A robot and a control method thereof

Abstract

The embodiment of the application provides a robot and a control method thereof, and belongs to the technical field of underwater equipment. A propelling device is arranged on a main body, and the direction in which the propelling device pushes the main body to move is a first direction. A floating device is installed on the main body, and the floating device has a first cavity, a gas storage cavity and a gas exchange port. The first cavity is located on one side of the main body along the first direction. The gas exchange port charges the gas storage cavity with gas in communication with the gas storage cavity. The gas storage cavity charges the first cavity with gas in communication with the first cavity. The gas entering the first cavity expels the water in the first cavity to make the main body tilt upward on the side of the first cavity along the first direction. Tilting the main body upward on the side of the first cavity along the first direction makes the first direction tilt upward, so that the propelling device pushes the main body to tilt upward in water, so that the main body can float upward below the water surface. The first cavity is drained by the gas in the gas storage cavity, and the draining of the first cavity is not limited by the gas exchange port, so that the robot can conveniently float upward below the water surface.

Description

Technical Field

[0001] This application relates to the field of underwater equipment technology, and in particular to a robot and its control method. Background Technology

[0002] Robots are being used more and more widely in various fields. They are capable of operating underwater, including underwater cleaning, underwater collection, underwater exploration, and underwater inspection. Depending on the requirements of underwater operations, robots need to be able to surface or submerge in water.

[0003] In related technologies, robots have difficulty surfacing from below the water surface. Summary of the Invention

[0004] This application provides a robot and its control method to enable the robot to float below the water surface.

[0005] The technical solution of this application embodiment is implemented as follows: The first aspect of this application provides a robot, including: main body; A propulsion device is disposed on the main body, and the propulsion device pushes the main body to move in a first direction; A snorkeling device is installed on the main body. The snorkeling device has a first cavity, an air storage cavity, and an air exchange port. The first cavity is located on one side of the main body along the first direction. The air exchange port inflates the air storage cavity when it is in communication with the air storage cavity. The air storage cavity inflates the first cavity when it is in communication with the first cavity. The gas entering the first cavity displaces the water in the first cavity, causing the main body to tilt upwards towards the first cavity along the first direction.

[0006] In some embodiments, the gas storage chamber is located on the side of the body opposite to the first chamber along the first direction.

[0007] In some embodiments, the first direction is arranged along the forward direction, the first cavity is located on the front side of the body, and the gas storage cavity is located on the rear side of the body.

[0008] In some embodiments, the snorkeling device further has a second chamber located between the first chamber and the air storage chamber along the first direction. When the air vent is above the water surface, and the second chamber is in communication with the air vent, the second chamber draws air through the air vent to drain the second chamber.

[0009] In some embodiments, the snorkeling device further includes a first flow path, the snorkeling device includes a first container having the first cavity and a second container having the second cavity, one end of the first flow path is connected to the first container, and the second container is connected in series with the first flow path.

[0010] In some embodiments, the snorkeling device further includes a first drive pump connected in series in the first flow path, and a second container connected in series between the first drive pump and the first container.

[0011] In some embodiments, the snorkeling device includes a first container having the first cavity and a second container having the second cavity. The main body also includes a second drive pump, a collection basket, and a flow guide. The second drive pump draws water into the collection basket out through the second drive pump. The flow guide is installed at the outlet end of the second drive pump. The snorkeling device is provided on both sides of the flow guide along a second direction. The second direction is arranged to intersect the first direction and the outlet direction of the flow guide. The flow guide is located between the second containers of the two snorkeling devices along the second direction.

[0012] In some embodiments, the robot includes a second flow path, a third flow path, and a third drive pump. The ports at both ends of the second flow path are respectively connected to the air exchange port and the air storage chamber of one side of the snorkeling device. The third drive pump is connected in series in the second flow path. One end of the third flow path is connected to the second flow path and the connection position is located between the third drive pump and the corresponding air storage chamber. The port at the other end of the third flow path is connected to the air storage chamber of the other side of the snorkeling device.

[0013] In some embodiments, the snorkeling device further includes a fourth flow path and a switch, the fourth flow path being connected between the air storage chamber and the first chamber, and the switch being disposed in the fourth flow path to switch at least the on / off state between the air storage chamber and the first chamber.

[0014] In some embodiments, the snorkeling device further includes a fifth flow path, the two ends of the fourth flow path being connected to the cavity wall of the air storage chamber and the switch, respectively, one end of the switch being connected to the cavity wall of the first chamber, one end of the fifth flow path being connected to the switch, and at least one air exchange port being formed in the fifth flow path. When the switch is in a first state, the air storage chamber is connected to the first chamber, and the air exchange port is disconnected from the first chamber. When the switch is in a second state, the air storage chamber is disconnected from the first chamber, and the air exchange port is connected to the first chamber.

[0015] In some embodiments, the snorkeling device includes an air storage device with an air storage chamber, the volume of which varies with the volume of the air storage chamber.

[0016] In some embodiments, the ventilation port is located on the side of the body facing the first cavity along the first direction.

[0017] A second aspect of this application provides a robot control method applied to the robot described above; the control method includes: The gas storage chamber is controlled to fill the first chamber with gas, so that the first chamber is drained. When the main body is tilted upwards towards the first cavity along the first direction, the propulsion device is controlled to push the main body to move along the first direction.

