Underwater mobile robot

Abstract

The invention discloses an underwater mobile robot, and relates to the technical field of underwater garbage cleaning devices. The robot comprises a robot body, a controller, a storage battery and a light-emitting device. The robot body comprises a main shell, a waterproof bin, a filtering piece, a driving piece and a water pump structure. An inner cavity, a water inlet and a water outlet are formed in the main shell; the filtering piece is arranged between the water inlet and the water outlet and is used for filtering impurities in water flow; the waterproof bin is mounted in the main shell; the driving piece is electrically connected with the controller; the water pump structure is in driving connection with the output end of the driving part; the storage battery is electrically connected with the controller; the light-emitting device is arranged on the robot body and electrically connected with the controller, and the controller is used for controlling the light-emitting device to be lightened when the robot is in a shutdown state and the storage battery is in a low-electric-quantity state and to be extinguished after lasting for preset time so as to indicate the position of the robot. The underwater mobile robot is improved, the position of the underwater mobile robot can be visually positioned, and the searching and salvaging convenience is effectively improved.

Description

Technical Field

[0001] The invention relates to the technical field of underwater garbage cleaning devices, and in particular to an underwater mobile robot. Background Art

[0002] Underwater mobile robots can perform tasks such as cleaning, filming, and exploration. The propellers or wheels on the robot can move in all directions and turn. Underwater cleaning robots mainly perform underwater cleaning by scrubbing the floor and walls, absorbing water and dirt, filtering garbage, and discharging clean water. Typical underwater cleaning robots are equipped with a water spray power system that can move forward and backward and perform cleaning tasks.

[0003] Existing underwater cleaning robots are equipped with drive motors, wheeled or tracked power structures, control systems, power batteries, optional brushes and other accessories. The bottom shell of the robot cooperates with a filter as a garbage bin. When the robot is running underwater, it mainly relies on the motor to drive the wheels or tracks to move. The rolling or fixed brushes will brush up the garbage and dust stuck to the ground or wall and bring them to the vicinity of the sewage suction port. Then the water spray motor (pumping motor) drives the water flow to be sucked into the garbage bin. The water flow passes through the filter and is discharged from the nozzle, while the garbage and other dirt remain in the garbage bin, thereby achieving the cleaning function.

[0004] After the robot completes its work underwater, it will enter a shutdown or standby state and wait for the user to salvage it. Traditional wired underwater mobile robots can find the robot through the power cable or directly use the cable to pull the robot back to shore, without the need for a separate position indication device or function. The existence of the power cable will greatly hinder the operation of the underwater mobile robot, especially in more complex waters, where the power cable is easily entangled by objects in the water. Therefore, current products tend to be cordless, that is, powered by built-in batteries, but after the robot completes its work, since there is no power cable connection, its shutdown location is relatively random, and the machine has no visible features after being turned off, especially at night, making it difficult to discover and find. Summary of the invention

[0005] The main purpose of the present invention is to provide an underwater mobile robot, aiming to improve the convenience of finding the underwater mobile robot.

[0006] To achieve the above object, the present invention provides an underwater mobile robot, comprising:

[0007] The robot body comprises a main shell, a waterproof chamber, a filter, a driving member and a water pump structure; the main shell is formed with an inner cavity and a water inlet and a water outlet communicated with the inner cavity; the filter is installed between the water inlet and the water outlet and is used to filter debris in the water flow; the waterproof chamber is installed in the main shell; the driving member is electrically connected to the controller; the water pump structure is drivingly connected to the output end of the driving member, and the water pump structure is used to spray the water entering from the water inlet through the water outlet under the drive of the driving member to generate a water flow;

[0008] A controller, disposed in the robot body;

[0009] a storage battery, disposed in the robot body and electrically connected to the controller; and

[0010] A light emitting device is provided on the robot body and is electrically connected to the controller. The controller is used to control the light emitting device to light up when the underwater mobile robot is in a shutdown state and the battery is in a low-power state and to extinguish after a preset time. The low-power state is that the underwater mobile robot cannot be restarted after shutdown, or can be restarted but the battery life is less than 20 minutes, so as to indicate the location of the underwater mobile robot. The preset time is more than 15 minutes. Optionally, the light emitting device includes at least one of a red indicator light, a green indicator light, and a blue indicator light; and / or

[0011] The light emitting device adopts an LED light source, and the power of the light emitting device is not less than 100mW.

