Machine body of cleaning robot and cleaning robot

Abstract

The utility model relates to the field of robots, in particular to a robot body of a cleaning robot and the cleaning robot. A machine body of the cleaning robot comprises a machine body shell and a mode recognition assembly, the machine body shell comprises a sealing shell part and a storage shell part, and the storage shell part is used for storing a water surface cleaning garbage basket or an underwater cleaning garbage basket; the mode recognition assembly is arranged in the sealed shell part and is close to the storage shell part, the mode recognition assembly comprises a first sensor and a second sensor which are arranged at an interval, and the first sensor is configured to output a first signal for indicating an underwater cleaning mode when the underwater cleaning garbage basket is mounted in the storage shell part; the second sensor is configured to output a second signal for indicating a water surface cleaning mode when the water surface cleaning garbage basket is mounted to the storage case portion. According to the robot body main body of the cleaning robot, the water surface cleaning mode and the underwater cleaning mode can be automatically recognized.

Description

Technical Field

[0001] The present application relates to the field of robot technology, and in particular to a body of a cleaning robot and a cleaning robot. Background Art

[0002] After long-term use, various dirt and garbage will float on the surface of pools, swimming pools, lakes, etc., and various dirt and garbage will also settle on the bottom of the pool, which will cause serious pollution to the water quality of the pool or affect the appearance. Therefore, it is necessary to clean the surface and underwater. In a cleaning robot that can clean both on the surface and underwater, how to design a cleaning robot that can automatically identify the surface cleaning mode and the underwater cleaning mode has become a technical problem that needs to be solved. Utility Model Content

[0003] The present application provides a body of a cleaning robot and a cleaning robot capable of automatically identifying a surface cleaning mode and an underwater cleaning mode.

[0004] In a first aspect, the present application provides a body of a cleaning robot, comprising:

[0005] A body shell, the body shell comprising a sealing shell portion and a storage shell portion, the storage shell portion being used to store a surface cleaning trash basket or an underwater cleaning trash basket; and

[0006] A pattern recognition component is arranged in the sealed shell portion and close to the surface cleaning trash basket or the underwater cleaning trash basket. The pattern recognition component includes a first sensor and a second sensor arranged at intervals. The first sensor is configured to output a first signal for indicating an underwater cleaning mode when the underwater cleaning trash basket is installed in the storage shell portion; the second sensor is configured to output a second signal for indicating a surface cleaning mode when the surface cleaning trash basket is installed in the storage shell portion.

[0007] The fuselage main body provided in the present application is designed to include a sealed shell portion and a storage shell portion, the storage shell portion is used to store a surface cleaning trash basket or an underwater cleaning trash basket; the pattern recognition component is arranged in the sealed shell portion and close to the storage shell portion, the pattern recognition component includes a first sensor and a second sensor arranged at intervals, the first sensor is configured to output a first signal for indicating an underwater cleaning mode when the underwater cleaning trash basket is installed in the storage shell portion; the second sensor is configured to output a second signal for indicating a surface cleaning mode when the surface cleaning trash basket is installed in the storage shell portion, the design of the fuselage main body creates recognition conditions for identifying the surface cleaning mode and the underwater cleaning mode, so that the fuselage main body can automatically identify the surface cleaning mode and the underwater cleaning mode when applied to a cleaning robot.

[0008] Optionally, the first sensor includes a first Hall sensor, the second sensor includes a second Hall sensor, and the first Hall sensor and the second Hall sensor are arranged at intervals; when the underwater cleaning trash basket is installed in the storage shell part, the first Hall sensor is adjacent to the first magnet on the underwater cleaning trash basket to output the first signal; when the surface cleaning trash basket is installed in the storage shell part, the second Hall sensor is arranged adjacent to the second magnet on the surface cleaning trash basket to output the second signal.

[0009] Optionally, the first Hall sensor and the second Hall sensor are spaced apart in a height direction of the fuselage body.

[0010] Optionally, the main body of the cleaning robot also includes a feedback component, which is electrically connected to the pattern recognition component, and is configured to feed back a first feedback signal based on the first signal output by the first sensor, wherein the first feedback signal includes at least one of a voice signal, a light signal, an image signal, and a text signal; the feedback component is configured to feed back a second feedback signal based on the second signal output by the second sensor, and the second feedback signal includes at least one of a voice signal, a light signal, an image signal, and a text signal.

[0011] Optionally, the main body of the machine further includes a reminder component, which is electrically connected to the pattern recognition component, and is configured to output a reminder signal when the cleaning robot is turned on, based on the first sensor not outputting the first signal and the second sensor not outputting the second signal, wherein the reminder signal includes a sound signal emitted by the cleaning robot, a light signal emitted by the cleaning robot, and a display signal displayed on a user terminal.

[0012] In a second aspect, the present application provides a cleaning robot for underwater cleaning, comprising the above-mentioned main body and an underwater cleaning trash basket, wherein the underwater cleaning trash basket is arranged in the storage shell portion, and the underwater cleaning trash basket comprises a first magnet, and the first magnet is located within the sensing range of the first sensor.

[0013] The cleaning robot provided in the present application is used for underwater cleaning. The body shell is designed to include a sealed shell portion and a storage shell portion, and the storage shell portion is used to store an underwater cleaning trash basket; the pattern recognition component is arranged in the sealed shell portion and close to the storage shell portion, and the pattern recognition component includes a first sensor and a second sensor arranged at intervals. The underwater cleaning trash basket includes a first magnet, and the first magnet is located within the sensing range of the first sensor. The first sensor is configured to output a first signal for indicating an underwater cleaning mode after detecting the magnetic field of the first magnet when the underwater cleaning trash basket is installed in the storage shell portion, and automatically recognize the underwater cleaning mode when the underwater cleaning trash basket is installed in the storage shell portion.