[0018] The embodiments of this application have the following beneficial effects: The robot provided in this application embodiment propels the main body in a first direction. When the air vent is connected to the air storage chamber, it inflates the air storage chamber. When the air storage chamber is connected to a first chamber, it inflates the first chamber. The gas entering the first chamber displaces the water within, causing the main body to tilt upwards along the first direction towards the first chamber. This upward tilting propels the main body upwards in the water, allowing it to float below the surface. The gas in the air storage chamber drains the first chamber, and this drainage is not restricted by the air vent, facilitating the robot's buoyancy. By inflating the first chamber with the air storage chamber to drain it, the robot's attitude can be adjusted along the first direction. Combined with the propulsion device providing power, this allows for precise control of the robot's buoyancy path and attitude in the water, improving stability and efficiency during the buoyancy process. Attached Figure Description

[0019] Figure 1 This is a front view of the robot provided in an embodiment of this application; Figure 2 This is a schematic diagram of the structure of the robot provided in the embodiments of this application; Figure 3 This is an assembly diagram of the second container, the flow guide, and the second drive pump provided in the embodiments of this application; Figure 4 This is an assembly drawing of the first drive pump provided in an embodiment of this application; Figure 5 This is a structural schematic diagram of the robot from another perspective provided in an embodiment of this application; Figure 6 This is a schematic diagram of the connection relationship between the first container, the second container, and the gas storage device provided in the embodiments of this application. The figure shows the case where the snorkeling device is equipped with a ventilation port. Figure 7 This is a schematic diagram showing the connection relationship between the first container, the second container, and the air storage device provided in the embodiments of this application; the figure shows the case where the snorkeling device is equipped with two air vents; Figure 8 This is a schematic diagram of the third flow path provided in an embodiment of this application; Figure 9 This is a schematic diagram of the robot located at the bottom of the pool, as provided in an embodiment of this application; Figure 10 This is a schematic diagram showing the main body of the robot provided in this application tilting upwards along the first direction toward the first cavity; Figure 11 This is a schematic diagram of a robot moving in water until the air vent emerges from the water surface, as provided in an embodiment of this application. Figure 12 This is a schematic diagram of a robot floating on water, provided in an embodiment of this application; Figure 13 This is a schematic diagram of the robot body provided in this application embodiment tilting upward along the first direction toward the first cavity so that the walking mechanism climbs to the pool wall; Figure 14 This is a schematic diagram of the robot located on the pool wall according to an embodiment of this application.

[0020] Explanation of reference numerals in the attached figures 1. Main body; 11. Collection basket; 12. Second drive pump; 13. Flow guide; 2. Snorkeling device; 21. First container; 211. First chamber; 22. Second container; 221. Second chamber; 23. Air storage device; 231. Air storage chamber; 24. Air exchange port; 25. First flow path; 251. First drive pump; 252. Water inlet; 26. Second flow path; 261. Third drive pump; 27. Third flow path; 28. Fourth flow path; 281. Switch; 29. ​​Fifth flow path; 3. Walking mechanism; 4. Cleaning brush; 5. Propulsion device; 10. Water surface; 20. Pool bottom; 30. Pool wall. Detailed Implementation

[0021] To make the objectives, technical solutions, and advantages of this application clearer, the application will be further described in detail below with reference to the accompanying drawings. The described embodiments should not be regarded as limitations on this application. All other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0022] In the following description, references are made to “some embodiments,” which describe a subset of all possible embodiments. However, it is understood that “some embodiments” may be the same subset or different subsets of all possible embodiments and may be combined with each other without conflict.

[0023] In the following description, the terms "first, second, third" are used merely to distinguish similar objects and do not represent a specific ordering of objects. It is understood that "first, second, third" may be interchanged in a specific order or sequence where permitted, so that the embodiments of this application described herein can be implemented in an order other than that illustrated or described herein.

[0024] Unless otherwise defined, all technical and scientific terms used in the embodiments of this application have the same meaning as commonly understood by one of ordinary skill in the art. The terminology used in the embodiments of this application is for the purpose of describing the embodiments of this application only and is not intended to limit this application.

[0025] In related technologies, a robot includes a snorkeling device and a main body. The snorkeling device has a first chamber and a vent, with the vent connected to the first chamber and located above the water surface. Air is introduced into the first chamber through the vent to expel water, allowing the main body to float. The first chamber draws in water, and the air inside is expelled through the vent, enabling the main body to submerge. When the vent is blocked or located below the water surface, the first chamber cannot draw in air to expel water, preventing the main body from floating. The robot's ability to float below the water surface is restricted by the vent, making submerged buoyancy difficult.

[0026] This application provides an embodiment of a robot; please refer to [link / reference]. Figures 1-10 The robot includes a main body 1, a propulsion device 5, and a snorkeling device 2. The propulsion device 5 is disposed on the main body 1, and the direction in which the propulsion device 5 moves the main body 1 is a first direction. The snorkeling device 2 is installed on the main body 1 and has a first cavity 211, an air storage cavity 231, and an air exchange port 24. The first cavity 211 is located on one side of the main body 1 along the first direction. When the air exchange port 24 is connected to the air storage cavity 231, it fills the air storage cavity 231 with air. When the air storage cavity 231 is connected to the first cavity 211, it fills the first cavity 211 with air. The air entering the first cavity 211 displaces the water in the first cavity 211, causing the main body 1 to tilt upwards along the first direction toward the side of the first cavity 211.

[0027] It should be noted that the gas filling the gas storage chamber 231 into the first chamber 211 means that the gas in the gas storage chamber 231 flows into the first chamber 211. This can be caused by the gas storage chamber 231 being under positive pressure, or by the gas in the gas storage chamber 231 being under negative pressure.

[0028] For example, the first direction is parallel to the front-back direction.

[0029] For example, the propulsion device 5 is a blade propeller.

[0030] For example, Figure 10This shows the body 1 tilting upwards along the first direction toward the first cavity 211.

[0031] For example, the propulsion device 5 propels the main body 1 to move only in the first direction.

[0032] For example, the propulsion device 5 can propel the main body 1 to move in a first direction and in a direction opposite to the first direction.

[0033] For example, the front side of the main body 1 is tilted upward, and the propulsion device 5 pushes the main body 1 forward, causing the robot to float.

[0034] For example, the rear side of the main body 1 is tilted upward, and the propulsion device 5 pushes the main body 1 backward, causing the robot to float.

