Water surface cleaning robot with detection function

Abstract

The utility model provides a water surface cleaning robot with a detection function, which belongs to the technical field of water surface robots and comprises a robot body provided with an accommodating cavity; the sonar supporting frame is arranged in the containing cavity, and the sonar supporting frame is connected with the robot body; and the sonar main body is connected with the sonar supporting frame and connected with the robot body through the sonar supporting frame, and the sonar main body is located in the containing cavity and extends out of the containing cavity. The beneficial effects of the utility model are that the sonar main body determines the position, the distance and the moving speed of an object by emitting sound waves and receiving echoes of the sound waves, and the sonar technology can be used for creating detailed maps of the bottom and the edge of a swimming pool, thereby helping the robot to sail without physical boundaries.

Description

Technical Field

[0001] The utility model belongs to the technical field of water surface cleaning robots and relates to a water surface cleaning robot with a detection function. Background Art

[0002] With the popularity of special swimming pools such as infinity pools, the demand for water surface cleaning robots is also growing. Due to the lack of fixed boundaries in such swimming pools, traditional cleaning robots are prone to derailment and fall into the area outside the pool when working.

[0003] For example, a utility model patent with application number CN211773479U provides a water surface cleaning robot, including a main body, a rolling part, a garbage basket and a garbage collection device. The main body is provided with a through hole running through from top to bottom, the garbage basket can be detachably arranged in the through hole, and the rolling part can be rotatably arranged on the garbage basket or the main body; the garbage collection device is provided with a flow channel, a first opening and a second opening, the first opening is connected with the second opening through the flow channel, and the area of ​​the first opening is larger than the area of ​​the second opening, and the garbage collection device is arranged at a position near the garbage basket or the main body to the rolling part, and the first opening is closer to the rolling part than the second opening. The first opening of the garbage collection device in the water surface cleaning robot is a wide opening, and when the machine rolling part is working, the garbage on the surface of the swimming pool can enter quickly and easily, and the second opening is a narrow opening, and the garbage in the garbage basket will be intercepted near the narrow opening, thereby improving the garbage overflow phenomenon, effectively improving the cleaning efficiency and garbage overflow prevention, and improving the user experience.

[0004] In summary, for cleaning environments such as borderless swimming pools, the water surface cleaning robots in the prior art lack detection capabilities, have difficulty sensing the surrounding environment and are prone to collisions, and thus have much room for improvement. Summary of the invention

[0005] The purpose of the utility model is to solve the above problems in the prior art and propose a water surface cleaning robot with a detection function, comprising:

[0006] A robot body, which is provided with a receiving cavity;

[0007] A sonar support frame, which is arranged in the accommodating cavity, and the sonar support frame is connected to the robot body;

[0008] A sonar body is connected to the sonar support frame and is connected to the robot body through the sonar support frame. The sonar body is located in the accommodating cavity and extends out of the accommodating cavity.

[0009] In the above-mentioned surface cleaning robot with detection function, the sonar support frame includes a bracket and a first rotating shaft, the bracket is connected to the robot body, the first rotating shaft is rotatably connected to the bracket, and the sonar body is connected to the first rotating shaft.

[0010] In the above-mentioned surface cleaning robot with detection function, the bracket includes a bottom and two side parts, the bottom is connected to the robot body, the two side parts are respectively connected to the two sides of the bottom, and the first rotating axis passes through one side part, the sonar body and the other side part in sequence.

[0011] In the above-mentioned surface cleaning robot with detection function, the sonar support frame also includes a first drive motor, the first drive motor is connected to the bracket, the first rotating shaft is connected to the first drive motor, and the first drive motor can drive the first rotating shaft to rotate relative to the bracket to drive the sonar body to rotate.

[0012] In the above-mentioned surface cleaning robot with detection function, the sonar support frame also includes a fixed plate and a second rotating shaft. The fixed plate is connected to the robot body, and the second rotating shaft is rotatably connected to the fixed plate. The bracket is connected to the second rotating shaft, and the second rotating shaft is perpendicular to the first rotating shaft. The bracket is connected to the robot body through the second rotating shaft and the fixed plate.

[0013] In the above-mentioned surface cleaning robot with detection function, the sonar support frame also includes a second drive motor, the second drive motor is connected to the fixed disk, the second rotating shaft is connected to the second drive motor, and the second drive motor can drive the second rotating shaft to rotate relative to the fixed disk to drive the bracket to rotate.