[0014] In the third aspect, the present application provides a cleaning robot for use in water surface cleaning, comprising the above-mentioned main body, a buoyancy device and a water surface cleaning trash basket, wherein the water surface cleaning trash basket is arranged in the storage shell portion, and the water surface cleaning trash basket comprises a second magnet, and the second magnet is located within the sensing range of the second sensor, and the buoyancy device is detachably mounted on the bottom of the main body.

[0015] The cleaning robot provided in the present application is used for water surface cleaning. The buoyancy device is designed to be detachably installed on the bottom of the fuselage body. The fuselage shell includes a sealed shell portion and a storage shell portion. The storage shell portion is used to store a water surface cleaning trash basket. The pattern recognition component is arranged in the sealed shell portion and close to the storage shell portion. The pattern recognition component includes a first sensor and a second sensor that are arranged at intervals. The water surface cleaning trash basket includes a second magnet, and the second magnet is located within the sensing range of the second sensor. The second sensor is configured to output a second signal for indicating a water surface cleaning mode after detecting the magnetic field of the second magnet when the water surface cleaning trash basket is installed in the storage shell portion, and automatically identify the water surface cleaning mode when the water surface cleaning trash basket is installed in the storage shell portion.

[0016] Optionally, the fuselage body also includes a third sensor, which is arranged in the sealed shell portion. The third sensor is spaced apart from the first sensor and the second sensor. The third sensor is configured to output an installation success signal when the buoyancy device is installed at the bottom of the fuselage body.

[0017] Optionally, the third sensor includes a third Hall sensor, the buoyancy device includes a third magnet, and the third Hall sensor is adjacent to the third magnet of the buoyancy device when the buoyancy device is installed at the bottom of the fuselage body to output the installation success signal.

[0018] In a fourth aspect, the present application provides a cleaning robot, comprising the above-mentioned main body, a surface cleaning trash basket and an underwater cleaning trash basket, wherein the surface cleaning trash basket and the underwater cleaning trash basket are replaceably installed on the storage shell portion, and the underwater cleaning trash basket comprises a first magnet, which is located within the sensing range of the first sensor, and the surface cleaning trash basket comprises a second magnet, which is located within the sensing range of the second sensor.

[0019] The cleaning robot provided in the present application is designed to include a sealed shell part and a storage shell part, and a surface cleaning trash basket and an underwater cleaning trash basket are replaceably installed in the storage shell part. The underwater cleaning trash basket includes a first magnet, and the surface cleaning trash basket includes a second magnet. The pattern recognition component is arranged in the sealed shell part and close to the storage shell part. The pattern recognition component includes a first sensor and a second sensor arranged at intervals. The first magnet is located within the sensing range of the first sensor, and the second magnet is located within the sensing range of the second sensor. The first sensor is configured to output a first signal for indicating an underwater cleaning mode when the underwater cleaning trash basket is installed in the storage shell part; the second sensor is configured to output a second signal for indicating a surface cleaning mode when the surface cleaning trash basket is installed in the storage shell part, and automatically identifies the underwater cleaning mode when the underwater cleaning trash basket is installed in the storage shell part, and automatically identifies the surface cleaning mode when the surface cleaning trash basket is installed in the storage shell part. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments are briefly introduced below.

[0021] Figure 1 This is a schematic diagram of the structure decomposition of an underwater cleaning robot provided in Example 1 of the present application;

[0022] Figure 2 This is a schematic diagram of the structural decomposition of a water surface cleaning robot provided in Example 2 of the present application;

[0023] Figure 3 It is a schematic diagram of the structural decomposition of a fuselage body provided in an embodiment of the present application;

[0024] Figure 4 is a cross-sectional schematic diagram of an underwater cleaning robot provided in Example 1 of the present application;

[0025] Figure 5 is a cross-sectional schematic diagram of a water surface cleaning robot provided in Embodiment 2 of the present application;

[0026] Figure 6It is a partial cross-sectional enlarged schematic diagram of an underwater cleaning robot provided in Example 1 of the present application;

[0027] Figure 7 It is a partial cross-sectional enlarged schematic diagram of a water surface cleaning robot provided in the second embodiment of the present application;

[0028] Figure 8 It is a circuit block diagram of a feedback component, a controller and a pattern recognition component provided in an embodiment of the present application;

[0029] Fig. 9 It is a circuit block diagram of a reminder component, a controller and a pattern recognition component provided in an embodiment of the present application;

[0030] Fig.10 is a cross-sectional schematic diagram of a water surface cleaning robot with a buoyancy device provided in Embodiment 3 of the present application;

[0031] Fig.11 This is a schematic diagram of the structural decomposition of the cleaning robot provided in Example 4 of the present application.

[0032] Description of Figure Numbers:

[0033] Cleaning robot 100; body 10; cleaning trash basket 20; underwater cleaning trash basket 20a; surface cleaning trash basket 20b; body shell 11; pattern recognition component 12; sealing shell part 111; storage shell part 112; sealing ring 113; first sub-shell 111a; second sub-shell 111b; feedback component 13; reminder component 14; first sensor 121; second sensor 122; circuit board 124; first Hall sensor 121a; second Hall sensor 122a; third sensor 123; third Hall sensor 123a; first magnet 31; second magnet 32; third magnet 33; buoyancy device 40. DETAILED DESCRIPTION

[0034] The technical solution of the present application will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the embodiments described in the present application are only a part of the embodiments, not all of the embodiments. Based on the embodiments provided in the present application, all other embodiments obtained by ordinary technicians in this field without creative work belong to the protection scope of the present application.