[0035] For example, the front side of the main body 1 is tilted upward, and the propulsion device 5 pushes the main body 1 backward, causing the robot to dive.

[0036] For example, the rear side of the main body 1 is tilted upward, and the propulsion device 5 pushes the main body 1 forward, causing the robot to dive.

[0037] For example, the robot is used to clean the swimming pool.

[0038] The first direction is as shown by arrow R4 in the figure.

[0039] The robot's forward and backward direction is shown by arrow R1 in the figure.

[0040] In this embodiment, the propulsion device 5 propels the main body 1 in a first direction. When the air vent 24 is connected to the air storage chamber 231, it inflates the air storage chamber 231. When the air storage chamber 231 is connected to the first chamber 211, it inflates the first chamber 211. The gas entering the first chamber 211 displaces the water within it, causing the main body 1 to tilt upwards along the first direction towards the first chamber 211. This upward tilting, caused by the propulsion device 5, propels the main body 1 upwards in the water, enabling it to float below the water surface 10. The gas in the air storage chamber 231 drains the water from the first chamber 211. This drainage is not restricted by the air vent 24, facilitating the robot's buoyancy below the water surface 10. By inflating the first chamber 211 through the air storage chamber 231 to drain the water, the robot's attitude can be adjusted along the first direction. Combined with the propulsion device 5 providing power, this allows for precise control of the robot's buoyancy path and attitude in the water, improving stability and efficiency during the buoyancy process.

[0041] In some embodiments, please refer to Figures 2-5 The gas storage chamber 231 is located on the side of the main body 1 away from the first chamber 211 along the first direction.

[0042] For example, the propulsion device 5 is located on the side of the main body 1 away from the first cavity 211 along the first direction.

[0043] In this embodiment, the gas storage chamber 231 is located on the side of the main body 1 away from the first cavity 211 along the first direction. After the gas storage chamber 231 fills the first cavity 211 with air, the first cavity 211 drains water. The main body 1 tilts upward along the side of the first cavity 211 along the first direction, which is conducive to tilting the main body 1 downward along the side of the first direction away from the first cavity 211, and is conducive to increasing the tilting degree of the main body 1.

[0044] It is understood that the gas storage cavity 231 is not limited to the side of the main body 1 facing away from the first cavity 211 along the first direction. Exemplarily, the gas storage cavity 231 is located on the side of the main body 1 facing the first cavity 211 along the first direction.

[0045] In some embodiments, please refer to Figures 1-5 The first direction is arranged along the forward direction, the first cavity 211 is located on the front side of the main body 1, and the gas storage cavity 231 is located on the rear side of the main body 1.

[0046] It should be noted that the first direction is arranged along the forward direction, and the propulsion device 5 propels the main body 1 forward.

[0047] For example, please refer to Figure 10 and Figure 11 The first direction is arranged along the forward direction. When the main body 1 is tilted upward along the first direction toward the first cavity 211, the propulsion device 5 pushes the main body 1 forward until the air exchange port 24 is exposed above the water surface 10.

[0048] For example, the propulsion device 5 is located on the rear side of the main body 1.

[0049] In this embodiment, the first direction is arranged along the forward direction, the first cavity 211 is located on the front side of the main body 1, and the air storage cavity 231 is located on the rear side of the main body 1. When the first cavity 211 drains water, the weight on the front side of the robot decreases, and the front side of the main body 1 tilts upward, which is beneficial for the main body 1 to be propelled forward by the propulsion device 5.

[0050] It is understood that the first direction is not limited to being arranged along the direction of travel. For example, the first direction is opposite to the direction of travel.

[0051] It is understood that the first cavity 211 is not limited to being located on the front side of the main body 1, and the gas storage cavity 231 is not limited to being located on the rear side of the main body 1. For example, the first cavity 211 is located on the rear side of the main body 1, and the gas storage cavity 231 is located on the front side of the main body 1.

[0052] In some embodiments, the robot further includes a walking mechanism 3 disposed on the main body 1. The walking mechanism 3 is disposed on opposite sides of the main body 1 along the second direction. The walking mechanism 3 is located on one side of the main body 1 along the third direction. The third direction is arranged to intersect with the first direction and the second direction, respectively.

[0053] For example, when the robot is floating on the water surface 10, the third direction is parallel to the up and down direction.

[0054] For example, the first direction is the straight direction of the walking mechanism 3.

[0055] For example, the walking mechanism 3 is a track.

[0056] For example, the first direction is the direction of track movement.

[0057] In some embodiments, please refer to Figures 2-7 The snorkeling device 2 also has a second chamber 221, which is located between the first chamber 211 and the air storage chamber 231 along the first direction. When the air exchange port 24 is above the water surface 10, and the second chamber 221 is connected to the air exchange port 24, the second chamber 221 draws air through the air exchange port 24 to drain the air from the second chamber 221.

[0058] For example, when the air vent 24 is below the water surface 10, the gas in the air storage chamber 231 enters the first chamber 211 to discharge the water in the first chamber 211, causing the main body 1 to tilt upward along the first direction toward the side of the first chamber 211, and the propulsion device 5 pushes the robot to float in the water.

[0059] For example, when the air vent 24 is above the water surface 10, the gas in the air storage chamber 231 enters the first chamber 211 to discharge the water in the first chamber 211, causing the main body 1 to tilt upward along the first direction toward the side of the first chamber 211, and the propulsion device 5 pushes the robot to float in the water.

[0060] For example, when the air exchange port 24 is above the water surface 10, the air storage chamber 231 is disconnected from the first chamber 211.

[0061] For example, when the air vent 24 is above the water surface 10, and the first chamber 211 is connected to the air vent 24, the first chamber 211 draws air through the air vent 24 to drain the first chamber 211.

[0062] For example, the second cavity 221 is located on the side of the main body 1 away from the walking mechanism 3 along a third direction.