[0012] Optionally, the controller is further used to control the light emitting device to flash at a target flashing frequency, and the target flashing frequency is 0.1-5 Hz.

[0013] Optionally, the preset time is 15 minutes to 12 hours.

[0014] Optionally, the controller is further used to control the light emitting device to operate to indicate the operating state, battery power or fault state of the underwater mobile robot; and / or

[0015] The controller is also used to trigger the light emitting device to exit the position indication state according to the acquired posture signal, vibration signal, charging signal or key control signal, so as to make it enter the off state or charging state.

[0016] Optionally, the controller is also used to control the driving member and the water pump structure to operate after the underwater mobile robot is in a shutdown state for a preset time, so that the underwater mobile robot can spray water, climb a wall or float to the water surface and the operation duration is less than 20 minutes.

[0017] Optionally, the controller is also used to control the movement of the underwater mobile robot and make the light emitted by the light emitting device form a light track and the operation duration is less than 20 minutes after the underwater mobile robot is in a shutdown state for a preset time.

[0018] Optionally, the underwater mobile robot also includes a photosensitive device, which is arranged on the robot body and electrically connected to the controller, and the photosensitive device is used to receive the ambient light intensity and feed back the light intensity signal to the controller. The controller is also used to control the operation of the light-emitting device according to the light intensity signal.

[0019] Optionally, the underwater mobile robot further comprises a waterproof and light-transmitting cover, and the waterproof and light-transmitting cover is arranged on the light-emitting device.

[0020] Optionally, the underwater mobile robot further comprises a solar panel, wherein the solar panel is mounted on the robot body and electrically connected to the battery.

[0021] In the technical solution of the present invention, the underwater mobile robot includes a robot body, a controller, a battery and a light-emitting device; the robot body includes a main shell, a waterproof chamber, a filter, a driving member and a water pump structure; the main shell is formed with an inner cavity and a water inlet and a water outlet connected to the inner cavity; the filter is installed between the water inlet and the water outlet and is used to filter debris in the water flow; the waterproof chamber is installed in the main shell; the driving member is electrically connected to the controller; the water pump structure is drivingly connected to the output end of the driving member, and the water pump structure is used to spray water entering from the water inlet through the water outlet under the drive of the driving member. to generate water flow; the controller is arranged in the robot body; the battery is arranged in the robot body and electrically connected to the controller; the light-emitting device is arranged on the robot body and electrically connected to the controller, and the controller is used to control the light-emitting device to light up after the underwater mobile robot is in a shutdown state and the battery is in a low-power state and extinguish after a preset time. The low-power state is that the underwater mobile robot cannot be restarted after shutdown, or can be restarted but the battery life is less than 20 minutes, so as to indicate the location of the underwater mobile robot, and the preset time is more than 15 minutes. It can be understood that the present invention improves the underwater mobile robot by arranging a light-emitting device on the robot body and electrically connecting it to the controller. When the task is completed, the controller can control the light-emitting device to emit light, and the user can intuitively locate the position of the underwater mobile robot, which effectively improves the convenience of finding and salvaging. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying creative work.

[0023] Figure 1 It is a schematic structural diagram of an underwater mobile robot according to an embodiment of the present invention.

[0024] Description of Figure Numbers:

[0025] 10. Robot body; 20. Controller; 30. Battery; 40. Light-emitting device; 41. Waterproof light-transmitting cover; 11. Main shell; 12. Waterproof compartment; 13. Driving part; 14. Propeller; 10a. Water inlet; 10b. Water outlet; 50. Garbage bin; 60. Check valve; 70. Wheel mechanism.

[0026] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0027] 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 only 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.

