Cleaning robot, remote controller and visible light communication system

Abstract

The utility model provides a cleaning robot, a remote controller and a visible light communication system, and relates to the technical field of intelligent robots. The cleaning robot comprises a robot body and a receiver. The receiver is provided with a receiving surface for receiving visible light; the receiving surface is arranged on the machine body; the visible light comprises a light beam, the light beam sequentially passes through air and water to reach the receiving surface, and under the condition that at least part of the light beam and the receiving surface coincide, the receiver receives control information carried in the visible light so that the cleaning robot can execute actions corresponding to the control information. Communication between the underwater cleaning robot and equipment in the air can be directly achieved based on visible light, compared with sound wave communication, the bandwidth is higher, the high data transmission rate can be provided, and compared with communication with the help of a floating structure, operation is more convenient; and the propagation paths of visible light communication in water and air are relatively independent, and the optical communication is relatively stable.

Description

Technical Field

[0001] The utility model relates to the technical field of intelligent robots, in particular to a cleaning robot, a remote controller and a visible light communication system. Background Art

[0002] An underwater cleaning robot is an automated device used for cleaning and maintenance in a water environment. With the progress of technology and the increasing demand for water environment protection, due to the high risks and low cleaning efficiency of manual underwater cleaning, underwater cleaning robots play an increasingly important role in water environment protection and water maintenance. However, communication and control in an underwater environment have always been a technical challenge.

[0003] In the prior art, when an underwater cleaning robot wants to communicate with a device in the air, it needs to rely on structures such as floats for communication, that is, the device in the air communicates with structures such as floats wirelessly, and then realizes wired communication with the underwater cleaning robot through structures such as floats.

[0004] However, when the underwater cleaning robot communicates underwater, the transmitters and receivers for realizing communication are also underwater. Therefore, a device or user in the air still cannot directly control the underwater cleaning robot, and wireless control from the air to the underwater cleaning robot cannot be achieved. Summary of the Utility Model

[0005] The utility model provides a cleaning robot, a remote controller and a visible light communication system. By using visible light communication technology, the cleaning robot can realize wireless control in water, improve the communication credibility, and ensure its efficient operation in the underwater environment. In particular, the design in which the light beam and the receiving surface partially overlap can improve the control efficiency and reliability of the cleaning robot. Moreover, the user can see the moving path and position of the cleaning robot in real time, and can also see the emission direction of the light beam formed by the visible light and the size of the light beam range. In this way, the user can control the emission of the light beam of the visible light, make the light beam and the receiving surface of the cleaning robot have at least partial overlap, and then realize visible light communication, optimizing the user experience.

[0006] In a first aspect, the utility model provides a cleaning robot for cleaning in water. The cleaning robot includes a body and a receiver. The receiver has a receiving surface for receiving visible light. The receiving surface is arranged on the body.

[0007] The visible light includes a light beam. The light beam passes through air and water in sequence to reach the receiving surface. Wherein, when there is at least partial overlap between the light beam and the receiving surface, the receiver receives the control information carried in the visible light, so that the cleaning robot executes an action corresponding to the control information.

[0008] Since visible light communication can provide a high data transmission rate, and the propagation paths of visible light communication in water and air are relatively independent, which can effectively avoid electromagnetic interference and acoustic interference. Therefore, by implementing communication through visible light, the data transmission rate and anti-interference ability of the cleaning robot can be significantly improved; when at least part of the light beam formed by visible light coincides with the receiving surface, communication can be achieved, improving the reliability and credibility of communication. Moreover, visible light communication can achieve real-time data transmission and feedback, allowing users to monitor the working status of the cleaning robot in real time for remote control and adjustment, ensuring the intelligence of human-machine interaction, and thus improving work efficiency and cleaning effect.

[0009] Optionally, the shape of the receiving surface is rectangular or hemispherical.

[0010] Therefore, setting the shape of the receiving surface to be rectangular can make more efficient use of the planar space on the body, be suitable for installation in the flat area on the surface of the cleaning robot, and the rectangular shape can provide a larger receiving area, increasing the probability of receiving the light beam and improving the stability and reliability of signal reception. While the hemispherical-shaped receiving surface can reduce signal loss caused by angle changes and also improve the stability and reliability of communication.

[0011] Optionally, the receiver is arranged on the upper side of the body.

[0012] Placing the receiver on the upper side of the body can minimize the obstruction of light by obstacles, ensuring that the light beam can reach the receiving surface smoothly. Since the propagation rate of the light beam in water will be attenuated, but placing the receiver on the upper side can reduce the propagation distance of the light beam in water and make it easier to receive the light beam from the water surface or air, thereby reducing signal attenuation and improving the efficiency and stability of signal reception.

[0013] Optionally, the light beam has a preset shape; the preset shape is any one of a three-dimensional shape and a two-dimensional shape; and / or, the color of the visible light is at least one of purple, green, red, yellow, orange, and blue.

[0014] By selecting a suitable light beam shape and / or color, the communication efficiency and stability of the cleaning robot can be optimized to ensure its efficient operation in the underwater environment.

[0015] Optionally, the receiver includes a receiving module; the receiving module is used to receive visible light and convert it into an electrical signal according to the optical wavelength of the visible light; the optical wavelength range is 500 - 550 nm.

[0016] The receiving module can efficiently convert optical signals into electrical signals, ensuring the accuracy and reliability of signal transmission. Moreover, the receiving module can adjust the wavelength of visible light according to requirements to adapt to different application scenarios and working modes. Among them, the wavelength range of the light wave can be 500 - 550 nm. Within this wavelength range, the attenuation of visible light is weak and the propagation distance is far, thus enabling long-distance data transmission.

[0017] Optionally, the receiver includes a receiving module; the receiving module is used to receive visible light and convert it into an electrical signal according to the physical property information of the visible light; the physical property information includes at least one of the following: light intensity, light frequency, color type, and the shape of the received light.

[0018] Therefore, the receiving module can perform optoelectronic conversion according to various physical property information, improving the accuracy and reliability of signal transmission. By comprehensively utilizing light intensity, light frequency, color type, and the shape of light, multifunctional communication can be achieved, enhancing the flexibility and adaptability of visible light transmission to meet the requirements of different working scenarios.

[0019] Optionally, the receiver further includes a data processing module; the data processing module is used to restore the electrical signal into a control signal.

[0020] In this way, by restoring the electrical signal through the data processing module, it can be ensured that the restored control signal is accurate and error-free. Moreover, the data processing module can process and decode the electrical signal in real time. Real-time signal processing and decoding can ensure timely response to users and adjustment of the working state of the cleaning robot, improving work efficiency.

