visible light and which areas are not used for receiving visible light, thereby improving the flexibility and adaptability of the overall design.

[0149] Optional, such as Figure 4 , Figure 6 and Figure 8As shown, the receiver 21 also includes: a control board 32, the control board 32 is electrically connected to the optical sensor 202, and the second area 203 is used to convert visible light into an electrical signal; the control board 32 is used to process the electrical signal to obtain control information, and control the movement of the cleaning robot 200 based on the control information, and / or control the cleaning robot 200 to be in a corresponding working mode.

[0150] In the present application, different control information corresponds to the cleaning robot 200 performing different actions. After receiving visible light in the second area 203, the received visible light can be converted into electrical signals, and then the control board 32 processes these electrical signals to extract useful control information, and then the cleaning robot 200 can be controlled to perform different actions based on the information.

[0151] It should be noted that the embodiment of the present application does not limit the details of using different control information to control the movement of the body 33 and / or controlling the cleaning robot 200 to be in a corresponding working mode, which can be set in advance based on the user.

[0152] Optionally, the working mode includes at least one of the following: a cleaning mode, a restart recovery mode and a return charging mode; the cleaning mode includes a mode for cleaning at a preset time point and / or a mode for cleaning within a preset range. The embodiment of the present application does not limit the specific working mode corresponding to the cleaning robot 200.

[0153] Therefore, the present application can simplify the hardware and software design by centrally processing and executing control information through the control board 32, and the control board 32 can receive and process control information in real time, ensuring timely response to external commands and improving the reliability of the cleaning robot 200. The control board 32 can then accurately control the movement and working mode of the body 33, ensuring that the cleaning robot 200 performs accurate actions, so that the user can remotely control the cleaning robot 200 and improve operational convenience.

[0154] Optionally, the embodiment of the present application further provides a cleaning system, which includes a remote control device and a cleaning robot 200, wherein the remote control device is used to generate visible light carrying control information, such as Figure 1 As shown in the remote control 300, the embodiment of the present application does not limit the specific device corresponding to the remote control device.

[0155] Since the remote control device can generate visible light carrying control information, the user can remotely control the cleaning robot 200 based on the remote control device, which is convenient for operation. In this way, the user can control the cleaning robot 200 through simple operations, thereby improving user experience and convenience of operation.

[0156] Among them, the design and implementation method of the cleaning robot 200 can be found in the description of the above-mentioned embodiments, which will not be repeated here. It should be noted that the cleaning system can realize efficient visible light communication in water, and the implementation principle and effect of the cleaning system can also be found in the corresponding description and effects of the above-mentioned related embodiments, which will not be repeated here.

[0157] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them; although the present application is described in detail with reference to the above embodiments, it should be understood by those skilled in the art that the protection scope of the present application is obviously not limited to these specific implementations. Without departing from the principles of the present application, those skilled in the art may make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will fall within the protection scope of the present application.

Claims

1. A cleaning robot, characterized in that: The cleaning robot is used for cleaning in water, and comprises a receiver, a signal transfer element and a first area; The receiver includes a light-transmitting member and an optical sensor, the optical sensor has a second area, the second area is used to receive visible light, the first area is a position other than the second area, and the signal transfer member is arranged on the first area; The visible light includes a light beam, which passes through the air, water and the light-transmitting element in sequence to reach the optical sensor, so that the receiver receives control information carried in the visible light, and the control information is used to instruct the cleaning robot to perform an action corresponding to the control information; when at least part of the light beam is irradiated to the first area, the signal relay element transfers the light beam irradiated to the first area to the second area.

2. The cleaning robot according to claim 1, characterized in that: The signal transfer element is a reflective element; the reflective element includes at least one reflective surface, the reflective surface is used to reflect light, and the reflective surface faces the second area.

3. The cleaning robot according to claim 2, characterized in that: The reflective element includes one or more of a reflective mirror, reflective paper, and an electroplated reflective film.

4. The cleaning robot according to claim 2, characterized in that: The reflective element is annular in shape; and a side of the reflective element facing the second area has the reflective surface.

5. The cleaning robot according to claim 1, characterized in that: The signal transfer component forms a cavity facing the second area; the optical sensor is located in the cavity.

6. The cleaning robot according to claim 1, characterized in that: The second area has a photosensitive surface, and the height difference between the plane where the highest point of the signal transfer component is located and the photosensitive surface is 5-20mm; the plane where the highest point is located is parallel to the photosensitive surface.

7. The cleaning robot according to claim 1, characterized in that: The optical sensor is a solar panel.

8. The cleaning robot according to claim 1, characterized in that: The cleaning robot further comprises an angle adjustment component, the second area comprises a photosensitive surface, the light beam and the photosensitive surface form a first angle α, and the angle adjustment component is used to adjust the angle of the first angle α.

9. The cleaning robot according to claim 8, characterized in that: The angle range of the first angle α is: 30°≤α≤90°.

10. The cleaning robot according to claim 1, characterized in that: The upper surface of the light-transmitting member does not protrude from the body of the cleaning robot, and the light-transmitting member is made of a material with a light transmittance greater than zero.

11. The cleaning robot according to claim 1, characterized in that: The light-transmitting member includes at least one light-transmitting area, and among the at least one light-transmitting area, there is a first light-transmitting area facing the top cover of the cleaning robot.

12. The cleaning robot according to claim 11, characterized in that: The light-transmitting member includes at least two light-transmitting areas, including the first light-transmitting area and a second light-transmitting area located on at least part of a side surface of the light-transmitting member; wherein the first light-transmitting area and the second light-transmitting area form a second angle.

13. The cleaning robot according to claim 1, characterized in that: The cleaning robot comprises a top cover, the top cover is provided with an installation cavity and an opening connected with the installation cavity, the receiver is arranged in the installation cavity through the opening, the light-transmitting member faces the opening, and the first area is located in the installation cavity.

14. The cleaning robot according to claim 1 or 13, characterized in that: The first area is located on the light-transmitting element and / or the optical sensor.

15. The cleaning robot according to claim 1, characterized in that: The receiver also includes a control board, which is electrically connected to the optical sensor, and the second area is used to convert the visible light into an electrical signal; the control board is used to process the electrical signal to obtain the control information, and control the movement of the cleaning robot based on the control information, and / or control the cleaning robot to be in a corresponding working mode.

16. A cleaning system, characterized in that: The cleaning system comprises a remote control device and a cleaning robot as described in any one of claims 1 to 15, wherein the remote control device is used to generate visible light carrying control information.

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