[0014] In the above-mentioned water surface cleaning robot with detection function, the second driving motor is provided with a connecting hole, the connecting hole is used to be connected to the robot body, and the fixing plate is connected to the robot body through the second driving motor.

[0015] In the above-mentioned surface cleaning robot with detection function, the sonar support frame also includes a bearing, the fixed plate is provided with a through hole, the bearing is arranged in the through hole, and the second rotating shaft passes through the bearing and is rotatably connected to the fixed plate through the bearing.

[0016] In the above-mentioned surface cleaning robot with detection function, it also includes a waterproof seal, which seals the accommodating cavity, and the peripheral surface or side surface of the sonar body is connected to the robot body through the waterproof seal, part of the sonar body is located on one side of the waterproof seal and located in the accommodating cavity, and the other part of the sonar body is located on the other side of the waterproof seal and located outside the accommodating cavity.

[0017] Compared with the prior art, the beneficial effects of the utility model are:

[0018] 1. The sonar body determines the location, distance and movement speed of an object by emitting sound waves and receiving their echoes. Sonar technology can be used to create a detailed map of the bottom and edge of the swimming pool, helping the robot navigate without physical boundaries.

[0019] 2. The second rotating axis is arranged perpendicular to the first rotating axis, and the bracket realizes rotation relative to the fixed plate through the second rotating axis, so that the sonar body can realize all-round scanning and detection under the action of the two rotating axes.

[0020] 3. The waterproof seal is a soft structure. The waterproof seal seals the accommodating cavity and is connected to the circumference or side of the sonar body. Therefore, the waterproof seal does not affect the rotation of the sonar body while providing waterproof sealing. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a structural schematic diagram of the utility model.

[0022] Figure 2 for Figure 1 Enlarged view of detail A.

[0023] Figure 3 It is a cross-sectional view of the sonar system in the accommodation cavity.

[0024] Figure 4 This is a schematic diagram of the structure of the sonar system.

[0025] Figure 5 An exploded view of the sonar system.

[0026] In the figure:

[0027] 1. Robot body; 11. Accommodating cavity;

[0028] 2. Sonar support frame; 21. Bracket; 211. Side; 212. Bottom; 22. First rotating shaft; 23. First driving motor; 24. Fixed plate; 241. Through hole; 25. Second rotating shaft; 26. Second driving motor; 261. Connecting hole; 27. Bearing;

[0029] 3. Sonar body;

[0030] 4. Waterproof seals. DETAILED DESCRIPTION

[0031] The following are specific embodiments of the present invention and the accompanying drawings to further describe the technical solution of the present invention, but the present invention is not limited to these embodiments.

[0032] It should be noted that all directional indications in the embodiments of the present invention (such as up, down, left, right, front, back...) 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.

[0033] In addition, in the present invention, the descriptions of "first", "second", "one", etc. are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0034] In the present invention, unless otherwise clearly specified and limited, the terms "connection", "fixation", etc. should be understood in a broad sense. For example, "fixation" 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 an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0035] In addition, the technical solutions between the various embodiments of the present invention can be combined with each other, but it must be based on the fact that ordinary technicians in the field can implement it. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0036] The specific embodiments described herein are merely examples of the spirit of the present invention. Those skilled in the art may make various modifications or additions to the specific embodiments described or replace them in similar ways, but they will not deviate from the spirit of the present invention or exceed the scope defined by the appended claims.

[0037] like Figure 1-Figure 5 As shown, a water surface cleaning robot with a detection function comprises:

[0038] The robot body 1 is provided with a receiving cavity 11 .

[0039] The sonar support frame 2 is disposed in the accommodating cavity 11 , and the sonar support frame 2 is connected to the robot body 1 .

[0040] The sonar body 3 is connected to the sonar support frame 2 and is connected to the robot body 1 through the sonar support frame 2 . The sonar body 3 is located in the accommodating cavity 11 and extends out of the accommodating cavity 11 .

[0041] In this embodiment, the sonar body 3 determines the position, distance and movement speed of an object by emitting sound waves and receiving their echoes. Sonar technology can be used to create a detailed map of the bottom 212 and edge of the swimming pool, thereby helping the robot to navigate without physical boundaries.

[0042] like Figure 1-Figure 5 As shown, based on the above embodiment, the sonar support frame 2 includes a bracket 21 and a first rotating shaft 22, the bracket 21 is connected to the robot body 1, the first rotating shaft 22 is rotatably connected to the bracket 21, and the sonar body 3 is connected to the first rotating shaft 22.