[0063] In this embodiment, the second cavity 221 is located between the first cavity 211 and the air storage cavity 231 along the first direction. When the air exchange port 24 is above the water surface 10, and the second cavity 221 is connected to the air exchange port 24, the second cavity 221 draws air through the air exchange port 24 to drain the water from the second cavity 221, causing the main body 1 to float. The main body 1 can float in the water by using the propulsion device 5 in conjunction with the drainage of the first cavity 211, or it can float by draining the water from the second cavity 221. By using the combination of the first cavity 211 and the second cavity 221, the robot can float easily below the water surface 10, and the position of the robot in the water can be flexibly adjusted.

[0064] It is understood that the snorkeling device 2 is not limited to having a second cavity 221. Exemplarily, the snorkeling device 2 is only provided with a first cavity 211 for water intake and drainage.

[0065] It is understood that the second cavity 221 is not limited to being located between the first cavity 211 and the gas storage cavity 231 along the first direction. Exemplarily, the second cavity 221 is located on the side of the gas storage cavity 231 opposite to the first cavity 211 along the first direction.

[0066] In some embodiments, please refer to Figures 6-8 The snorkeling device 2 also includes a first flow path 25. The snorkeling device 2 includes a first container 21 with a first cavity 211 and a second container 22 with a second cavity 221. One end of the first flow path 25 is connected to the first container 21, and the second container 22 is connected in series with the first flow path 25.

[0067] For example, the other end of the first flow path 25 is a water inlet 252, through which the first flow path 25 is connected to the outside world.

[0068] For example, the water inlet 252 is located on the side of the main body 1 facing the walking mechanism 3 in a third direction.

[0069] In this embodiment, one end of the first flow path 25 is connected to the first container 21, and the second container 22 is connected in series with the first flow path 25. Both the first container 21 and the second container 22 can absorb and drain water through the first flow path 25, reducing the number of flow paths in the snorkeling device 2. This allows the first container 21 and the second container 22 to share the same drive pump for absorbing and draining water, reducing the number of drive pumps and lowering the cost of the snorkeling device 2.

[0070] It is understood that one end of the first flow path 25 is not limited to being connected to the first container 21. For example, the first flow path 25 is not connected to the first container 21, and one end of the first flow path 25 is connected to the air exchange port 24.

[0071] In some embodiments, please refer to Figures 6-8The snorkeling device 2 also includes a first drive pump 251, which is connected in series in the first flow path 25, and a second container 22 is connected in series between the first drive pump 251 and the first container 21.

[0072] For example, the first drive pump 251 is a peristaltic pump.

[0073] For example, when the gas storage chamber 231 is connected to the first chamber 211, the first drive pump 251 is started to discharge the water in the second container 22, and the water in the first container 21 enters the second container 22. A negative pressure is formed in the first container 21, which draws the gas in the gas storage chamber 231 into the first container 21.

[0074] For example, when the air vent 24 is located on the water surface 10 and the second chamber 221 is connected to the air vent 24, the first drive pump 251 is started to discharge the water in the second container 22, and a negative pressure is formed in the second container 22, and external gas is drawn into the second container 22 through the air vent 24.

[0075] For example, when the air exchange port 24 is located on the water surface 10 and the first chamber 211 is connected to the air exchange port 24, the first drive pump 251 is started to discharge the water in the second container 22, and a negative pressure is formed in the first container 21 and the second container 22, and external gas is drawn into the first container 21 and the second container 22 through the air exchange port 24.

[0076] In this embodiment, the first drive pump 251 is connected in series on the first flow path 25. The first drive pump 251 provides power for the first container 21 and the second container 22 to absorb and drain water. The second container 22 is connected in series between the first drive pump 251 and the first container 21. The first container 21 is connected to the first drive pump 251 through the second container 22. The first drive pump 251 is only connected to the second container 22, which facilitates the flexible arrangement of the position of the first drive pump 251.

[0077] The first drive pump 251 precisely controls the flow rate of fluid and gas in the first chamber 211 and the second chamber 221, thereby achieving precise control of the robot density, ensuring stability when switching between sinking and floating states, and reducing the floating and swaying and positioning deviations of the robot during the floating process caused by inaccurate density control.

[0078] It is understood that the second container 22 is not limited to being connected in series between the first drive pump 251 and the first container 21. Exemplarily, the first drive pump 251 is connected in series between the second container 22 and the first container 21.

[0079] In some embodiments, please refer to Figures 2-5The snorkeling device 2 includes a first container 21 with a first cavity 211 and a second container 22 with a second cavity 221. The main body 1 also includes a second drive pump 12, a collection basket 11 and a guide 13. The second drive pump 12 draws out the water that enters the collection basket 11. The guide 13 is installed at the water outlet of the second drive pump 12. The snorkeling device 2 is provided on both sides of the guide 13 along the second direction. The second direction is arranged to intersect the first direction and the water outlet direction of the guide 13. The guide 13 is located between the second containers 22 of the two snorkeling devices 2 along the second direction.

[0080] It should be noted that the second direction being arranged to intersect with the first direction and the water outlet direction of the guide member 13 means that the second direction is not parallel to the first direction and the second direction is not parallel to the water outlet direction of the guide member 13.

[0081] For example, the first drive pump 251 is located below the second drive pump 12, and the first drive pumps 251 of the two snorkeling devices 2 are arranged along the second direction.

[0082] For example, the airbags of one side of the snorkeling device 2 and the airbags of the other side of the snorkeling device 2 are arranged along a second direction.

[0083] For example, the first containers 21 of the snorkeling devices 2 on both sides are arranged at intervals along the second direction.

[0084] For example, the number of snorkeling devices 2 is two.

[0085] For example, the water outlet direction of the guide 13 is arranged to cross the third direction.

[0086] For example, the water outlet direction of the guide 13 is opposite to the robot's forward direction.

[0087] For example, the main body 1 also includes a filter element installed in the collection basket 11, covering the outlet of the collection basket 11, with the inlet of the collection basket 11 located on the side of the collection basket 11 away from the outlet of the collection basket 11.