[0028] It should be noted that if the embodiments of the present invention involve directional indications (such as up, down, left, right, front, back, etc.), the directional indications are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0029] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" 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 a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0030] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present invention, the descriptions of "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, if the meaning of "and / or" appearing in the full text is to include three parallel schemes, taking "A and / or B" as an example, it includes scheme A, or scheme B, or a scheme that satisfies both A and B. In addition, the technical solutions between the various embodiments can be combined with each other, but it must be based on the ability of ordinary technicians in this field to implement. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0031] Existing cabled underwater robots use cables to search and locate, while battery-powered cable-free underwater robots cannot use cables to locate and locate, and can only be located underwater by visual methods. It is difficult to find and locate the robot when the light is poor, such as at night, or when the water is deep and the vision is blurred, the color of the bottom of the water is close to the color of the robot, or the water is turbid. Users need to keep observing and searching around the pool, and even need to use lighting equipment, which is very inconvenient to use.

[0032] In this regard, the present invention improves the existing underwater mobile robot. The present invention provides an underwater mobile robot, in particular an underwater cleaning robot, which can also be an underwater robot for performing tasks such as shooting and detection, but is not limited here.

[0033] Reference Figure 1 In one embodiment of the present invention, the underwater mobile robot includes a robot body 10, a controller 20, a battery 30 and a light-emitting device 40; the controller 20 is arranged in the robot body 10; the battery 30 is arranged in the robot body 10 and is electrically connected to the controller 20; the light-emitting device 40 is arranged on the robot body 10 and is electrically connected to the controller 20, and the controller 20 is used to control the light-emitting device 40 to light up and go out after the underwater mobile robot is in a shutdown state and the battery 30 is in a low-power state after a preset time. The low-power state means that the underwater mobile robot cannot be restarted after shutdown, or can be restarted but the battery life is less than 20 minutes, so as to indicate the location of the underwater mobile robot, and the preset time is more than 15 minutes.

[0034] In this embodiment, the robot body 10 may include a main shell 11 and functional components or devices arranged in the main shell 11. The main shell 11 may include a plurality of outer shells and inner shells. The overall shape of the main shell 11 may be set to a trolley shape or a cylindrical shape, etc., which is not limited here.

[0035] The controller 20 may be a single chip microcomputer, a DSP, a FPGA, etc., but is not limited here.

[0036] Preferably, the light emitting device 40 can be a light emitting device that can emit visible light and can penetrate the water surface to be visible on the shore. The light emitting device 40 can be set at the top of the robot body 10, and can also be set with a slight protrusion, so that it can be observed in a larger range and in more directions, and the use effect is better. The preset time can be more than 15 minutes, so that the continuous lighting time of the light emitting device 40 is more sufficient, so that the user can find the location of the underwater mobile robot as much as possible.

[0037] In actual use, the working time of a general underwater cleaning robot is mostly 2-4 hours. Due to its long working time, the time error of the shutdown point is large due to factors such as the working environment, battery power and aging differences. It is difficult for users to accurately predict the shutdown time or to have time to go for salvage on time. Therefore, it is necessary for the robot to have the ability to indicate the position for a long time after shutdown, so that users can still find the robot when they go to the poolside when they are free. Especially at night when the light is poor, the water is deep, and the water quality is poor. According to general usage habits, the underwater mobile robot continues to indicate the position for more than 15 minutes after shutdown, and it is advisable not to exceed 24 hours. Preferably, the preset time is 15 minutes-12 hours, especially when the preset time is 3-6 hours, the position indication effect of the light-emitting device 40 is better.

[0038] It should also be noted that since the remaining battery power is limited after the robot is shut down, the robot needs to monitor the remaining power or voltage while lighting the light-emitting device 40. When the battery protection voltage / power is reached (such as the protection voltage threshold of a common lithium battery cell is 2.7V), the light needs to be turned off or the entire machine needs to be shut down to protect the battery to avoid damaging the battery life or capacity. Therefore, the time for the light to indicate the position has an upper limit or interval range (except for special circumstances such as external connection of other solar panels).

[0039] In this embodiment, the light-emitting device may have a waterproof light-transmitting cover 41, or a light-emitting device that is waterproof, or an additional waterproof light-transmitting cover 41. The light-emitting device may be powered by the power battery of the robot. When the cleaning robot enters a shutdown state when the battery power is low (the remaining battery life is less than 20 minutes at this time, the robot can no longer automatically start cleaning work, or it can automatically start working again after a period of time, but the current battery life is less than 20 minutes; and some existing types of robots will wait for a period of time and then work for a period of time, which does not belong to the low-battery shutdown state), the light-emitting device can emit a clearly visible light to indicate the position of the robot. The light-emitting mode can be configured as: always on, intermittent flashing, slowly increasing or decreasing brightness, etc., and the entire lighting duration after shutdown or standby can be set to be greater than 15 minutes, and it will automatically go out when the battery power is too low or after a certain waiting time (such as 48 hours).