[0035] Reference to "embodiments" in this application means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it mutually exclusive, independent, or alternative to other embodiments. It can be explicitly and implicitly understood by those skilled in the art that the embodiments described in this application can be combined with other embodiments.

[0036] The terms "first", "second", etc. in the specification and claims of this application and the above-mentioned drawings are used to distinguish different objects, rather than to describe a specific order. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example: a component or device including one or more parts is not limited to the one or more parts listed, but optionally includes one or more parts that are not listed but inherent to the exemplified product, or one or more parts that it should have based on the described function.

[0037] See also Figure 1 , Figure 1 A cleaning robot 100 is provided in an embodiment of the present application.

[0038] The cleaning robot 100 includes a body 10 and a cleaning trash basket 20 .

[0039] See also Figure 1 and Figure 2 The cleaning trash basket 20 includes but is not limited to an underwater cleaning trash basket 20a for underwater cleaning scenes and a surface cleaning trash basket 20b for surface cleaning scenes. It can be understood that the underwater cleaning trash basket 20a and the surface cleaning trash basket 20b have different structures so as to be applied to underwater or surface garbage cleaning scenes respectively.

[0040] In an alternative embodiment, see Figure 1 The main body 10 is equipped with an underwater cleaning trash basket 20a, the main body 10 works in an underwater cleaning mode, and the cleaning robot 100 is an underwater cleaning robot 100a.

[0041] In a second alternative embodiment, see Figure 2 A water surface cleaning trash basket 20b is mounted on the fuselage body 10, the fuselage body 10 works in a water surface cleaning mode, and the cleaning robot 100 is a water surface cleaning robot 100b.

[0042] See also Figure 3 , Figure 3 A body 10 of a cleaning robot 100 is provided in an embodiment of the present application.

[0043] See also Figure 4 and Figure 5 The fuselage body 10 includes a fuselage shell 11 and a pattern recognition component 12.

[0044] See also Figure 4 and Figure 5, the body shell 11 includes a sealing shell portion 111 and a storage shell portion 112. Optionally, the sealing shell portion 111 and the storage shell portion 112 are independent of each other. Further optionally, the sealing shell portion 111 is fixedly arranged in the storage shell portion 112. The storage shell portion 112 is used to store a surface cleaning trash basket 20b or an underwater cleaning trash basket 20a. Optionally, a storage port is provided at the top or bottom of the storage shell portion 112, and the storage port is used to store a surface cleaning trash basket 20b or an underwater cleaning trash basket 20a. Among them, the height direction Z direction is the direction from the bottom to the top.

[0045] The pattern recognition component 12 is disposed in the sealed housing portion 111 and is close to the cleaning trash basket 20 (the surface cleaning trash basket 20 b or the underwater cleaning trash basket 20 a ).

[0046] See also Figure 6 and Figure 7 The pattern recognition component 12 includes a first sensor 121 and a second sensor 122 that are spaced apart. Optionally, the pattern recognition component 12 also includes a circuit board 124 and a controller (not shown), and the first sensor 121 and the second sensor 122 are both disposed on the circuit board 124.

[0047] See also Figure 6 , the first sensor 121 is configured to output a first signal indicating an underwater cleaning mode when the underwater cleaning trash basket 20a is installed in the storage housing portion 112. In other words, the first sensor 121 is used to detect whether the underwater cleaning trash basket 20a is installed in the storage housing portion 112. If the underwater cleaning trash basket 20a is installed in the storage housing portion 112, the first sensor 121 outputs a first signal to the controller, and the controller determines that the storage housing portion 112 contains an underwater cleaning trash basket 20a based on the first signal, and determines that the working mode of the cleaning robot 100 is an underwater cleaning mode, so that the cleaning robot 100 can clean garbage underwater (in water or underwater). Specifically, the underwater cleaning mode includes but is not limited to starting the water pump. Optionally, the first signal includes but is not limited to a voltage signal, etc.

[0048] See also Figure 7, the second sensor 122 is configured to output a second signal indicating a water surface cleaning mode when the water surface cleaning trash basket 20b is installed in the storage shell part 112. In other words, the second sensor 122 is used to detect whether the water surface cleaning trash basket 20b is installed in the storage shell part 112. If the water surface cleaning trash basket 20b is installed in the storage shell part 112, the second sensor 122 outputs a second signal to the controller, and the controller determines that the storage shell part 112 contains the water surface cleaning trash basket 20b according to the second signal, and determines that the working mode of the cleaning robot 100 is the water surface cleaning mode, so that the cleaning robot 100 can clean garbage on the water surface. Specifically, the water surface cleaning mode includes but is not limited to turning on the driving paddle at the rear end of the cleaning robot 100. Optionally, the second signal is but is not limited to a voltage signal, etc.