[0043] In this embodiment, the first rotating shaft 22 is rotatably connected to the bracket 21, and the sonar body 3 is connected to the first rotating shaft 22, so that the sonar body 3 can rotate in the bracket 21, thereby adjusting the position of the sonar body 3 emitting sound waves.

[0044] like Figure 1-Figure 5 As shown, based on the above embodiment, the bracket 21 includes a bottom 212 and two side portions 211, the bottom 212 is connected to the robot body 1, the two side portions 211 are respectively connected to the two sides of the bottom 212, and the first rotating shaft 22 passes through one side portion 211, the sonar body 3 and the other side portion 211 in sequence.

[0045] Specifically, the bracket 21 is a U-shaped structure.

[0046] In this embodiment, the first rotating shaft 22 passes through one side portion 211, the sonar body 3 and the other side portion 211 in sequence, and the sonar body 3 rotates between the two side portions 211, so that the sonar body 3 is relatively stable and not prone to shaking when rotating.

[0047] At the same time, the rotation plane of the sonar body 3 when rotating through the first rotation axis 22 is parallel to the two side portions 211 of the first rotation axis 22 , so that the sonar body 3 will not interfere with the bracket 21 when rotating.

[0048] like Figure 1-Figure 5As shown, on the basis of the above embodiment, the sonar support frame 2 also includes a first driving motor 23, the first driving motor 23 is connected to the bracket 21, the first rotating shaft 22 is connected to the first driving motor 23, and the first driving motor 23 can drive the first rotating shaft 22 to rotate relative to the bracket 21, thereby driving the sonar body 3 to rotate.

[0049] In this embodiment, the first driving motor 23 is connected to the bracket 21 , and the first rotating shaft 22 is connected to the first driving motor 23 . The first driving motor 23 drives the first rotating shaft 22 to rotate relative to the bracket 21 to realize automatic adjustment of the sonar body 3 .

[0050] In addition, the first rotating shaft 22 and the first driving motor 23 are matched with a keyway to achieve precise control of the rotation of the sonar body 3.

[0051] like Figure 1-Figure 5 As shown, on the basis of the above embodiment, the sonar support frame 2 also includes a fixed plate 24 and a second rotating shaft 25. The fixed plate 24 is connected to the robot body 1, and the second rotating shaft 25 is rotatably connected to the fixed plate 24. The bracket 21 is connected to the second rotating shaft 25, and the second rotating shaft 25 is perpendicular to the first rotating shaft 22. The bracket 21 is connected to the robot body 1 through the second rotating shaft 25 and the fixed plate 24.

[0052] In this embodiment, the second rotating shaft 25 is vertically arranged with respect to the first rotating shaft 22, and the bracket 21 is rotated relative to the fixed plate 24 through the second rotating shaft 25, so that the sonar body 3 can realize omnidirectional scanning and detection under the action of the two rotating shafts.

[0053] like Figure 1-Figure 5 As shown, based on the above embodiment, the sonar support frame 2 also includes a second drive motor 26, the second drive motor 26 is connected to the fixed plate 24, the second rotating shaft 25 is connected to the second drive motor 26, and the second drive motor 26 can drive the second rotating shaft 25 to rotate relative to the fixed plate 24, thereby driving the bracket 21 to rotate.

[0054] In this embodiment, the second drive motor 26 is connected to the fixed plate 24 , and the second rotating shaft 25 is connected to the second drive motor 26 . The second drive motor 26 drives the second rotating shaft 25 to rotate relative to the fixed plate 24 to achieve automatic adjustment of the bracket 21 .

[0055] In addition, the second rotating shaft 25 and the second driving motor 26 are matched with a keyway to achieve precise control of the rotation of the bracket 21.

[0056] like Figure 1-Figure 5As shown, on the basis of the above embodiment, the second driving motor 26 is provided with a connecting hole 261 , and the connecting hole 261 is used to be connected to the robot body 1 , and the fixing plate 24 is connected to the robot body 1 through the second driving motor 26 .

[0057] In this embodiment, the connection holes 261 are evenly arranged on the circumference or side of the second drive motor 26 , and the second drive motor 26 is connected to the robot body 1 through the connection holes 261 , so that the fixing plate 24 is connected to the robot body 1 through the second drive motor 26 .

[0058] like Figure 1-Figure 5 As shown, on the basis of the above embodiment, the sonar support frame 2 also includes a bearing 27, the fixed plate 24 is provided with a through hole 241, the bearing 27 is arranged in the through hole 241, and the second rotating shaft 25 passes through the bearing 27 and is rotatably connected to the fixed plate 24 through the bearing 27.