[0021] Optionally, the data processing module is specifically used to perform filtering, correction, and / or complement processing on the electrical signal to obtain a first electrical signal and restore the first electrical signal into a control signal.

[0022] Therefore, through the filtering process of the data processing module, noise and interference in the electrical signal can be removed, improving the clarity and quality of the signal; through the correction process of the data processing module, errors in the signal can be detected and corrected, reducing the probability of misoperation and faults; through the complement process of the data processing module, missing parts in the signal can be filled, ensuring the integrity of the signal.

[0023] Optionally, the receiver further includes a data receiving module; the data receiving module is used to perform filtering processing on the control signal to obtain control information so that the control information meets the preset requirements.

[0024] In this way, through the filtering process of the data receiving module, the clarity and quality of the control information can be improved. For example, low-frequency signals may contain more noise and interference, and through filtering, these noises can be effectively filtered out to ensure the accuracy and reliability of the control information.

[0025] Optionally, the cleaning robot further includes: a controller; the controller is electrically connected to the receiver; the controller is configured to control the movement of the fuselage based on the control information and / or control the cleaning robot to be in a corresponding working mode.

[0026] By centrally processing and executing the control information through the controller, the hardware and software design can be simplified, and the controller can receive and process the control information in real time to ensure that external instructions can be responded to in a timely manner, improving the reliability of the cleaning robot. Furthermore, the controller can precisely control the movement and working mode of the fuselage, ensuring that the cleaning robot performs accurate actions, enabling the user to remotely control the cleaning robot and improving the operation convenience.

[0027] Optionally, the working mode includes at least one of the following: a cleaning mode, a restart and restoration mode, and a return to charging mode; the cleaning mode includes a mode of performing cleaning at a preset time point and / or a mode of performing cleaning within a preset range.

[0028] Through the multi-mode design of the cleaning mode, the restart and restoration mode, and the return to charging mode, the working efficiency and reliability of the underwater cleaning robot can be significantly improved, ensuring its efficient operation in various environments. The multi-mode design can also improve the flexibility and adaptability of the cleaning robot, optimize the user experience, and adapt to complex underwater environments.

[0029] Optionally, the receiver includes a light-transmitting cover, and the upper surface of the light-transmitting cover is the receiving surface.

[0030] Through the design of the light-transmitting cover, sensitive electronic components and optical components inside the receiver can be protected, preventing the intrusion of water, dust, and other impurities. Moreover, the design of the light-transmitting cover can ensure the effective transmission of optical signals to the receiving surface, reducing signal attenuation and distortion.

[0031] Optionally, the receiver further includes an optical sensor, a circuit board, a sealing ring, and a mounting box; the optical sensor is located below the receiving surface; the circuit board is electrically connected to the optical sensor; the mounting box has a mounting cavity; the optical sensor and the circuit board are disposed in the mounting cavity; the light-transmitting cover is press-fitted with the mounting box through the sealing ring.

[0032] By disposing the optical sensor and the circuit board in the mounting cavity and using the light-transmitting cover and the sealing ring for sealing, the internal components can be effectively protected from water, dust, and other impurities, extending the service life of the cleaning robot; the design of the mounting box enables the convenient installation and fixation of the optical sensor and the circuit board, simplifying the installation process; the light-transmitting cover is press-fitted with the mounting box through the sealing ring, ensuring the sealing performance while also facilitating disassembly and maintenance, reducing the complexity and cost of maintenance.

[0033] Optionally, the opposite sides of the upper surface of the light-transmitting cover are convex structures; the side panel of the light-transmitting cover has rib structures.

[0034] In this utility model, the effects of the light-transmitting cover protrusion are as follows: it can adapt to the shape of the cleaning robot, being beautiful and good-looking; the side panel of the light-transmitting cover is provided with a rib structure for strengthening the side panel, enhancing the overall structural strength of the light-transmitting cover, increasing its compressive and impact resistance, and preventing deformation and damage.

[0035] Optionally, the light-transmitting cover has mounting posts, a sensor pressure plate, and a limiting plate; the mounting box has a baffle, a limiting groove, a sensor board support edge, a circuit board fixing hole, a light-transmitting cover fixing hole, and a sealing strip mounting groove; the sealing strip mounting groove is used to hold the sealing ring; the sealing strip mounting groove is deployed at the top of the mounting box and is located outside the mounting box; the limiting plate is press-fitted with the limiting groove, and the light-transmitting cover fixing hole is perforated and connected with the mounting post to fix the mounting box and the light-transmitting cover; the sensor board support edge is used to support the optical sensor to fix the optical sensor; the baffle and the circuit board fixing hole are used to fix the circuit board.

[0036] In this utility model, the perforated connection between the light-transmitting cover fixing hole and the mounting post can ensure the firm fixation of the light-transmitting cover and the mounting box, enhancing the structural stability; the press-fitting of the limiting plate and the limiting groove can prevent the deformation or opening of the two side panels, and can also provide additional positioning and fixing functions to prevent the components from moving and loosening; the sealing strip mounting groove is used to hold the sealing ring to ensure the sealing between the light-transmitting cover and the mounting box, preventing water, dust, and other impurities from entering the interior; the sensor board support edge is used to support the optical sensor, the baffle and the circuit board fixing hole are used to fix the circuit board to ensure the stability and protection of the internal components; the sensor pressure plate is used to fix the optical sensor to ensure its accurate position and optimize the transmission and reception of optical signals; through the design of the mounting post, the light-transmitting cover fixing hole, the limiting plate, and the limiting groove, modular installation and fixation are realized, simplifying the installation and maintenance process.

[0037] Optionally, the receiver further includes a buckle, a wiring head, and a wiring head fixing hole; the fuselage includes a card slot and a mounting slot; the mounting slot is used to place the receiver; the receiver is fixedly connected to the fuselage based on the cooperation of the buckle and the card slot, and based on the fixation of the wiring head and the wiring head fixing hole.

[0038] Through the cooperation of the buckle and the card slot, and the fixation of the wiring head and the wiring head fixing hole, the stable connection between the receiver and the fuselage is ensured, preventing loosening and falling off; the design of the wiring head and the wiring head fixing hole can ensure the stability and reliability of the electrical connection, preventing the cable from being pulled or damaged during operation, and the design of the buckle and the card slot makes the installation and disassembly of the receiver more convenient, reducing the complexity of installation and maintenance; the design of the mounting slot provides a dedicated installation space for the receiver, optimizing the utilization of the internal space of the fuselage; in this way, through a stable mechanical connection, the reliable operation of the receiver under various environmental conditions is ensured, improving the reliability of the receiver.