[0049] The body body 10 of the cleaning robot 100 provided in the present application is designed to include a sealed shell part 111 and a storage shell part 112. The storage shell part 112 is used to store a surface cleaning trash basket 20b or an underwater cleaning trash basket 20a. The pattern recognition component 12 is arranged in the sealed shell part 111 and close to the storage shell part 112. The pattern recognition component 12 includes a first sensor 121 and a second sensor 122 arranged at intervals. The first sensor 121 is configured to be arranged in the underwater cleaning trash basket 20a. When installed in the storage shell portion 112, it outputs a first signal for indicating the underwater cleaning mode. The second sensor 122 is configured to output a second signal for indicating the surface cleaning mode when the surface cleaning trash basket 20b is installed in the storage shell portion 112. The design of the fuselage main body 10 creates recognition conditions for identifying the surface cleaning mode and the underwater cleaning mode, so that the fuselage main body 10 can automatically identify the surface cleaning mode and the underwater cleaning mode when applied to the cleaning robot 100, which is convenient for users to use and improves the user experience.

[0050] The present application does not specifically limit the first sensor 121 and the second sensor 122. The first sensor 121 includes but is not limited to sensors that detect light signals, pressure signals, magnetic fields, etc., such as infrared sensors, visible light sensors, pressure sensors, Hall sensors, etc. The second sensor 122 includes but is not limited to sensors that detect light signals, pressure signals, magnetic fields, etc., such as infrared sensors, visible light sensors, pressure sensors, Hall sensors, etc. The first sensor 121 and the second sensor 122 may be sensors of the same type or different types.

[0051] For example, see Figure 6 , the first sensor 121 includes a first Hall sensor 121a. Figure 7, the second sensor 122 includes a second Hall sensor 122a. Optionally, the first sensor 121 and the second sensor 122 are both Hall sensors. The Hall sensor is a magnetic induction sensor based on the Hall effect. The Hall sensor includes a sensitive chip, a magnetic circuit system, a measuring circuit and a housing. The sensitive chip is the core part of the Hall sensor, and the sensitive chip includes a Hall element and related circuits. The sensitive chip can convert the magnetic field strength into an electrical signal. The magnetic circuit system is used to generate a magnetic field, and usually includes a permanent magnet and a soft magnet. Specifically, the Hall element is made of semiconductor material. When current passes through the Hall element, the external magnetic field exerts a force on the current, thereby causing the output voltage of the Hall element to change. In other words, when the conductor current in the magnetic field generated by the magnetic circuit system (affected by the external magnetic field) changes, a potential difference is generated, and this potential difference is called the Hall voltage. The Hall sensor uses this Hall voltage to measure the external magnetic field strength. The measuring circuit is used to measure and amplify the electrical signal output by the Hall element for subsequent processing and control. The housing is used to protect and fix the various parts inside the sensor.

[0052] See also Figure 6 , the first Hall sensor 121a and the second Hall sensor 122a are spaced apart to reduce interference between them. When the underwater cleaning trash basket 20a is installed in the storage housing 112, the first Hall sensor 121a is adjacent to the first magnet 31 on the underwater cleaning trash basket 20a to output the first signal. In this way, the main body 10 detects that the underwater cleaning trash basket 20a is installed in the storage housing 112 through the first Hall sensor 121a.

[0053] See also Figure 7 When the water surface cleaning trash basket 20b is installed in the storage housing 112, the second Hall sensor 122a is arranged adjacent to the second magnet 32 ​​on the water surface cleaning trash basket 20b to output the second signal. In this way, the main body 10 detects that the water surface cleaning trash basket 20b is installed in the storage housing 112 through the second Hall sensor 122a.

[0054] The present application does not make any specific limitation on the direction in which the first Hall sensor 121a and the second Hall sensor 122a are spaced apart. When the first Hall sensor 121a and the second Hall sensor 122a are spaced apart, the signals detected by the first Hall sensor 121a and the second Hall sensor 122a can be different, thereby distinguishing between the underwater cleaning trash basket 20a and the surface cleaning trash basket 20b.

[0055] When the underwater cleaning trash basket 20a or the surface cleaning trash basket 20b is installed in the storage housing portion 112 along a direction roughly parallel to the height direction Z, the first Hall sensor 121a and the second Hall sensor 122a can be spaced apart on a plane formed by the height direction Z-the width direction X. Further, the first Hall sensor 121a and the second Hall sensor 122a are arranged close to the wall of the sealed housing portion 111 facing the cleaning trash basket 20 to reduce the distance between the Hall sensor and the magnet, and the first Hall sensor 121a and the second Hall sensor 122a can also be arranged at different positions to distinguish the underwater cleaning trash basket 20a or the surface cleaning trash basket 20b.

[0056] Optionally, the first Hall sensor 121a and the second Hall sensor 122a are spaced apart in the height direction Z direction of the main body 10 so as to correspond to the positions of magnets at different heights of different cleaning waste baskets 20, thereby detecting the underwater cleaning waste basket 20a or the surface cleaning waste basket 20b.

[0057] The first Hall sensor 121a and the second Hall sensor 122a are arranged in sequence along the direction from the top of the fuselage body 10 to the bottom. In other words, the height of the first Hall sensor 121a is higher than the height of the second Hall sensor 122a. Since the snap fastener of the underwater cleaning garbage basket 20a is arranged at the bottom of the underwater cleaning garbage basket 20a, the first magnet 31 avoids the snap fastener at the bottom of the underwater cleaning garbage basket 20a and is arranged above the snap fastener of the underwater cleaning garbage basket 20a. The position of the first Hall sensor 121a corresponds to the position of the first magnet 31, so the height of the first Hall sensor 121a is relatively high. And because the circuit board 124 needs to avoid, for example, a water pump, etc., it is arranged at a position at the bottom of the cleaning robot 100. Therefore, the position of the second Hall sensor 122a is arranged on the side (below) close to the bottom of the first Hall sensor 121a.