[0059] Specifically, the bearing 27 may be a roller bearing 27 .

[0060] In this embodiment, the bearing 27 includes an inner ring, an outer ring and a rolling element. The bearing 27 is arranged in the through hole 241. The outer ring of the bearing 27 is connected to the fixed disk 24, and the inner ring of the bearing 27 is connected to the second rotating shaft 25. When the second drive motor 26 drives the second rotating shaft 25 to rotate, the sliding friction between the second rotating shaft 25 and the fixed disk 24 is converted into rolling friction. The bearing 27 can reduce the friction between the fixed disk 24 and the second rotating shaft 25 to ensure the rotation accuracy.

[0061] like Figure 1-Figure 5 As shown, on the basis of the above embodiment, it further includes a waterproof seal 4, the waterproof seal 4 seals the accommodating cavity 11, the circumferential surface or side surface of the sonar body 3 is connected to the robot body 1 through the waterproof seal 4, part of the sonar body 3 is located on one side of the waterproof seal 4 and is located in the accommodating cavity 11, and the other part of the sonar body 3 is located on the other side of the waterproof seal 4 and is located outside the accommodating cavity 11.

[0062] Specifically, the waterproof sealing member 4 is a waterproof sealing soft structure, and can be made of a ductile material such as a rubber member.

[0063] In this embodiment, the waterproof seal 4 seals the accommodating cavity 11 and is connected to the circumference or side of the sonar body 3. The waterproof seal 4 has ductility that allows it to undergo a certain deformation, so the waterproof seal 4 does not affect the rotation of the sonar body 3 while providing waterproof sealing.

Claims

1. A water surface cleaning robot with detection function, characterized in that: include: A robot body, which is provided with a receiving cavity; A sonar support frame, which is arranged in the accommodating cavity, and the sonar support frame is connected to the robot body; A sonar body is connected to the sonar support frame and is connected to the robot body through the sonar support frame. The sonar body is located in the accommodating cavity and extends out of the accommodating cavity.

2. A water surface cleaning robot with detection function as claimed in claim 1, characterized in that: The sonar support frame includes a bracket and a first rotating shaft, the bracket is connected to the robot body, the first rotating shaft is rotatably connected to the bracket, and the sonar body is connected to the first rotating shaft.

3. A water surface cleaning robot with detection function as claimed in claim 2, characterized in that: The bracket includes a bottom and two side parts, the bottom is connected to the robot body, the two side parts are respectively connected to the two sides of the bottom, and the first rotating axis passes through one side part, the sonar body and the other side part in sequence.

4. A water surface cleaning robot with detection function as claimed in claim 2, characterized in that: The sonar support frame also includes a first driving motor, which is connected to the bracket. The first rotating shaft is connected to the first driving motor. The first driving motor can drive the first rotating shaft to rotate relative to the bracket to drive the sonar body to rotate.

5. A water surface cleaning robot with detection function as claimed in claim 4, characterized in that: The sonar support frame also includes a fixed plate and a second rotating axis. The fixed plate is connected to the robot body, and the second rotating axis is rotatably connected to the fixed plate. The bracket is connected to the second rotating axis, and the second rotating axis is perpendicular to the first rotating axis. The bracket is connected to the robot body through the second rotating axis and the fixed plate.

6. A water surface cleaning robot with detection function as claimed in claim 5, characterized in that: The sonar support frame also includes a second drive motor, which is connected to the fixed disk. The second rotating shaft is connected to the second drive motor. The second drive motor can drive the second rotating shaft to rotate relative to the fixed disk to drive the support frame to rotate.

7. A water surface cleaning robot with detection function as claimed in claim 6, characterized in that: The second driving motor is provided with a connecting hole, and the connecting hole is used to be connected to the robot body, and the fixing plate is connected to the robot body through the second driving motor.

8. The water surface cleaning robot with detection function as claimed in claim 7, characterized in that: The sonar support frame also includes a bearing, the fixed plate is provided with a through hole, the bearing is arranged in the through hole, and the second rotating shaft passes through the bearing and is rotatably connected to the fixed plate through the bearing.

9. The water surface cleaning robot with detection function as claimed in claim 1, characterized in that: It also includes a waterproof seal, which seals the accommodating cavity. The circumference or side of the sonar body is connected to the robot body through the waterproof seal, part of the sonar body is located on one side of the waterproof seal and inside the accommodating cavity, and the other part of the sonar body is located on the other side of the waterproof seal and outside the accommodating cavity.

Images