[0088] For example, the collection basket 11 has an entrance on the side facing the walking mechanism 3 in a third direction.

[0089] For example, the collection basket 11 has an entrance on the front side along the robot's direction of travel.

[0090] For example, the collection basket 11 is located on the side of the body 1 opposite to the first cavity 211 along the first direction.

[0091] For example, the inlet of the collection basket 11 at the front of the collection basket 11 is located on the side of the first cavity 211 away from the walking mechanism 3 along a third direction.

[0092] For example, the collection basket 11 is used to collect garbage.

[0093] The second direction is shown by arrow R2 in the figure.

[0094] The third direction is indicated by arrow R3 in the figure.

[0095] In this embodiment, the second drive pump 12 draws water into the collection basket 11 and draws it out. The working target in the water is drawn into the collection basket 11 along with the water, and then the water in the collection basket 11 is drawn out by the second drive pump 12, leaving the working target in the collection basket 11. A snorkeling device 2 is provided on each side of the guide member 13 along the second direction. The second direction is intersected with the first direction and the water outlet direction of the guide member 13. The guide member 13 is located between the second containers 22 of the two snorkeling devices 2 along the second direction. The snorkeling devices 2 on both sides are arranged to fit the position of the guide shield, which allows for flexible arrangement of the shape of the second container 22 according to the shape and structure of the guide shield.

[0096] It is understood that the snorkeling device 2 is not limited to being provided on both opposite sides along the second direction of the flow guide 13. Exemplarily, the snorkeling device 2 is located on one side of the flow guide 13 along the second direction.

[0097] In some embodiments, please refer to Figure 8 The robot includes a second flow path 26, a third flow path 27, and a third drive pump 261. The two ends of the second flow path 26 are connected to the air exchange port 24 and the air storage chamber 231 of one side of the snorkeling device 2, respectively. The third drive pump 261 is connected in series with the second flow path 26. One end of the third flow path 27 is connected to the second flow path 26, and the connection position is located between the third drive pump 261 and the corresponding air storage chamber 231. The other end of the third flow path 27 is connected to the air storage chamber 231 of the other side of the snorkeling device 2.

[0098] It should be noted that the connection between the two ends of the second flow path 26 and the air exchange port 24 and the air storage chamber 231 of one side of the snorkeling device 2 means that one end of the second flow path 26 is connected to the air exchange port 24 of one side of the snorkeling device 2, and the other end of the second flow path 26 is connected to the air storage chamber 231 of one side of the snorkeling device 2.

[0099] For example, each snorkeling device 2 is provided with a vent 24.

[0100] For example, the third drive pump 261 is an air pump.

[0101] For example, the third drive pump 261 is a peristaltic pump.

[0102] In this embodiment, the ports at both ends of the second flow path 26 are connected to the air exchange port 24 and the air storage chamber 231 of one side of the snorkeling device 2, respectively. The third drive pump 261 is connected in series with the second flow path 26. One end of the third flow path 27 is connected to the second flow path 26, and the connection position is located between the third drive pump 261 and the corresponding air storage chamber 231. The other end of the third flow path 27 is connected to the air storage chamber 231 of the other side of the snorkeling device 2. The third drive pump 261 draws air into the second flow path 26 through the air exchange port 24. Some of the air in the second flow path 26 flows into the air storage chamber 231 of one side of the snorkeling device 2, and some of the air in the second flow path 26 flows into the air storage chamber 231 of the other side of the snorkeling device 2 through the third flow path 27. The third drive pump 261 provides power for the air intake of the air storage chambers 231 of the snorkeling devices 2 on both sides. No additional drive pump is required on the third flow path 27, reducing the number of drive pumps and lowering the cost of the robot.

[0103] It is understood that one end of the third flow path 27 is not limited to being connected to the second flow path 26. For example, one end of the third flow path 27 is connected to the air vent 24 of the other side of the snorkeling device 2, and the other end of the third flow path 27 is connected to the air storage chamber 231 of the other side of the snorkeling device 2. The robot includes a fourth drive pump connected in series with the third flow path 27.

[0104] In some embodiments, please refer to Figures 6-8 The snorkeling device 2 also includes a fourth flow path 28 and a switch 281. The fourth flow path 28 is connected between the air storage chamber 231 and the first chamber 211. The switch 281 is disposed in the fourth flow path 28 to switch the connection between the air storage chamber 231 and the first chamber 211.

[0105] For example, switch 281 switches the connection between gas storage chamber 231 and first chamber 211.

[0106] For example, the switch 281 switches the connection between the gas storage chamber 231 and the first chamber 211, and the switch 281 also switches the connection between the air exchange port 24 and the first chamber 211.

[0107] In this embodiment, the fourth flow path 28 is connected between the gas storage chamber 231 and the first chamber 211. The switch 281 is disposed in the fourth flow path 28 to switch the on / off state between the gas storage chamber 231 and the first chamber 211. The switch 281 precisely controls the gas in the gas storage chamber 231 to enter the first chamber 211, thereby improving the efficiency and accuracy of the gas filling and drainage of the first chamber 211 and reducing the restriction of the gas storage chamber 231 on the water absorption and drainage of the first chamber 211.

[0108] It is understood that the switch 281 is not limited to being disposed in the fourth flow path 28 to switch at least the connection between the gas storage chamber 231 and the first chamber 211. Exemplarily, the gas storage chamber 231 and the first chamber 211 remain in communication, and the first chamber 211 only draws in and exhausts air through the gas storage chamber 231.