[0039] Optionally, the light-transmitting cover has an anti-fooling strip; the anti-fooling strip is arranged on the mounting post of the light-transmitting cover; the body has an anti-fooling groove; the anti-fooling strip and the anti-fooling groove are press-fitted.

[0040] In the present utility model, an anti-fooling strip is formed on the mounting post on one side of the light-transmitting cover, and an anti-fooling groove is arranged in the mounting groove of the upper cover of the cleaning robot to prevent the situation of reverse installation during installation.

[0041] In a second aspect, the present utility model provides a remote controller, which includes a transmitter; the transmitter is used to emit visible light, and the visible light includes light beams; the transmitter is further used to respond to the operation of the user, so that the light beams pass through air and water in sequence to reach the receiving surface, and at least partially overlap with the receiving surface;

[0042] Wherein, the receiving surface is the surface for receiving visible light of the receiver of the cleaning robot; the receiving surface is arranged on the body of the cleaning robot; the cleaning robot is used for cleaning in water; after the receiver receives the control information carried in the visible light, the cleaning robot performs actions corresponding to the control information.

[0043] The remote controller emits a visible light signal through the transmitter, so that the user can remotely control the cleaning robot, which is convenient for operation. In this way, the user can control the cleaning robot through simple operations, improving the user experience and operation convenience.

[0044] It should be noted that the design and implementation method of the cleaning robot can be seen in the description of the first aspect and will not be elaborated here.

[0045] Optionally, the transmitter is specifically used to emit corresponding visible light in response to the user's moving operation on the remote controller, so that at least part of the receiving surface overlaps with the light beam within a preset time period.

[0046] In this way, by making at least part of the receiving surface overlap with the light beam within a preset time period, the stability and reliability of signal transmission can be ensured, and signal interruption can be avoided.

[0047] Optionally, the transmitter is arranged at the front end of the remote controller.

[0048] In the present utility model, arranging the transmitter at the front end of the remote controller can ensure that the light beam directly faces the receiving surface of the cleaning robot. The design of the front-end transmitter enables the user to directly align with the cleaning robot, simplifies the operation steps, and improves the operation convenience; and since the transmitter is located at the front end, the user can directly see the emission situation of the light beam, providing intuitive visual feedback and facilitating the user to perform adjustment operations, thus improving the user experience.

[0049] Optionally, the remote controller further includes an adjusting device; the adjusting device is used to adjust the wavelength of the visible light emitted by the transmitter; the wavelength range is 500 - 550 nm.

[0050] In this way, users can conveniently adjust the light wave length through the adjusting device, optimize the signal transmission effect, improve the convenience and comfort of operation. Especially after the light wave length range is set to 500 - 550 nm, the attenuation of visible light can be reduced, and the propagation distance can be increased, thereby realizing long-distance data transmission.

[0051] Optionally, the remote control further includes a remote control button; the remote control button is electrically connected to the adjusting device; the adjusting device adjusts the light wave length of the emitted visible light based on the option indication of the remote control button.

[0052] In this way, based on the option indication of the remote control button, the adjusting device can accurately adjust the light wave length. The design of the remote control button enables users to easily adjust the light wave length, providing a better user experience and operation comfort.

[0053] Optionally, the remote control further includes an adjusting device; the adjusting device is used to adjust the physical property information of the visible light emitted by the transmitter; the physical property information includes at least one of the following: light intensity, light frequency, color type, and the shape of the received light.

[0054] Therefore, by adjusting the physical property information of light, the adjusting device can achieve multi-channel communication, improve the flexibility and adaptability of visible light transmission, and meet the requirements of different working scenarios.

[0055] Optionally, the remote control further includes a remote control button; the remote control button is electrically connected to the adjusting device; the adjusting device adjusts the physical property information of the emitted visible light based on the option indication of the remote control button.

[0056] In this way, based on the option indication of the remote control button, the adjusting device can accurately adjust the physical property information of visible light. The design of the remote control button enables users to easily adjust the physical property information of visible light, providing a better user experience and operation comfort.

[0057] Optionally, the remote control button includes: a movement button and a working mode button; the movement button is used to instruct the cleaning robot to move in at least one direction; the working mode button is used to instruct the cleaning robot to be in the corresponding working mode.

[0058] Since the movement button and the working mode button provide an intuitive operation interface, enabling users to quickly make adjustments and easily control the movement and working mode of the cleaning robot, providing a better user experience, operation comfort, and operation convenience.

[0059] Optionally, the movement buttons include: a forward button, a backward button, a left turn button, and a right turn button; the working mode buttons include a shore docking button, a cleaning button, and a reset button; the forward button is used to instruct the cleaning robot to move forward based on the front side direction of the fuselage; the backward button is used to instruct the cleaning robot to move backward based on the rear side direction of the fuselage; the left turn button is used to instruct the cleaning robot to rotate counterclockwise; the right turn button is used to instruct the cleaning robot to rotate clockwise; the shore docking button is used to instruct the cleaning robot to perform a shore docking operation; the cleaning button is used to instruct the cleaning robot to enter the cleaning mode for work; the reset button is used to instruct the cleaning robot to enter the restart and restoration mode for work.

[0060] Therefore, in the present utility model, through the forward, backward, left turn, and right turn buttons of the remote control, the user can comprehensively control the moving direction of the cleaning robot, and through the shore docking, cleaning, and reset buttons, the user can control different working modes of the cleaning robot, meeting various operation requirements. In this way, with clear button functions, the user can easily understand and operate, improving the user experience and operation comfort.

[0061] Optionally, the transmitter includes: a data sending module, a data processing module, and a transmitting module; the data sending module is used to transmit the control information to be transmitted to the data processing module through a hardware transmission or online transmission method; the data processing module is used to process the control information to be transmitted to obtain an electrical signal; the transmitting module is used to convert the electrical signal into visible light and emit the visible light from the air into the water.

[0062] In this way, through the collaborative work of the data sending module, the data processing module, and the transmitting module, the control information can be efficiently converted into a visible light signal and transmitted into the water; among them, the data sending module can ensure the stable transmission of the control information through a hardware transmission or online transmission method, reducing interference and packet loss phenomena during the transmission process. The data processing module processes the control information to ensure the accuracy and stability of the signal, improving the precision of signal processing. The transmitting module converts the electrical signal into visible light and emits it from the air into the water, optimizing the signal transmission path and ensuring the effective transmission of the signal.

[0063] Optionally, the transmitter includes an optical module; the optical module is used to emit visible light.

[0064] In the present utility model, the optical module can optimize the characteristics of the light beam (such as intensity, direction, wavelength, etc.), improving the quality and stability of signal transmission, or the optical module can precisely control the emission angle and direction of the light beam to ensure that the signal accurately reaches the receiver.