[0058] In addition, since it is necessary to set a third Hall sensor at the bottom of the cleaning robot 100, the third Hall sensor can be set on the circuit board 124 and electrically connected to the controller. Therefore, the position of the circuit board 124 is set at the bottom of the cleaning robot 100, and the position of the second Hall sensor 122a is set on the side close to the bottom of the first Hall sensor 121a. Therefore, the first Hall sensor 121a, the second Hall sensor 122a and the third Hall sensor are designed in sequence from high to low, which makes the size of the circuit board 124 relatively small, reduces the size waste of the circuit board 124, and the size of the cleaning robot 100 is also reduced accordingly.

[0059] Optional, see Figure 6 and Figure 7The sealed shell part 111 includes a first sub-shell 111a and a second sub-shell 111b. The first sub-shell 111a, the circuit board 124 and the second sub-shell 111b are arranged in sequence along the travel direction Y of the cleaning robot 100. The first sub-shell 111a and the second sub-shell 111b are nested and covered with each other in the travel direction Y. In addition, the nesting between the first sub-shell 111a and the second sub-shell 111b also includes a sealing ring 113, which is sealed between the first sub-shell 111a and the second sub-shell 111b to form a waterproof sealed shell part 111.

[0060] Optional, see Figure 8 The body 10 of the cleaning robot 100 further includes a feedback component 13. The feedback component 13 is electrically connected to the pattern recognition component 12.

[0061] The feedback component 13 is configured to feed back a first feedback signal according to the first signal output by the first sensor 121. The first feedback signal includes at least one of a voice signal, a light signal, an image signal, and a text signal.

[0062] The feedback component 13 is configured to feed back a second feedback signal according to the second signal output by the second sensor 122. The second feedback signal includes at least one of a voice signal, a light signal, an image signal, and a text signal.

[0063] The feedback component 13 is used to detect whether the underwater or surface cleaning trash basket 20b is installed in place.

[0064] Optionally, the feedback component 13 includes but is not limited to a voice module, a light module, a display module, etc. The feedback component 13 is electrically connected to the controller 15. For example, the feedback component 13 is a voice module. The controller 15 receives the first signal output by the first sensor 121, controls the feedback component 13 to output a first feedback signal, and voice prompts such as "Underwater cleaning storage basket is installed successfully" or "Enter underwater cleaning mode". The controller 15 receives the second signal output by the second sensor 122, and the feedback component 13 outputs a second feedback signal, and voice prompts such as "Surface cleaning trash basket 20b is installed successfully" or "Enter surface cleaning mode".

[0065] See also Fig. 9 The body 10 of the cleaning robot 100 further includes a reminder component 14. The reminder component 14 is electrically connected to the pattern recognition component 12. The reminder component 14 is used to detect whether the underwater or surface cleaning trash basket 20b is not installed or is installed in a wrong position when the cleaning robot 100 is turned on.

[0066] The reminder component 14 is configured to output a reminder signal when the cleaning robot 100 is turned on according to the first sensor 121 not outputting the first signal and the second sensor 122 not outputting the second signal. Optionally, the reminder component 14 includes but is not limited to a sound module, a light module, a communication module, etc. The reminder signal includes a sound signal emitted by the cleaning robot 100, a light signal emitted by the cleaning robot 100, and a display signal displayed on the user terminal.

[0067] Specifically, after the cleaning robot 100 is started, the first Hall sensor 121a and the second Hall sensor 122a both have no signal output, and detect that the cleaning trash basket 20 is not installed or is installed in a wrong position. The reminder is made through the reminder component 14, which can be a sound module, a light module, or a communication module to send a message to the user's mobile phone. The controller 15, the first Hall sensor 121a, and the second Hall sensor 122a are connected to the reminder component 14, and the controller 15 controls the reminder component 14 to send a reminder signal. For example, the reminder component 14 is a voice module, and the reminder signal is, for example, "the cleaning storage basket is not installed."

[0068] Optionally, the reminder component 14 and the feedback component 13 may be the same voice module, or the same light module, or the same voice module, or the same display module, or the same communication module, etc.

[0069] See also Figure 1 The present application provides an underwater cleaning robot 100a, comprising a body 10 and an underwater cleaning trash basket 20a as described in any one of the above embodiments.

[0070] See also Figure 4 and Figure 6 , the underwater cleaning trash basket 20a is arranged in the storage shell part 112. The underwater cleaning trash basket 20a includes a first magnet 31. The first magnet 31 is located within the sensing range of the first sensor 121. Optionally, the first magnet 31 is arranged adjacent to the first sensor 121. Further, the first magnet 31 and the first sensor 121 are at least partially arranged opposite to each other. In other words, the first sensor 121 is used to detect whether the first magnet 31 exists, and then detect whether the underwater cleaning trash basket 20a exists. Optionally, the first sensor 121 is a first Hall sensor 121a.

[0071] The distance between the first magnet 31 and the first sensor 121 is smaller than the distance between the first magnet 31 and the second sensor 122. The first magnet 31 mainly affects the output voltage signal of the first sensor 121, so that the first sensor 121 outputs the first signal. Optionally, the second sensor 122 is a second Hall sensor 122a.

[0072] Optionally, the first magnet 31 is located outside the sensing range of the second sensor 122. In this way, the magnetic field generated by the first magnet 31 does not affect the output voltage signal of the second sensor 122. When the underwater cleaning trash basket 20a is installed, the second sensor 122 does not output the second signal. The controller determines that the underwater cleaning trash basket 20a is successfully installed based on the first sensor 121 outputting the first signal and the second sensor 122 not outputting the second signal, and automatically identifies that it is the underwater cleaning trash mode at this time.