[0109] In some embodiments, please refer to Figure 6 and Figure 8 The snorkeling device 2 also includes a fifth flow path 29. The two ends of the fourth flow path 28 are respectively connected to the cavity wall of the air storage chamber 231 and the switch 281. One end of the switch 281 is connected to the cavity wall of the first cavity 211. One end of the fifth flow path 29 is connected to the switch 281. At least one air exchange port 24 is formed in the fifth flow path 29. When the switch 281 is in the first state, the air storage chamber 231 is connected to the first cavity 211 and the air exchange port 24 is disconnected from the first cavity 211. When the switch 281 is in the second state, the air storage chamber 231 is disconnected from the first cavity 211 and the air exchange port 24 is connected to the first cavity 211.

[0110] It should be noted that one end of the fourth flow path 28 is connected to the cavity wall of the gas storage chamber 231, and the other end of the fourth flow path 28 is connected to one end of the switch 281.

[0111] It should be noted that the ports connecting the switch 281 to the cavity walls of the fourth flow path 28, the fifth flow path 29, and the first cavity 211 are different ports.

[0112] For example, the switch 281 has a first port, a second port and a third port, the first port being connected to the cavity wall of the first cavity 211, the second port being connected to one end of the fifth flow path 29, and the third port being connected to one end of the fourth flow path 28.

[0113] It should be noted that switcher 281 switches the path of the fifth flow path 29.

[0114] For example, one end of the second flow path 26 is connected to the fifth flow path 29.

[0115] For example, the number of air vents 24 of the snorkeling device 2 is N, one of which is formed in the second flow path 26, and another air vent 24 is formed in the fifth flow path 29, where N is an integer greater than or equal to 2.

[0116] For example, switch 281 is a two-position three-way valve.

[0117] For example, switch 281 is a solenoid valve.

[0118] In this embodiment, the two ends of the fourth flow path 28 are connected to the cavity wall of the gas storage chamber 231 and the switch 281, respectively. One end of the switch 281 is connected to the cavity wall of the first cavity 211. One end of the fifth flow path 29 is connected to the switch 281. At least one air exchange port 24 is formed in the fifth flow path 29. When the switch 281 is in the first state, the gas storage chamber 231 is connected to the first cavity 211, and the air exchange port 24 is disconnected from the first cavity 211. When the switch 281 is in the second state... In this case, the air storage chamber 231 is disconnected from the first chamber 211, and the air exchange port 24 is connected to the first chamber 211. This ensures that during the process of the air storage chamber 231 filling the first chamber 211 with air, the air exchange port 24 will not fill the first chamber 211 with air or water. By controlling the connection and disconnection between the air storage chamber 231 and the first chamber 211 through the switch 281, and controlling the connection and disconnection between the first chamber 211 and the air exchange port 24, it is beneficial to accurately control the liquid and gas in the first chamber 211, and to accurately control the main body 1 to float in the water.

[0119] It is understood that one end of the fifth flow path 29 is not limited to being connected to the switch 281. Exemplarily, one end of the fifth flow path 29 is connected to the cavity wall of the first cavity 211, and the air exchange port 24 is kept in communication with the first cavity 211.

[0120] In some embodiments, the switch 281 and the third drive pump 261 are both located on the side of the second chamber 221 facing the first chamber 211 along the first direction. The third drive pump 261 and the switch 281 of one of the snorkeling devices 2 are located on the side of the collection basket 11 facing the air storage chamber 231 along the first direction. The air vent 24 is located on the side of the collection basket 11 facing the first chamber 211 along the first direction. The switch 281 of the other snorkeling device 2 is located on the side of the collection basket 11 along the second direction. The third drive pump 261 is located between the air vent 24 and the air storage chamber 231 along the first direction.

[0121] For example, the second flow path 26, the third flow path 27, the fourth flow path 28, and the fifth flow path 29 pass through the switch 281 along the third direction side.

[0122] For example, the switch 281 and the third drive pump 261 are arranged along the second direction, and the pipes are arranged in the third direction using the third drive pump 261.

[0123] In some embodiments, please refer to Figures 2-5 The snorkeling device 2 includes an air storage device 23 with an air storage chamber 231. The volume of the space enclosed by the outer surface of the air storage device 23 changes accordingly with the volume of the air storage chamber 231.

[0124] For example, the gas storage device 23 is an airbag with variable volume.

[0125] In this embodiment, the volume of the space enclosed by the outer surface of the gas storage device 23 changes accordingly with the volume of the gas storage cavity 231. When the gas storage cavity 231 is filled with the first cavity 211, the volume of the gas storage device 23 decreases, the buoyancy of the main body 1 towards the gas storage device 23 decreases, causing the main body 1 to tilt downward towards the gas storage device 23, which is beneficial to increasing the tilting degree of the main body 1.

[0126] It is understood that the volume of the space enclosed by the outer surface of the gas storage device 23 is not limited to changing accordingly with the volume of the gas storage cavity 231. Exemplarily, the volume of the space enclosed by the outer surface of the gas storage device 23 remains constant with the volume of the gas storage cavity 231.

[0127] For example, the volume of the space enclosed by the outer surface of the gas storage device 23 remains constant as the volume of the gas storage cavity 231 changes. After the gas in the gas storage cavity 231 is filled into the first cavity 211, water flows into the gas storage cavity 231.

[0128] In some embodiments, please refer to Figures 2-5 The ventilation port 24 is located on the side of the main body 1 facing the first cavity 211 along the first direction.

[0129] For example, the air vent 24 is located on the side of the main body 1 away from the walking mechanism 3 along a third direction.

[0130] In this embodiment of the application, when the main body 1 tilts upward along the first direction toward the first cavity 211, the propulsion device 5 pushes the main body 1 to move along the first direction toward the first cavity 211. The side of the main body 1 facing the first cavity 211 along the first direction first emerges above the water surface 10. The air vent 24 is located on the side of the main body 1 facing the first cavity 211 along the first direction, so that the air vent 24 can emerge above the water surface 10 as soon as possible.

[0131] It is understood that the vent 24 is not limited to the side of the main body 1 facing the first cavity 211 along the first direction. For example, the vent 24 is located on the side of the main body 1 away from the first cavity 211 along the first direction.