[0065] In a third aspect, the present utility model provides a visible light communication system, which includes a receiver and a transmitter; the receiver has a receiving surface for receiving visible light;

[0066] The transmitter is used to emit visible light, and the visible light includes a light beam; the light beam passes through air and water in sequence to reach the receiving surface. Among them, when at least part of the light beam coincides with the receiving surface, the receiver receives the visible light for communication.

[0067] Optionally, the visible light communication system is applied to a cleaning robot and its corresponding remote controller; the cleaning robot is used for cleaning in water; the cleaning robot includes a body and a receiver; the remote controller includes a transmitter; the receiving surface is arranged on the body;

[0068] Among them, after the transmitter responds to the user's operation, the light beam and the receiving surface have at least partial coincidence, and the receiver communicates based on the visible light, so that the cleaning robot executes an action corresponding to the control information carried in the visible light.

[0069] It should be noted that this visible light communication system can achieve efficient underwater visible light communication. For the effects of this visible light communication system, reference can be made to the descriptions and effects corresponding to the first aspect and the second aspect, and no further elaboration will be made here.

[0070] In summary, the present utility model provides a cleaning robot, a remote controller, and a visible light communication system for realizing communication between an underwater cleaning robot and a remote controller based on visible light. By designing the structure of the receiving surface on the body of the cleaning robot, it is used to receive the light beam that passes through air and water in sequence. Furthermore, when at least part of the light beam coincides with the receiving surface, by receiving the control information carried in the visible light, the cleaning robot is controlled to execute an action corresponding to the control information. Among them, the cleaning robot is used for cleaning in water, and the water can include above water, on the water surface, and underwater. In this way, the cleaning robot provided by the present utility model can directly realize communication between an underwater cleaning robot and a device in the air based on visible light. Compared with acoustic wave communication, it has a higher bandwidth and can provide a high-speed data transmission rate. Compared with communicating with the help of a float structure, the operation is more convenient; and the propagation paths of visible light communication in water and air are relatively independent, and optical communication is relatively stable. BRIEF DESCRIPTION OF THE DRAWINGS

[0071] In order to more clearly illustrate the specific embodiments of the present utility model or the technical solutions in the prior art, the following will briefly introduce the drawings required to be used in the description of the specific embodiments or the prior art. In all the drawings, similar elements or parts are generally identified by similar reference numerals. In the drawings, the elements or parts are not necessarily drawn to scale. The drawings are:

[0072] Figure 1 An application scenario diagram of a cleaning robot provided by the present utility model;

[0073] Figure 2The present utility model provides a structural schematic diagram of a cleaning robot;

[0074] Figure 3 The present utility model provides a partial structural block diagram of a cleaning robot;

[0075] Figure 4 The present utility model provides an exploded structural schematic diagram of a receiver;

[0076] Figure 5 The present utility model provides a structural schematic diagram of the upper part of a light-transmitting cover;

[0077] Figure 6 The present utility model provides a structural schematic diagram of the inside of a light-transmitting cover;

[0078] Figure 7 The present utility model provides a structural schematic diagram of the inside of an installation box;

[0079] Figure 8 The present utility model provides a structural schematic diagram of the outside of an installation box;

[0080] Figure 9 The present utility model provides an exploded structural schematic diagram of a part of the body structure;

[0081] Figure 10 The present utility model provides a structural schematic diagram of a part of the body structure;

[0082] Figure 11 The present utility model provides a front view of a light-transmitting cover;

[0083] Figure 12 The present utility model provides a structural schematic diagram of a remote controller;

[0084] Figure 13 The present utility model provides a distribution schematic diagram of remote control buttons;

[0085] Figure 14 The present utility model provides a structural schematic diagram of a remote control button;

[0086] Figure 15 The present utility model provides a structural schematic diagram of a transmitter;

[0087] Figure 16 The present utility model provides a structural schematic diagram of a visible light communication system.

[0088] Through the above-mentioned drawings, specific embodiments of the present invention have been shown, and there will be more detailed descriptions hereinafter. These drawings and written descriptions are not intended to limit the scope of the inventive concept of the present invention in any way, but to illustrate the concept of the present invention to those skilled in the art by reference to specific embodiments.

[0089] Reference numerals:

[0090] 100 - User; 200 - Cleaning robot; 300 - Remote controller; 201 - Body; 202 - Receiver; 21 - Receiving surface; 22 - Receiving module; 23 - Data processing module; 24 - Data receiving module; 203 - Controller; 301 - Transmitter; 302 - Adjusting device; 303 - Remote control button; 31 - Movement button; 32 - Working mode button; 311 - Forward button; 312 - Backward button; 313 - Left turn button; 314 - Right turn button; 321 - Docking button; 322 - Cleaning button; 323 - Reset button; 331 - Data sending module; 332 - Data processing module; 333 - Transmitting module; 334 - Optical module; 41 - Translucent cover; 42 - Optical sensor; 43 - Circuit board; 44 - Sealing ring; 45 - Installation box; 46 - Installation cavity; 411 - Rib structure; 412 - Mounting post; 413 - Sensor pressure plate; 414 - Limiting plate; 415 - Anti-fooling strip; 451 - Baffle; 452 - Limiting groove; 453 - Sensor board support edge; 454 - Circuit board fixing hole; 455 - Translucent cover fixing hole; 456 - Sealing strip installation groove; 51 - Snap; 52 - Terminal; 53 - Terminal fixing hole; 54 - Card slot; 55 - Installation groove; 56 - Anti-fooling groove; 600 - Visible light communication system. Detailed implementation manners

[0091] In order to make the objectives, technical solutions and advantages of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the embodiments of the present invention. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0092] In the description of the present utility model, it should be understood that the orientation or positional relationship indicated by the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation to the present utility model. In addition, terms such as "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. In the description of the present utility model, the meaning of "a plurality" is more than two, unless otherwise specifically defined.

[0093] The following will specifically describe in detail the technical solution of the present utility model and how the technical solution of the present utility model solves the above technical problems. These several specific embodiments below can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The present utility model will be described below with reference to the drawings.

[0094] In order to enable the underwater cleaning robot to communicate with the equipment in the air, in a possible implementation, a communication structure such as a buoy can be used. For example, the buoy can be designed as a communication relay station, connected to the underwater cleaning robot through a cable. The buoy can float on the water surface, communicate with the onshore equipment wirelessly, and at the same time communicate with the underwater cleaning robot through the cable.

[0095] However, when the underwater cleaning robot communicates underwater, the transmitter and receiver for communication are also underwater. Therefore, the equipment or user in the air still cannot directly control the underwater cleaning robot, and wireless control from the air to the underwater cleaning robot cannot be achieved.