[0040] It can be understood that the present invention improves the underwater mobile robot by providing a light-emitting device 40 on the robot body 10 and electrically connecting it to the controller 20. When the task is completed, the controller 20 can control the light-emitting device 40 to emit light, and the user can intuitively locate the position of the underwater mobile robot, thereby effectively improving the convenience of searching and salvaging.

[0041] In one embodiment, referring to Figure 1 The light emitting device 40 may include at least one of a red indicator light, a green indicator light, and a blue indicator light. The number of indicator lights may be multiple. All or more lights may be lit for normal working state indication, and only some of the lamp beads may be lit for position indication. The light emitting device 40 uses an LED light source, and the power of the light emitting device 40 is not less than 100mW. Preferably, the power of the light emitting device 40 is 100-500mW.

[0042] In actual use, swimming pools and other pools are mostly blue, green and other colors, and there is floating or suspended dust. Therefore, the use of red, green and other lights has better penetration, higher contrast, is easier to be found when the water quality is poor, and has a longer effective distance.

[0043] The water quality of the pool that needs to be cleaned is likely to be turbid, with floating garbage and dust, which causes ordinary low-power lights such as general indicative LED lights with a power of less than 50mW to be unable to effectively penetrate the pool water, or have a short range of action. This embodiment uses a medium-to-high-power LED light source, which can be used in turbid water. In addition, it is worth noting that excessive power will lead to more power consumption, which in turn affects the robot's endurance time or increases the cost of the robot. Therefore, the preferred power of the light-emitting device 40 is preferably in the range of 100-500mW.

[0044] In one embodiment, referring to Figure 1 The controller 20 is also used to control the light emitting device 40 to flash at a target flashing frequency, the target flashing frequency is 0.1-5 Hz, preferably 0.2-2 Hz, which is not limited here.

[0045] In some application scenarios, when lights indicate positions, lights that are always on may be less conspicuous and easily confused with ambient lights, swimming pool lights, etc. Therefore, lights that change in brightness can be used as indicators. A flashing frequency / brightness frequency of 0.2-2Hz is ideal, among which a low frequency of less than 1Hz is more power-saving and eye-catching, and is therefore the best.

[0046] In one embodiment, referring to Figure 1 The controller 20 is also used to control the light emitting device 40 to indicate the working status, battery power or fault status of the underwater mobile robot.

[0047] In this embodiment, the light emitting device 40 can be combined into one or shared with the status indicator light when the robot is running, that is, it is used to indicate the robot's working status, power or fault status and other information when the robot is running, and it is used to indicate the position of the robot when the robot shuts down due to low power, thereby achieving multiple uses to save cost and installation space.

[0048] In one embodiment, referring to Figure 1 The controller 20 is also used to trigger the light emitting device 40 to exit the position indication state according to the acquired posture signal, vibration signal, charging signal or key control signal, so as to make it enter the off state or charging state.

[0049] When the user finds the robot and salvages it, the robot can automatically exit the position indication state and enter the fully closed state or charging state based on its posture changes, vibration conditions, user charging operations, or user key presses and other interactive methods during the salvage process. This setting greatly improves the convenience of use and helps save energy.

[0050] In one embodiment, referring to Figure 1 The controller 20 can also be used to control the driving member 13 and the water pump structure to operate after the underwater mobile robot is in a shutdown state for a preset time, so that the underwater mobile robot can spray water, climb a wall or float to the water surface, and the operation duration is less than 20 minutes.

[0051] In this embodiment, the underwater mobile robot is a robot that can climb walls or float. It can be configured to start up once every period of time in the low-power shutdown state, and use water spray, climbing walls or floating to the water surface to attract the user's attention. At this time, the robot's light is no longer too affected by dust in the water and the surrounding environment, and it is easier to be found. In order to save electricity, it can be configured to maintain this state for a certain period of time, such as 30-60 seconds. If it is not picked up by the user, it will enter the shutdown waiting state again.