[0132] In some embodiments, the flow guide 13 is located on the side of the second drive pump 12 away from the walking mechanism 3 along a third direction, the third direction being arranged to intersect with the first direction and the robot's forward direction, and the flow guide direction of the flow guide 13 being arranged to intersect with the second direction and the robot's forward direction.

[0133] In some embodiments, the second cavity 221 is located on the side of the body 1 facing away from the walking mechanism 3 along a third direction.

[0134] In some embodiments, the first cavity 211 has a first outlet that can communicate with the air vent 24 and a second outlet that can communicate with the second cavity 221. When the robot floats on the water surface 10, the second outlet is located below the first outlet.

[0135] In some embodiments, the robot further includes a cleaning brush 4, which is rotatably connected to the main body 1. The cleaning brush 4 is provided on one side of the main body 1 along the robot's forward direction and / or on the side of the main body 1 away from the robot's forward direction.

[0136] A robot control method applied to robots; please refer to [link / reference]. Figures 9-13 The control methods include: The gas storage chamber 231 is controlled to fill the first chamber 211 with air so that the first chamber 211 is drained. When the main body 1 is tilted upwards on the side facing the first cavity 211 in the first direction, the control propulsion device 5 pushes the main body 1 to move in the first direction.

[0137] For example, the control switch 281 switches to the first state and controls the first drive pump 251 to start, causing the first flow path 25 to drain, so that the gas storage chamber 231 fills the first chamber 211 with air.

[0138] For example, when the air exchange port 24 is below the water surface 10, the air exchange port 24 is disconnected from the air storage chamber 231.

[0139] For example, before the air vent 24 moves from above the water surface 10 to below the water surface 10, the air storage chamber 231 is controlled to be filled with air through the air vent 24.

[0140] In this embodiment, the air storage chamber 231 is controlled to inflate the first chamber 211 so that the first chamber 211 is drained. When the main body 1 is tilted upward along the first direction toward the side of the first chamber 211, the propulsion device 5 is controlled to push the main body 1 to move along the first direction. The propulsion device 5 can push the main body 1 to tilt upward in the water so that the main body 1 can float in the water. The robot can float easily below the water surface 10.

[0141] In some embodiments, the control method further includes: When the main body 1 tilts upward along the first direction toward the first cavity 211, the control propulsion device 5 pushes the main body 1 upward along the first direction until the air exchange port 24 is exposed above the water surface 10.

[0142] In some embodiments, the control method further includes: When the air vent 24 is above the water surface 10, and the second chamber 221 is connected to the air vent 24, the second chamber 221 is controlled to drain water so that the main body 1 floats out of the water surface 10.

[0143] For example, when the air vent 24 is above the water surface 10, and the propulsion device 5 stops working, the second chamber 221 is controlled to drain water.

[0144] In some embodiments, the control method further includes: Before the air exchange port 24 moves from above the water surface 10 to below the water surface 10, the air storage chamber 231 is disconnected from the first chamber 211 and the air storage chamber 231 is filled with air.

[0145] In some embodiments, please refer to Figure 13 and Figure 14 The control methods also include: When the main body 1 is tilted upward along the first direction toward the first cavity 211, the walking mechanism 3 is controlled to contact the pool wall 30 so that the walking mechanism 3 can move on the pool wall 30, and the pool wall 30 intersects with the vertical direction.

[0146] In some embodiments, the control method further includes: When the gas in the gas storage chamber 231 flows into the first chamber 211, the control air exchange port 24 is disconnected from the first chamber 211.

[0147] In some embodiments, the robot has a surface 10 working mode, a pool bottom 20 working mode, and a pool wall 30 working mode; when the first chamber 211 and the second chamber 221 are filled with gas, the robot floats on the surface 10 and switches to the surface 10 working mode; when the first chamber 211 and the second chamber 221 are filled with liquid and the gas storage chamber 231 is filled with gas, the robot dives to the pool bottom 20 and switches to the pool bottom 20 working mode; when the walking mechanism 3 is controlled to climb from the pool bottom 20 to the pool wall 30, the robot switches to the pool wall 30 working mode.

[0148] For example, when the walking mechanism 3 walks on the pool wall 30, the collection basket 11 draws water from the inlet of the collection basket 11 facing the walking mechanism 3 in a third direction, so that the main body 1 and the pool wall 30 have an adsorption force, which is beneficial for the robot to be stably attached to the pool wall 30.

[0149] For example, the second direction is arranged to intersect with the first direction and the water outlet direction of the guide 13. When the walking mechanism 3 walks on the pool wall 30, the flow direction of the water flow led out by the guide 13 is away from the pool wall 30. The water flow led out by the guide 13 can generate pressure on the robot towards the pool wall 30, which is beneficial for the robot to attach to the pool wall 30.

[0150] In this embodiment, through the coordinated operation of the first chamber 211, the second chamber 221 and the air storage chamber 231, combined with the control of the first drive pump 251, the third drive pump 261 and the switcher 281, the robot can quickly switch between three operating modes: floating on the water surface 10, settling at the bottom of the pool 20 and attaching to the pool wall 30. This adapts to the cleaning needs of the entire pool area, enabling the robot to typically perform multi-mode operations in multiple scenarios.

[0151] For example, please refer to Figures 9-12 , Figure 9 The image shows the robot positioned at the bottom of the pool 20. First, the air storage chamber 231 is controlled to inflate the first chamber 211. The gas entering the first chamber 211 displaces the water inside. The first chamber 211 is located at the front of the main body 1, reducing the weight at the front of the robot. The main body 1 tilts upwards along the first direction towards the first chamber 211, and the robot... Figure 9 The status shown is adjusted to Figure 10 The robot is shown in the diagram; then the propulsion device 5 is controlled to propel the robot forward, causing it to move towards the water surface 10 until the air vent 24 emerges from the water surface 10, at which point the robot... Figure 10 The position shown moves to Figure 11 The position shown; then control the second chamber 221 to draw air through the air vent 24 to expel the water in the second chamber 221, reducing the robot's weight and causing the robot to float on the water surface 10. The robot then... Figure 11 The status shown is adjusted to Figure 12 The state shown indicates that the robot is brought to the surface of the water from the bottom.