[0096] In another possible implementation, radio waves or sound waves can be used to enable communication between the underwater cleaning robot and the equipment in the air. However, radio waves attenuate severely in water, and the higher the frequency, the greater the attenuation, and the communication distance is relatively short; while the underwater acoustic communication transmission rate is relatively low, usually at the kbps level, resulting in a very slow propagation speed of sound waves in water and a certain communication delay.

[0097] It should be noted that in water, the propagation rate of light is much higher than that of sound waves. Therefore, underwater communication based on light will not be affected by link delay.

[0098] In view of the above problems and considerations, the present utility model provides a cleaning robot. The cleaning robot realizes communication with devices in the air based on visible light. By designing the structure of the receiving surface on the body of the cleaning robot, it is used to receive the light beam that sequentially passes through air and water. Then, when at least part of the light beam coincides with the receiving surface, by receiving the control information carried in the visible light, the cleaning robot is controlled to perform actions corresponding to the control information. Among them, the cleaning robot is used for cleaning in water, and the water can include the area above the water surface, the water surface, and the area below the water surface. In this way, the cleaning robot provided by the present utility model can directly realize the communication between the underwater cleaning robot and the devices in the air based on visible light. Compared with acoustic wave communication, it has a higher bandwidth and can provide a high-speed data transmission rate. Compared with communicating with the help of a buoy structure, the operation is more convenient; and the propagation paths of visible light communication in water and air are relatively independent, the optical communication is relatively stable, and the visible light communication usually uses a Light Emitting Diode (LED) light source, which has low power consumption.

[0099] It should be noted that the area above the water surface refers to the area above the water surface, that is, the part in the air. The water surface refers to the surface of the water body, that is, the interface between water and air; the area below the water surface refers to the area below the water surface, that is, the part completely covered by water. Therefore, the cleaning robot can be applied to various application scenarios above the water, floating on the water surface, and underwater for cleaning.

[0100] Exemplarily, Figure 1 FIG. is an application scenario diagram of a cleaning robot provided by the present utility model. As Figure 1 shown, this application scenario is a scenario where the cleaning robot cleans a swimming pool. This application scenario includes: a user 100 and a cleaning robot 200. The user 100 communicates with the cleaning robot 200 based on visible light through a device in the air, such as a remote control 300. The present utility model does not specifically limit the device in the air used by the user 100 to communicate with the cleaning robot 200 by visible light. As long as it can emit visible light for communication, for example, the device can also be a terminal device that can emit visible light.

[0101] When the user 100 wants to clean the swimming pool, the cleaning robot 200 can be used to clean the swimming pool. After the cleaning robot 200 enters the water, the user 100 emits visible light to the cleaning robot 200 through the remote control 300. In this way, the light beam formed by the visible light sequentially passes through air and water to reach the cleaning robot 200. After the cleaning robot 200 receives the light beam, it can identify the control information carried in the visible light to control itself to perform actions corresponding to the control information, such as moving left and right, cleaning, etc.

[0102] It should be noted that the cleaning robot 200 can also be applied to other scenarios, such as cleaning reservoirs, dams, aquariums, and cleaning oceans and lakes, etc., which require underwater cleaning. The specific application scenarios of the cleaning robot 200 in the present utility model are not limited.

[0103] Based on the above application scenarios, the cleaning robot 200 realizes visible light communication, and the corresponding specific structure is as Figure 2 shown. Figure 2 This is a schematic structural diagram of a cleaning robot provided by the present utility model. As Figure 2 shown, the cleaning robot 200 includes a fuselage 201 and a receiver 202; the receiver 202 has a receiving surface 21 for receiving visible light; the receiving surface 21 is arranged on the fuselage 201.

[0104] The visible light includes light beams, and the light beams pass through air and water in sequence to reach the receiving surface 21. Among them, when there is at least partial overlap between the light beams and the receiving surface 21, the receiver 202 receives the control information carried in the visible light, so that the cleaning robot 200 executes actions corresponding to the control information.

[0105] In the present utility model, the cleaning robot 200 is based on visible light communication. Visible Light Communication (VLC) refers to a communication method that uses white light LEDs as light sources and directly modulates the luminous intensity of the LEDs carried by the LED light to transmit information. It does not require transmission media such as optical fibers for wired channels and directly transmits optical signals in the air. For example, visible light communication can transmit data by modulating the luminous intensity of LED lights; visible light communication is a deep coupling of lighting and communication.

[0106] Therefore, the user 100 can not only see the moving path and position of the cleaning robot 200 in real time, but also see the emission direction of the light beam formed by the visible light and the size of the beam range. In this way, while the cleaning robot 200 is moving, the user 100 can control the light beam of the visible light to move accordingly, so as to make the light beam have at least partial overlap with the receiving surface 21 of the cleaning robot 200, thereby realizing visible light communication.

[0107] Exemplarily, devices in the air, such as the user's handheld device, emit a light beam formed by visible light containing control information through an LED light source. The control information can be instructions, data, or other information that needs to be transmitted to the underwater robot. The content of the control information in the present utility model is not specifically limited.

[0108] Further, the light beam formed by visible light is emitted from the air, passes through the air layer, and enters the water. The receiving surface 21 on the fuselage 201 of the underwater cleaning robot 200 captures the light beam that has passed through the air and water; wherein, the receiving surface 21 may include structures such as photosensitive sensors or photodiodes, and the present utility model does not specifically limit the internal structure of the receiving surface 21.

[0109] Among them, in the present utility model, the receiving surface 21 is designed as a structure that can efficiently receive and convert optical signals. Even when the light beam only partially overlaps with the receiving surface 21, the optical signal can be effectively captured.

[0110] Further, the receiving surface 21 converts the captured optical signal into an electrical signal, decodes the control information carried therein, and then controls the cleaning robot 200 to perform corresponding actions based on the received control information, such as moving, turning, stopping cleaning, adjusting the working mode, etc. The present utility model does not specifically limit the actions to be performed, which are determined based on the content indicated by the control information.

[0111] It should be noted that the light beam will refract at the air-water interface, but still maintain a relatively high transmission efficiency.

[0112] Since visible light communication can provide a high data transmission rate, and the propagation paths of visible light communication in water and air are relatively independent, which can effectively avoid electromagnetic interference and acoustic interference. Therefore, by implementing communication through visible light, the present utility model can significantly improve the data transmission rate and anti-interference ability of the cleaning robot 200; when there is at least partial overlap between the light beam and the receiving surface 21, communication can be achieved, improving the reliability and credibility of communication. Moreover, visible light communication can achieve real-time data transmission and feedback, and users can monitor the working status of the cleaning robot in real time for remote control and adjustment, ensuring the intelligence of human-machine interaction, and thus improving work efficiency and cleaning effect.