[0052] In one embodiment, referring to Figure 1 The controller 20 can also be used to control the movement of the underwater mobile robot and make the light emitted by the light emitting device 40 form a light track and the operation duration is less than 20 minutes after the underwater mobile robot is in a shutdown state for a preset time.

[0053] In this embodiment, after the underwater mobile robot enters the shutdown waiting state for a certain period of time, such as 30-60 minutes, if it is not salvaged by the user, the robot can start running again for a period of time (which can be for non-normal cleaning work, less than 20 minutes to save electricity), and try to attract the user's attention and salvage through the light track and water flow generated by its own movement, or change its shutdown waiting position by running again to avoid the problem that the original shutdown position is too hidden and difficult to be found.

[0054] In order to save energy and extend the endurance of the underwater mobile robot, in one embodiment, the underwater mobile robot may also include a photosensitive device, which is arranged on the robot body 10 and electrically connected to the controller 20. The photosensitive device is used to receive the ambient light intensity and feed back the light intensity signal to the controller 20. The controller 20 is also used to control the operation of the light-emitting device 40 according to the light intensity signal.

[0055] In this embodiment, a photosensitive device is added to the robot body 10 to receive ambient light. When it is found that the light is bright during the day, the light emitting device 40 can be controlled not to light up or to indicate the position at a lower brightness or frequency; when it is found that the light is poor at night, the light emitting device 40 can be controlled to indicate the position at a higher brightness or lighting frequency. Such a setting can avoid the consumption of electricity during the day, achieve the purpose of saving the robot's own electricity, provide a longer position indication time, and also help to extend the cleaning work time.

[0056] The light position indication function of the light emitting device 40 is mainly used in poor lighting conditions such as at night. It is difficult for users to find the underwater robot by visual observation. Therefore, the light indication function can be turned off when the lighting is good during the day, that is, the indicator light is not turned on or the lighting time is very short and the off time is very long to achieve the purpose of saving power. The control system can enter a sleep low-power mode when the light is not on, and resume to a normal working state after a period of time and continue to light the light once.

[0057] In this embodiment, the installed photosensor can be used to detect the ambient light conditions in real time. When it is found that the ambient light is weak and below a certain threshold value, the normal light position indication function is activated. Otherwise, the indication function is not activated to save power.

[0058] In one embodiment, the underwater mobile robot further includes a solar panel, which is mounted on the robot body 10 and electrically connected to the battery 30 .

[0059] In this embodiment, a small solar panel is added to the robot body 10 to charge the robot battery during the day when there is light. When the light is poor at night, the stored electrical energy can be used to light up the light-emitting device 40 to indicate the position, thereby providing a more lasting position indication capability and a longer cleaning working time.

[0060] The solar panel can be used to supplement electricity when there is light, and can be used to consume electricity when the light is weak, thereby helping to realize the ability of the light emitting device 40 to have a position indication function for more than 24 hours. The solar panel can generate electricity and can also be used to indicate the ambient light intensity.

[0061] Reference Figure 1 In one embodiment, the robot body 10 may include a main shell 11, a waterproof chamber 12, a driving member 13 and a propeller 14. The main shell 11 is formed with an inner cavity and a water inlet 10a and a water outlet 10b respectively connected to the inner cavity. The water inlet 10a is located at the bottom of the main shell 11, and the water outlet 10b is located at the top of the main shell 11; the waterproof chamber 12 is installed in the inner cavity; a plurality of counterweights may be arranged on the bottom wall of the inner cavity of the main shell 11; the driving member 13 is arranged in the waterproof chamber 12 and is electrically connected to the controller 20, and the controller 20 is also used to control the operation of the driving member 13; the propeller 14 is drivingly connected to the output end of the driving member 13, and the propeller 14 is arranged below the water outlet 10b and is used to spray the water entering from the water inlet 10a through the water outlet 10b under the drive of the driving member 13 to generate water flow and thrust. In this embodiment, the propeller 14 serves as the water pump structure of the robot.

[0062] The driving member 13 is preferably a brushless motor, which is not limited here. The brushless motor is small in size, which helps to give more space to the counterweight and other components, so that the posture balance effect is better.