[0073] Optionally, the first magnet 31 is located within the sensing range of the second sensor 122. In this way, the magnetic field generated by the first magnet 31 also affects the second sensor 122, but because the distance between the first magnet 31 and the first sensor 121 is closer, the strength of the first signal is greater than the strength of the second signal. The pattern recognition component 12 (controller) is configured to determine that the underwater cleaning trash basket 20a is successfully installed based on the signal strength of the first sensor 121 being greater than the signal strength of the second sensor 122, and automatically recognize that the working mode of the cleaning robot 100 is the underwater cleaning mode at this time.

[0074] The underwater cleaning robot 100a provided in the present application is designed to have a body shell 11 including a sealed shell portion 111 and a storage shell portion 112. The storage shell portion 112 is used to store an underwater cleaning trash basket 20a. The pattern recognition component 12 is arranged in the sealed shell portion 111 and close to the storage shell portion 112. The pattern recognition component 12 includes a first sensor 121 and a second sensor 122 that are arranged at intervals. The underwater cleaning trash basket 20a includes a first magnet 31, and the first magnet 31 is located within the sensing range of the first sensor 121. The first sensor 121 is configured to output a first signal for indicating an underwater cleaning mode after detecting the magnetic field of the first magnet 31 when the underwater cleaning trash basket 20a is installed in the storage shell portion 112, and automatically recognize the underwater cleaning mode when the underwater cleaning trash basket 20a is installed in the storage shell portion 112.

[0075] See also Fig.10 The present application provides a surface cleaning robot 100b, comprising a body 10, a buoyancy device 40 and a surface cleaning trash basket 20b as described in any of the above embodiments. The buoyancy device 40 is detachably mounted on the bottom of the body 10 of the cleaning robot 100, so that the body 10 floats on the water surface.

[0076] See also Figure 5 , Figure 7 and Fig.10, the water surface cleaning trash basket 20b is arranged in the storage shell part 112. The water surface cleaning trash basket 20b includes a second magnet 32. The second magnet 32 ​​is located within the sensing range of the second sensor 122. Optionally, the second magnet 32 ​​is arranged adjacent to the second sensor 122. Further, the second magnet 32 ​​and the second sensor 122 are at least partially arranged opposite to each other. In other words, the second sensor 122 is used to detect whether the second magnet 32 ​​exists, and then detect whether the water surface cleaning trash basket 20b exists. Optionally, the second sensor 122 is a second Hall sensor 122a.

[0077] The distance between the second magnet 32 ​​and the second sensor 122 is smaller than the distance between the second magnet 32 ​​and the first sensor 121. The second magnet 32 ​​mainly affects the output voltage signal of the second sensor 122, so that the second sensor 122 outputs a second signal. Optionally, the first sensor 121 is a first Hall sensor 121a.

[0078] Further, the second magnet 32 ​​is located outside the sensing range of the first sensor 121. Thus, the magnetic field generated by the second magnet 32 ​​does not affect the output voltage signal of the first sensor 121. When the water surface cleaning trash basket 20b is installed, the first sensor 121 does not output the first signal. The controller determines that the water surface cleaning trash basket 20b is successfully installed based on the second sensor 122 outputting the second signal and the first sensor 121 not outputting the first signal, and automatically identifies that the water surface cleaning trash basket 20b is in the water surface cleaning trash mode.

[0079] Optionally, the second magnet 32 ​​is located within the sensing range of the first sensor 121. In this way, the magnetic field generated by the second magnet 32 ​​also affects the first sensor 121, but because the distance between the second magnet 32 ​​and the second sensor 122 is closer, the strength of the second signal is greater than the strength of the first signal.

[0080] The pattern recognition component 12 (controller) is configured to determine that the water surface cleaning trash basket 20b is successfully installed based on the signal strength of the second sensor 122 being greater than the signal strength of the first sensor 121, and automatically recognize that the working mode of the cleaning robot 100 is the water surface cleaning mode.

[0081] When cleaning the water surface, the cleaning robot 100 needs to install the buoyancy device 40, and the buoyancy device 40 has a built-in third magnet (i.e., the third magnet 33), which is installed by magnetic attraction with the metal on the body 10. A third Hall sensor 123a can be installed near the metal of the robot. When the buoyancy device 40 is installed, the third Hall sensor 123a outputs a third signal to the controller. When the controller identifies the water surface cleaning mode, the third Hall sensor 123a is used to detect whether the buoyancy device 40 is installed, and a reminder is given through the reminder module for the scene where the buoyancy device 40 is not installed.

[0082] The water surface cleaning robot 100b provided in the present application is designed so that the buoyancy device 40 can be detachably installed on the bottom of the main body 10 of the cleaning robot 100. The body shell 11 includes a sealed shell part 111 and a storage shell part 112. The storage shell part 112 is used to store the water surface cleaning trash basket 20b. The pattern recognition component 12 is arranged in the sealed shell part 111 and close to the storage shell part 112. The pattern recognition component 12 includes a first sensor 121 and a second sensor 122 arranged at intervals. The water surface cleaning trash basket 20b includes a second magnet 32, and the second magnet 32 ​​is located within the sensing range of the second sensor 122. The second sensor 122 is configured to output a second signal for indicating the water surface cleaning mode after detecting the magnetic field of the second magnet 32 ​​when the water surface cleaning trash basket 20b is installed in the storage shell part 112, and automatically recognizes the water surface cleaning mode when the water surface cleaning trash basket 20b is installed in the storage shell part 112.