[0113] Among them, the receiver 202 can be set as a closed structure, which can effectively prevent information leakage and illegal interception, and has high security.

[0114] Optionally, the shape of the receiving surface 21 is rectangular or hemispherical.

[0115] In the present utility model, the shape of the receiving surface 21 can be set to any polygon or irregular shape. The present utility model does not specifically limit the shape of the receiving surface 21. However, setting the shape of the receiving surface 21 to rectangular or hemispherical can increase the contact area between the light beam and the receiving surface 21. In particular, the receiving surface 21 with a hemispherical shape has a wide-angle receiving ability and can receive light beams from multiple directions.

[0116] Therefore, setting the shape of the receiving surface 21 as a rectangle can more efficiently utilize the planar space on the body 201, be suitable for installation on the flat area of the surface of the cleaning robot 200, and the rectangular shape can provide a larger receiving area, increasing the probability of receiving the light beam and improving the stability and reliability of signal reception. The hemispherical receiving surface can reduce signal loss caused by angle changes and also improve the stability and reliability of communication.

[0117] Optionally, the receiver 202 is arranged on the upper side of the body 201.

[0118] Placing the receiver 202 on the upper side of the body 201 can minimize the occlusion of the light beam by obstacles, ensuring that the light beam can reach the receiving surface 21 smoothly. Since the propagation rate of the light beam in water will be attenuated, placing the receiver 202 on the upper side can reduce the propagation distance of the light beam in water and make it easier to receive the light beam from the water surface or the air, thereby reducing signal attenuation and improving the efficiency and stability of signal reception.

[0119] It can be understood that the upper side position is easier to maintain alignment with the light source, thereby improving the stability of communication.

[0120] Optionally, the light beam has a preset shape; the preset shape is any one of a three-dimensional shape and a two-dimensional shape; and / or, the color of the visible light is at least one of purple, green, red, yellow, orange, and blue.

[0121] In the present utility model, the light beam with a three-dimensional shape can cover a larger space range, increasing the probability of the receiver 202 capturing the light beam. For example, the light beam with a three-dimensional shape can be conical or spherical. The present utility model does not limit the specific shape corresponding to the three-dimensional light beam. By setting the shape of the light beam as a three-dimensional shape, it can better adapt to position changes and angle changes in a dynamic environment and improve the stability of communication.

[0122] The two-dimensional shape refers to the shape after projection, such as a parallel light beam or a fan-shaped light beam. The present utility model does not limit the specific shape corresponding to the two-dimensional light beam. Since the two-dimensional light beam has strong directivity, by setting the shape of the light beam as a two-dimensional shape, it can accurately point to the receiver 202 and improve the intensity and quality of signal reception.

[0123] In the present utility model, visible lights of different colors can be used for multi-channel communication, and each color represents a different signal or data channel, thereby improving the parallelism and efficiency of data transmission.

[0124] Optionally, light beams of different colors can be used for signal transmission of different functions, which is convenient for identification and distinction. For example, red light is used for movement signals and green light is used for cleaning operation signals. The present utility model does not limit the signal content transmitted corresponding to light beams of different colors.

[0125] It should be noted that the propagation characteristics of light of different colors in water are different. Therefore, the most suitable color can also be selected according to the specific environment. For example, blue light can travel a longer distance in clear water. For the cleaning robot 200 in clear water, blue visible light can be selected for emission. While red light is more easily detected in turbid water, for the cleaning robot 200 in turbid water, red visible light can be selected for emission.

[0126] It can be understood that since light beams of different colors correspond to different visual effects, therefore, by selecting light beams of different colors, the visual effect of the user can be enhanced, facilitating the user to monitor and operate the actions of the cleaning robot 200 in the water surface or underwater environment.

[0127] Therefore, by selecting appropriate light beam shapes and / or colors, the communication efficiency and stability of the cleaning robot 200 can be optimized to ensure its efficient operation in the underwater environment.

[0128] Optionally, Figure 3 is a partial structural block diagram of a cleaning robot provided by the present utility model, as Figure 3 shown, the receiver 202 includes a receiving module 22; the receiving module 22 is used to receive visible light and convert it into an electrical signal according to the optical wave length of the visible light; the optical wave length range is 500 - 550 nm.

[0129] Among them, the receiving module 22 can use components such as a photosensitive sensor, a photodiode, or a photomultiplier tube to ensure efficient reception and conversion of optical signals within different optical wave length ranges.

[0130] In the present utility model, the receiving module 22 can be composed of an optical - electric acquisition and detection instrument for collecting optical signals of visible light in water. In addition, the receiving module 22 also converts the collected optical signals to convert the optical signals into electrical signals that are more easily processed by a computer.

[0131] Among them, the receiving module 22 converts the received visible light signal into a corresponding electrical signal according to its optical wave length (wavelength), and the range of this optical wave length is from 500 nm to 550 nm. Within this optical wave length range, the attenuation of visible light is weak and the propagation distance is long.

[0132] In this way, by presetting the optical wave length range, long - distance data transmission can be achieved, and optical signals of different wavelengths can carry different information to improve the parallelism and efficiency of data transmission.

[0133] Therefore, the receiving module 22 can efficiently convert optical signals into electrical signals, ensuring the accuracy and reliability of signal transmission. Moreover, the receiving module 22 can adjust the optical wavelength of visible light according to requirements to adapt to different application scenarios and working modes.

[0134] Optionally, as Figure 3 shown, the receiver 202 includes a receiving module 22; the receiving module 22 is configured to receive visible light and convert it into an electrical signal according to the physical property information of the visible light; the physical property information includes at least one of the following: light intensity, light frequency, color type, and the shape of the received light.

[0135] In the present utility model, different light intensities, light frequencies, color types, and the shapes of the received light can be used to distinguish different types of signals or data, and can also be used for multi-channel communication, improving the parallelism and efficiency of data transmission. For example, green light is used for cleaning operation signals. In this way, by switching the physical property information of different visible lights, different control information can be transmitted.

[0136] Therefore, the receiving module 22 can perform optoelectronic conversion according to various physical property information, improving the accuracy and reliability of signal transmission. By comprehensively utilizing light intensity, light frequency, color type, and the shape of light, multifunctional communication can be achieved, improving the flexibility and adaptability of visible light transmission to meet the requirements of different working scenarios.

[0137] Optionally, as Figure 3 shown, the receiver 202 further includes a data processing module 23; the data processing module 23 is configured to restore the electrical signal into a control signal.