[0063] In this embodiment, Figure 1As shown, the robot body 10 may further include a garbage bin 50 and a filter element, wherein the garbage bin 50 is disposed at the water inlet 10a and allows water flowing in from the water inlet 10a to flow to the water outlet 10b, and the filter element is disposed in the garbage bin 50. To prevent the water entering the garbage bin 50 from flowing back, a check valve 60 may be disposed at the water inlet 10a to improve the cleaning effect and movement stability of the robot.

[0064] In order to facilitate underwater movement and improve cleaning efficiency, in one embodiment, Figure 1 As shown, the robot body 10 may also include a wheel mechanism 70, which is disposed at the bottom of the main shell 11. The wheel mechanism 70 may be equipped with four tires and a transmission system, and may be driven by a drive motor or only by a water spray system, which is not limited here.

[0065] The above descriptions are only optional embodiments of the present invention, and are not intended to limit the patent scope of the present invention. All equivalent structural changes made using the contents of the present invention's specification and drawings, or directly / indirectly applied in other related technical fields, are included in the patent protection scope of the present invention.

Claims

1. An underwater mobile robot, characterized in that: include: Robot body; The robot body comprises a main shell, a waterproof chamber, a filter, a driving member and a water pump structure; the main shell is formed with an inner cavity and a water inlet and a water outlet communicated with the inner cavity; the filter is installed between the water inlet and the water outlet and is used to filter debris in the water flow; the waterproof chamber is installed in the main shell; the driving member is electrically connected to the controller; the water pump structure is drivingly connected to the output end of the driving member, and the water pump structure is used to spray the water entering from the water inlet through the water outlet under the drive of the driving member to generate a water flow; A controller, disposed in the robot body; a storage battery, disposed in the robot body and electrically connected to the controller; and A light emitting device is provided on the robot body and is electrically connected to the controller. The controller is used to control the light emitting device to light up and extinguish after the underwater mobile robot is in a shutdown state and the battery is in a low-power state after a preset time. The low-power state means that the underwater mobile robot cannot be restarted after shutdown, or can be restarted but the battery life is less than 20 minutes, so as to indicate the location of the underwater mobile robot. The preset time is more than 15 minutes.

2. The underwater mobile robot according to claim 1, characterized in that: The light emitting device includes at least one of a red indicator light, a green indicator light, and a blue indicator light; and / or The light emitting device adopts an LED light source, and the power of the light emitting device is not less than 100mW.

3. The underwater mobile robot according to claim 1, characterized in that: The controller is also used to control the light emitting device to flash at a target flashing frequency, and the target flashing frequency is 0.1-5 Hz.

4. The underwater mobile robot according to claim 1, characterized in that: The preset time is 15 minutes to 12 hours.

5. The underwater mobile robot according to claim 1, characterized in that: The controller is also used to control the light emitting device to indicate the working state, battery power or fault state of the underwater mobile robot; and / or The controller is also used to trigger the light emitting device to exit the position indication state according to the acquired posture signal, vibration signal, charging signal or key control signal, so as to make it enter the off state or charging state.

6. The underwater mobile robot according to claim 1, characterized in that: The controller is also used to control the driving member and the water pump structure to operate after the underwater mobile robot is in a shutdown state for a preset time, so that the underwater mobile robot can spray water, climb a wall or float to the water surface and the operation duration is less than 20 minutes.

7. The underwater mobile robot according to claim 1, characterized in that: The controller is also used to control the underwater mobile robot to move and make the light emitted by the light emitting device form a light track and the operation duration is less than 20 minutes after the underwater mobile robot is in a shutdown state for a preset time.

8. The underwater mobile robot according to claim 1, characterized in that: The underwater mobile robot also includes a photosensitive device, which is arranged on the robot body and electrically connected to the controller. The photosensitive device is used to receive the ambient light intensity and feed back the light intensity signal to the controller. The controller is also used to control the operation of the light-emitting device according to the light intensity signal.

9. The underwater mobile robot according to claim 1, characterized in that: The underwater mobile robot further comprises a waterproof light-transmitting cover, and the waterproof light-transmitting cover is arranged on the light-emitting device.

10. The underwater mobile robot according to claim 1, characterized in that: The underwater mobile robot also includes a solar panel, which is installed on the robot body and electrically connected to the battery.

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