[0083] See also Fig.10 , the main body 10 of the cleaning robot 100 also includes a third sensor 123. The third sensor 123 is arranged in the sealed shell part 111. Optionally, the third sensor 123 is arranged on the circuit board 124, and the third sensor 123 is spaced apart from the first sensor 121 and the second sensor 122. The third sensor 123 is arranged at the bottom of the sealed shell part 111, which is also the bottom of the main body 10 of the cleaning robot 100. The third sensor 123 is configured to output a successful installation signal when the buoyancy device 40 is installed at the bottom of the main body 10 of the cleaning robot 100. The third sensor 123 is used to detect whether the buoyancy device 40 is installed at the bottom of the main body 10 of the cleaning robot 100. The third sensor 123 includes but is not limited to sensors that detect light signals, pressure signals, magnetic fields, etc., for example, infrared light sensors, visible light sensors, pressure sensors, Hall sensors, etc.

[0084] For example, see Fig.10 The third sensor 123 includes a third Hall sensor 123a. The buoyancy device 40 includes a third magnet 33. When the buoyancy device 40 is installed at the bottom of the main body 10 of the cleaning robot 100, the third Hall sensor 123a is adjacent to the third magnet 33 of the buoyancy device 40 to output the installation success signal.

[0085] The third magnet 33 is located within the sensing range of the third sensor 123. Optionally, the third magnet 33 is disposed adjacent to the third sensor 123. Further, the third magnet 33 is disposed at least partially opposite to the third sensor 123. When the buoyancy device 40 is installed, the third sensor 123 outputs a third signal. The controller determines that the buoyancy device 40 is successfully installed according to the output of the third signal by the third sensor 123. The controller determines that the buoyancy device 40 is not successfully installed according to the failure of the third sensor 123 to output the third signal. The controller may also output a reminder signal indicating that the buoyancy device 40 is not successfully installed through the reminder component 14.

[0086] See also Fig.11 The present application also provides a cleaning robot 100c, comprising the main body 10, the surface cleaning trash basket 20b and the underwater cleaning trash basket 20a described in any one of the above embodiments. The surface cleaning trash basket 20b and the underwater cleaning trash basket 20a are replaceably installed in the storage housing 112. That is, the main body 10 can be used with the surface cleaning trash basket 20b or the underwater cleaning trash basket 20a.

[0087] See also Figure 4-Figure 7 , the underwater cleaning trash basket 20a includes a first magnet 31. The first magnet 31 is located within the sensing range of the first sensor 121. The surface cleaning trash basket 20b includes a second magnet 32. The second magnet 32 ​​is located within the sensing range of the second sensor 122. Optionally, the first magnet 31 is disposed adjacent to the first sensor 121. Further, the first magnet 31 and the first sensor 121 are at least partially disposed opposite to each other. In other words, the first sensor 121 is used to detect whether the first magnet 31 exists, and then detect whether the underwater cleaning trash basket 20a exists. Optionally, the first sensor 121 is a first Hall sensor 121a.

[0088] Optionally, the second magnet 32 ​​is disposed adjacent to the second sensor 122. Further, the second magnet 32 ​​is disposed at least partially opposite to the second sensor 122. In other words, the second sensor 122 is used to detect whether the second magnet 32 ​​exists, and further detect whether the water surface cleaning trash basket 20b exists. Optionally, the second sensor 122 is a second Hall sensor 122a.

[0089] The controller determines that the underwater cleaning garbage basket 20a is successfully installed based on the first sensor 121 outputting the first signal and the second sensor 122 not outputting the second signal, and automatically identifies that the underwater cleaning garbage mode is now.

[0090] The controller determines that the water surface cleaning garbage basket 20b is installed successfully based on the second signal output by the second sensor 122 and the first sensor 121 does not output the first signal, and automatically identifies that the water surface cleaning garbage mode is in the current state.

[0091] The cleaning robot 100c has a surface cleaning mode and an underwater cleaning mode. In the two modes, trash baskets of different shapes (surface cleaning trash basket 20b, underwater cleaning trash basket 20a) are installed on the fuselage main body 10 of the cleaning robot 100c. Two Hall sensors are arranged near the storage housing part 112 on the fuselage cleaning. When the storage housing part 112 is installed with the surface cleaning trash basket 20b, the second Hall sensor 122a can be triggered to output a second signal. When the storage housing part 112 is installed with the underwater cleaning trash basket 20a, the first Hall sensor 121a is triggered to output a first signal. The controller identifies the current cleaning mode according to which Hall sensor signal is received, and adopts the corresponding cleaning strategy to control the cleaning robot 100c to perform the cleaning task.

[0092] See also Figure 4-Figure 7 , the pattern recognition component 12 is installed in the sealed housing portion 111 and is located near the storage housing portion 112. The first Hall sensor 121a and the second Hall sensor 122a are installed in sequence from top to bottom in the vertical direction. The underwater cleaning trash basket 20a is provided with a first magnet (i.e., the first magnet 31). After installation, the first magnet corresponds to the position of the first Hall sensor 121a, triggering the first Hall sensor 121a to output a first signal. The surface cleaning trash basket 20b is provided with a second magnet (i.e., the second magnet 32). After installation, it corresponds to the position of the second Hall sensor 122a, triggering the second Hall sensor 122a to output a second signal. The first magnet is arranged on the side of the underwater cleaning trash basket 20a close to the controller. The second magnet is arranged on the side of the surface cleaning trash basket 20b close to the controller.