[0138] Exemplarily, after the receiving module 22 converts the optical signal into an electrical signal, the electrical signal can be transmitted to the data processing module 23 of the receiver 202. After the data processing module 23 demodulates and decodes the electrical signal, the electrical signal is restored into a control signal.

[0139] It should be noted that the above process corresponds to the modulation and demodulation method of optical communication, and the present utility model does not limit the specific content of the modulation and demodulation method.

[0140] In this way, by restoring the electrical signal through the data processing module 23, it can be ensured that the restored control signal is accurate and error-free. Moreover, the data processing module 23 can process and decode the electrical signal in real time. Real-time signal processing and decoding can ensure that the user can be responded to in a timely manner and the working state of the cleaning robot can be adjusted, improving the working efficiency.

[0141] Optionally, the data processing module 23 is specifically configured to perform filtering, correction, and / or complement processing on the electrical signal to obtain a first electrical signal, and restore the first electrical signal into a control signal.

[0142] During the process of the data processing module 23 restoring the electrical signal into a control signal, information transmission errors and losses may occur. The decoding operation of the data processing module 23 can, to a certain extent, filter, correct, and / or complete the electrical signal, and then perform signal conversion.

[0143] Among them, filtering the electrical signal can remove noise and interference signals; correcting the electrical signal can correct errors and distortions in the signal; completing the electrical signal can fill in the missing parts of the signal to ensure the integrity of the signal.

[0144] It should be noted that the above process corresponds to the anti-interference method of optical communication, and the specific content of the anti-interference method of the present invention is not limited.

[0145] Therefore, through the filtering process of the data processing module 23, the noise and interference in the electrical signal can be removed, improving the clarity and quality of the signal; through the correction process of the data processing module 23, the errors in the signal can be detected and corrected, reducing the probability of misoperation and faults; through the completion process of the data processing module 23, the missing parts of the signal can be filled in to ensure the integrity of the signal.

[0146] Optionally, the receiver 202 further includes a data receiving module 24; the data receiving module 24 is used to filter the control signal to obtain control information so that the control information meets the preset requirements.

[0147] In the present invention, the preset requirement refers to a preset unified control standard. For example, the minimum control frequency is set. When the frequency of the control signal is lower than the set minimum control frequency, control is performed according to the unified control standard. The present invention does not limit the preset requirements.

[0148] For example, if the signal frequency is lower than 10 Hz and lasts for a certain period of time, it may be a false signal caused by environmental interference or signal attenuation. By controlling at 10 Hz, misoperation can be avoided, and stability, signal reliability, and consistency can be improved.

[0149] Exemplarily, after the data processing module 23 processes to obtain the control signal, the control signal can be sent to the data receiving module 24. The data receiving module 24 is used to filter the control signal. For example, the data receiving module 24 performs frequency detection on the received control signal, judges whether the signal frequency is lower than 10 Hz, and performs time judgment on the signal lower than 10 Hz to determine whether the signal lasts for a certain period of time. If the signal lower than 10 Hz lasts for a certain period of time, the signal frequency is adjusted to 10 Hz, and then control information is obtained. Further, the control information is presented in the originally set format.

[0150] In this way, through the filtering process of the data receiving module 24, the clarity and quality of the control information can be improved. For example, low-frequency signals may contain more noise and interference. Through the filtering process, these noises can be effectively filtered out to ensure the accuracy and reliability of the control information.

[0151] Optionally, as Figure 3 shown, the cleaning robot 200 further includes: a controller 203; the controller 203 is electrically connected to the receiver 202; the controller 203 is configured to control the movement of the fuselage 201 based on the control information and / or control the cleaning robot 200 to be in a corresponding working mode.

[0152] In the present utility model, different control information corresponds to different actions performed by the cleaning robot 200. After the receiving surface 21 receives visible light, the receiver 202 can convert it into corresponding control information based on the shape, color, light intensity, etc. of the received visible light. Then, the controller 203 receives this control information to control the cleaning robot to perform different actions based on this information. For example, blue visible light controls the fuselage 201 to move to the left, or blue visible light controls the cleaning robot 200 to be in the cleaning mode.

[0153] It should be noted that the present utility model does not limit the details of controlling the movement of the fuselage by different control information and / or controlling the cleaning robot to be in a corresponding working mode, which can be set in advance based on the user.

[0154] In the present utility model, the controller 203 centrally processes and executes the control information, which can simplify the hardware and software design. And the controller 203 can receive and process the control information in real time to ensure that it can respond to external instructions in a timely manner, improving the reliability of the cleaning robot 200. Furthermore, the controller 203 precisely controls the movement and working mode of the fuselage 201, which can ensure that the cleaning robot 200 performs accurate actions, enabling the user to remotely control the cleaning robot 200 and improving the operation convenience.

[0155] Optionally, the working mode includes at least one of the following: cleaning mode, restart and recovery mode, and return to charging mode; the cleaning mode includes a mode of cleaning at a preset time point and / or a mode of cleaning within a preset range.

[0156] Among them, the cleaning mode is used to automatically perform cleaning tasks at a preset time point and / or within a preset range. The present utility model does not specifically limit the preset time point and the preset range, which can be set based on the user.

[0157] The restart and recovery mode is used to enter restart and recovery based on the control information when the cleaning robot 200 fails or needs to be restarted to restore the normal working state.

[0158] The return charging mode is used to return to the charging station for charging based on control information when the battery power of the cleaning robot 200 is lower than a certain threshold.

[0159] In the present utility model, the controller 203 selects corresponding working modes and set parameters according to the control information to control the movement and operation of the fuselage 201 and perform corresponding tasks.

[0160] Through the multi-mode design of the cleaning mode, restart and restoration mode, and return charging mode, the working efficiency and reliability of the underwater cleaning robot 200 can be significantly improved, ensuring its efficient operation in various environments. The multi-mode design can also improve the flexibility and adaptability of the cleaning robot 200, optimize the user experience, and adapt to complex underwater environments.

[0161] Optionally, Figure 4 FIG. is a schematic exploded view of the structure of a receiver provided by the present utility model, as Figure 4 shown, the receiver 202 includes a light-transmitting cover 41, and the upper surface of the light-transmitting cover 41 is the receiving surface 21.

[0162] Among them, the optical design on the surface of the light-transmitting cover 41 can optimize the transmission and reception of optical signals, improving the clarity and quality of the signals.

[0163] Through the design of the light-transmitting cover 41, the sensitive electronic components and optical components inside the receiver 202 can be protected, preventing the intrusion of water, dust, and other impurities. And the design of the light-transmitting cover 41 can ensure that the optical signal is effectively transmitted to the receiving surface 21, reducing signal attenuation and distortion.