[0152] For example, please refer to Figure 9 , Figure 13 and Figure 14 The robot controls the walking mechanism 3 to contact the pool wall 30, and the walking mechanism 3 climbs up the pool wall 30. The walking mechanism 3 partially contacts the pool bottom 20 and partially contacts the pool wall 30. The robot then... Figure 9 The status shown is adjusted to Figure 13 The robot is in the state shown. The walking mechanism 3 continues to climb up the pool wall 30. The second drive pump 12 draws water from the collection basket 11, creating an adsorption force between the main body 1 and the pool wall 30. The water flow from the guide 13 exerts pressure on the main body 1 towards the pool wall 30, allowing the robot to stably adhere to the pool wall 30. Figure 13 The status shown is adjusted to Figure 14 The state shown enables the robot to perform cleaning operations on the pool wall 30.

[0153] For example, please refer to Figure 14 and Figure 12When the robot attaches to the pool wall 30 and climbs to the air vent 24 and emerges from the water surface 10, the first chamber 211 and the second chamber 221 are controlled to draw air through the air vent 24, and the water in the first chamber 211 and the second chamber 221 is discharged, so that the weight of the robot is reduced and the robot is adjusted from the state of being attached to the pool wall 30 to the state of floating on the water surface 10.

[0154] The above description is merely an embodiment of this application and is not intended to limit the scope of protection of this application. Any modifications, equivalent substitutions, and improvements made within the spirit and scope of this application are included within the scope of protection of this application.

Claims

1. A robot, characterized in that, include: main body; A propulsion device is disposed on the main body, and the propulsion device pushes the main body to move in a first direction; A snorkeling device is installed on the main body. The snorkeling device has a first cavity, an air storage cavity, and an air exchange port. The first cavity is located on one side of the main body along the first direction. The air exchange port inflates the air storage cavity when it is in communication with the air storage cavity. The air storage cavity inflates the first cavity when it is in communication with the first cavity. The gas entering the first cavity displaces the water in the first cavity, causing the main body to tilt upwards towards the first cavity along the first direction.

2. The robot according to claim 1, characterized in that, The gas storage chamber is located on the side of the main body opposite to the first chamber along the first direction.

3. The robot according to claim 2, characterized in that, The first direction is arranged along the forward direction, the first cavity is located on the front side of the main body, and the gas storage cavity is located on the rear side of the main body.

4. The robot according to claim 2, characterized in that, The snorkeling device also has a second chamber located between the first chamber and the air storage chamber along the first direction. When the air exchange port is above the water surface, and the second chamber is in communication with the air exchange port, the second chamber draws air through the air exchange port to drain the air from the second chamber.

5. The robot according to claim 4, characterized in that, The snorkeling device further includes a first flow path. The snorkeling device includes a first container having the first cavity and a second container having the second cavity. One end of the first flow path is connected to the first container, and the second container is connected in series with the first flow path.

6. The robot according to claim 5, characterized in that, The snorkeling device also includes a first drive pump connected in series in the first flow path, and a second container connected in series between the first drive pump and the first container.

7. The robot according to claim 4, characterized in that, The snorkeling device includes a first container with the first cavity and a second container with the second cavity. The main body also includes a second drive pump, a collection basket, and a flow guide. The second drive pump draws water into the collection basket and draws it out. The flow guide is installed at the outlet end of the second drive pump. The snorkeling device is provided on both sides of the flow guide along a second direction. The second direction is arranged to intersect the first direction and the outlet direction of the flow guide. The flow guide is located between the second containers of the two snorkeling devices along the second direction.

8. The robot according to claim 7, characterized in that, The robot includes a second flow path, a third flow path, and a third drive pump. The ports at both ends of the second flow path are respectively connected to the air exchange port and the air storage chamber of one side of the snorkeling device. The third drive pump is connected in series on the second flow path. One end of the third flow path is connected to the second flow path, and the connection position is located between the third drive pump and the corresponding air storage chamber. The port at the other end of the third flow path is connected to the air storage chamber of the other side of the snorkeling device.

9. The robot according to any one of claims 1 to 8, characterized in that, The snorkeling device further includes a fourth flow path and a switcher. The fourth flow path is connected between the air storage chamber and the first chamber, and the switcher is disposed in the fourth flow path to switch the connection between the air storage chamber and the first chamber.

10. The robot according to claim 9, characterized in that, The snorkeling device further includes a fifth flow path. The two ends of the fourth flow path are respectively connected to the cavity wall of the air storage chamber and the switch. One end of the switch is connected to the cavity wall of the first chamber. One end of the fifth flow path is connected to the switch. At least one air exchange port is formed in the fifth flow path. When the switch is in a first state, the air storage chamber is connected to the first chamber, and the air exchange port is disconnected from the first chamber. When the switch is in a second state, the air storage chamber is disconnected from the first chamber, and the air exchange port is connected to the first chamber.

11. The robot according to claim 9, characterized in that, The snorkeling device includes an air storage device with an air storage chamber, the volume of which varies with the volume of the air storage chamber as the outer surface of the air storage device changes.

12. The robot according to any one of claims 1 to 8, characterized in that, The ventilation port is located on the side of the main body facing the first cavity along the first direction.

13. A method for controlling a robot, characterized in that, The control method, applied to the robot according to any one of claims 1 to 12, comprises: The gas storage chamber is controlled to fill the first chamber with gas, so that the first chamber is drained. When the main body is tilted upwards towards the first cavity along the first direction, the propulsion device is controlled to push the main body to move along the first direction.

Images