[0093] The cleaning robot 100c provided in the present application is designed to include a sealed housing portion 111 and a storage housing portion 112 by designing a body shell 11, a surface cleaning trash basket 20b and an underwater cleaning trash basket 20a are replaceably installed in the storage housing portion 112, the underwater cleaning trash basket 20a includes a first magnet 31, and the surface cleaning trash basket 20b includes a second magnet 32. The pattern recognition component 12 is arranged in the sealed housing portion 111 and close to the storage housing portion 112. The pattern recognition component 12 includes a first sensor 121 and a second sensor 122 arranged at intervals. The first magnet 31 is located at the first sensor 1 21, the second magnet 32 ​​is within the sensing range of the second sensor 122, the first sensor 121 is configured to output a first signal for indicating an underwater cleaning mode when the underwater cleaning trash basket 20a is installed in the storage shell portion 112, and the second sensor 122 is configured to output a second signal for indicating a surface cleaning mode when the surface cleaning trash basket 20b is installed in the storage shell portion 112, and automatically identify the underwater cleaning mode when the underwater cleaning trash basket 20a is installed in the storage shell portion 112, and automatically identify the surface cleaning mode when the surface cleaning trash basket 20b is installed in the storage shell portion 112.

[0094] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in the field can change, modify, replace and modify the above embodiments within the scope of the present application, and these improvements and modifications are also regarded as the scope of protection of the present application.

Claims

1. A body of a cleaning robot, characterized in that: include: A body shell, the body shell comprising a sealing shell portion and a storage shell portion, the storage shell portion being used to store a surface cleaning trash basket or an underwater cleaning trash basket; and A pattern recognition component is arranged in the sealed shell portion and close to the surface cleaning trash basket or the underwater cleaning trash basket. The pattern recognition component includes a first sensor and a second sensor arranged at intervals. The first sensor is configured to output a first signal for indicating an underwater cleaning mode when the underwater cleaning trash basket is installed in the storage shell portion; the second sensor is configured to output a second signal for indicating a surface cleaning mode when the surface cleaning trash basket is installed in the storage shell portion.

2. The body of the cleaning robot according to claim 1, characterized in that: The first sensor includes a first Hall sensor, the second sensor includes a second Hall sensor, and the first Hall sensor and the second Hall sensor are arranged at intervals; when the underwater cleaning trash basket is installed in the storage shell part, the first Hall sensor is adjacent to the first magnet on the underwater cleaning trash basket to output the first signal; when the surface cleaning trash basket is installed in the storage shell part, the second Hall sensor is adjacent to the second magnet on the surface cleaning trash basket to output the second signal.

3. The body of the cleaning robot according to claim 2, characterized in that: The first Hall sensor and the second Hall sensor are spaced apart from each other in a height direction of the fuselage body.

4. The body of the cleaning robot according to any one of claims 1 to 3, characterized in that: The main body of the cleaning robot also includes a feedback component, which is electrically connected to the pattern recognition component. The feedback component is configured to feed back a first feedback signal based on the first signal output by the first sensor, and the first feedback signal includes at least one of a voice signal, a light signal, an image signal, and a text signal; the feedback component is configured to feed back a second feedback signal based on the second signal output by the second sensor, and the second feedback signal includes at least one of a voice signal, a light signal, an image signal, and a text signal.

5. The body of the cleaning robot according to any one of claims 1 to 3, characterized in that: The main body of the machine also includes a reminder component, which is electrically connected to the pattern recognition component. The reminder component is configured to output a reminder signal when the cleaning robot is turned on, based on the first sensor not outputting the first signal and the second sensor not outputting the second signal. The reminder signal includes a sound signal emitted by the cleaning robot, a light signal emitted by the cleaning robot, and a display signal displayed on a user terminal.

6. A cleaning robot, used for underwater cleaning, characterized in that: It comprises a body as described in any one of claims 1 to 5 and an underwater cleaning trash basket, wherein the underwater cleaning trash basket is arranged in the storage shell part, and the underwater cleaning trash basket comprises a first magnet, and the first magnet is located within the sensing range of the first sensor.

7. A cleaning robot, used for water surface cleaning, characterized in that: It comprises a main body of the cleaning robot as described in any one of claims 1 to 5, a buoyancy device and a water surface cleaning trash basket, wherein the water surface cleaning trash basket is arranged in the storage shell part, the water surface cleaning trash basket comprises a second magnet, the second magnet is located within the sensing range of the second sensor, and the buoyancy device is detachably mounted on the bottom of the main body.

8. The cleaning robot according to claim 7, characterized in that: The fuselage body also includes a third sensor, which is arranged in the sealed shell part. The third sensor is spaced apart from the first sensor and the second sensor. The third sensor is configured to output an installation success signal when the buoyancy device is installed at the bottom of the fuselage body.

9. The cleaning robot according to claim 8, characterized in that: The third sensor includes a third Hall sensor, the buoyancy device includes a third magnet, and the third Hall sensor is adjacent to the third magnet of the buoyancy device when the buoyancy device is installed on the bottom of the fuselage body to output the installation success signal.

10. A cleaning robot, characterized in that: It includes a body body, a surface cleaning trash basket and an underwater cleaning trash basket as described in any one of claims 1 to 5, the surface cleaning trash basket and the underwater cleaning trash basket are replaceably installed on the storage shell part, the underwater cleaning trash basket includes a first magnet, and the first magnet is located within the sensing range of the first sensor, and the surface cleaning trash basket includes a second magnet, and the second magnet is located within the sensing range of the second sensor.

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