[0164] Optionally, as Figure 4 shown, the receiver 202 further includes an optical sensor 42, a circuit board 43, a sealing ring 44, and a mounting box 45; the optical sensor 42 is located below the receiving surface 21; the circuit board 43 is electrically connected to the optical sensor 42; the mounting box 45 has a mounting cavity 46; the optical sensor 42 and the circuit board 43 are disposed in the mounting cavity 46; the light-transmitting cover 41 is press-fitted with the mounting box 45 through the sealing ring 44.

[0165] Among them, the optical sensor 42 is used to convert the visible light received by the receiving surface 21 to convert the optical signal into an electrical signal. Further, the electrical signal is transmitted to the circuit board 43 for processing, and then the circuit board 43 transmits the processed result to the controller 203 of the cleaning robot 200. The result processed by the circuit board 43 can be control information.

[0166] In the present utility model, by disposing the optical sensor 42 and the circuit board 43 in the mounting cavity 46 and using the light-transmitting cover 41 and the sealing ring 44 for sealing, the internal components can be effectively protected from the invasion of water, dust, and other impurities, extending the service life of the cleaning robot 200.

[0167] The design of the mounting box 45 enables the convenient installation and fixation of the optical sensor 42 and the circuit board 43, simplifying the installation process.

[0168] The light-transmitting cover 41 is press-fitted with the mounting box 45 through the sealing ring 44. While ensuring the sealing performance, it is also convenient for disassembly and maintenance, reducing the complexity and cost of maintenance.

[0169] Optionally, Figure 5 As shown in the structural schematic diagram of the upper part of the light-transmitting cover provided by the present utility model, Figure 5 As shown, the opposite sides of the upper surface of the light-transmitting cover 41 are convex structures; the side panel of the light-transmitting cover 41 has a rib structure 411.

[0170] In the present utility model, the opposite sides of the upper surface of the light-transmitting cover 41 are convex structures. The other opposite sides can be convex structures or non-convex structures. The present utility model does not make specific limitations on this, and it can be set according to the user's preference. Optionally, at least one side of the upper surface of the light-transmitting cover 41 can be a convex structure; among them, the effect of the protrusion of the light-transmitting cover is: it can adapt to the shape of the cleaning robot 200, which is beautiful and good-looking.

[0171] In the present utility model, the side panel of the light-transmitting cover 41 is provided with a rib structure 411, including a plurality of ribs, which are used to strengthen the side panel, enhance the overall structural strength of the light-transmitting cover 41, increase its compressive and impact resistance, and prevent deformation and damage.

[0172] Optionally, the light-transmitting cover 41 can be made of durable, impact-resistant and corrosion-resistant materials to ensure that it can be used for a long time in a complex underwater environment. The present utility model does not make specific limitations on the manufacturing materials of the light-transmitting cover 41.

[0173] Optionally, Figure 6 As shown in the structural schematic diagram of the inside of the light-transmitting cover provided by the present utility model, Figure 7 As shown in the structural schematic diagram of the inside of the mounting box provided by the present utility model, Figure 8 As shown in the structural schematic diagram of the outside of the mounting box provided by the present utility model, Figures 6 - 8As shown, the light-transmitting cover 41 has mounting posts 412, a sensor pressing plate 413, and a limiting plate 414; the mounting box 45 has a baffle 451, a limiting groove 452, a sensor board supporting edge 453, circuit board fixing holes 454, light-transmitting cover fixing holes 455, and a sealing strip mounting groove 456; the sealing strip mounting groove 456 is used to hold the sealing ring 44; the sealing strip mounting groove 456 is disposed at the top of the mounting box 45 and is located outside the mounting box 45; the limiting plate 414 is press-fitted with the limiting groove 452, and the light-transmitting cover fixing holes 455 are perforated and connected to the mounting posts 412 to fix the mounting box 45 and the light-transmitting cover 41; the sensor board supporting edge 453 is used to support the optical sensor 42 to fix the optical sensor 42; the baffle 451 and the circuit board fixing holes 454 are used to fix the circuit board 43.

[0174] Among them, the light-transmitting cover fixing holes 455 are perforated and connected to the mounting posts 412, which can ensure the firm fixation of the light-transmitting cover 41 and the mounting box 45 and enhance the structural stability.

[0175] The limiting plate 414 is press-fitted with the limiting groove 452, which can prevent the deformation or opening of the two side panels, and can also provide additional positioning and fixing functions to prevent the components from moving and loosening.

[0176] The sealing strip mounting groove 456 is used to hold the sealing ring 44 to ensure the sealing between the light-transmitting cover 41 and the mounting box 45 and prevent water, dust, and other impurities from entering the interior.

[0177] The sensor board supporting edge 453 is used to support the optical sensor 42, and the baffle 451 and the circuit board fixing holes 454 are used to fix the circuit board 43 to ensure the stability and protection of the internal components.

[0178] The sensor pressing plate 413 is used to fix the optical sensor 42 to ensure its accurate position and optimize the transmission and reception of optical signals.

[0179] The present utility model realizes modular installation and fixation through the design of the mounting posts 412, the light-transmitting cover fixing holes 455, the limiting plate 414, and the limiting groove 452, simplifying the installation and maintenance process.

[0180] Optionally, Figure 9 is an exploded structural schematic diagram of a part of the fuselage structure provided by the present utility model, Figure 10 is a structural schematic diagram of a part of the fuselage structure provided by the present utility model, as Figures 8 - 10 shown, the receiver 202 further includes a buckle 51, a wiring head 52, and a wiring head fixing hole 53; the fuselage 201 includes a card slot 54 and a mounting slot 55; the mounting slot 55 is used to place the receiver 202; the receiver 202 is fixedly connected to the fuselage 201 based on the cooperation of the buckle 51 and the card slot 54 and based on the fixation of the wiring head 52 and the wiring head fixing hole 53.

[0181] Among them, through the cooperation of the buckle 51 and the card slot 54, and the fixation of the terminal 52 and the terminal fixing hole 53, the stable connection between the receiver 202 and the fuselage 201 is ensured, preventing loosening and falling off.

[0182] Through the fixation of the terminal 52 and the terminal fixing hole 53, the fixing stability of the receiver 202 is further enhanced, ensuring the reliability of the electrical connection, that is, the design of the terminal 52 and the terminal fixing hole 53 can ensure the stability and reliability of the electrical connection, preventing the cable from being pulled or damaged during operation.

[0183] The design of the buckle 51 and the card slot 54 makes the installation and disassembly of the receiver 202 more convenient, reducing the complexity of installation and maintenance.

[0184] The design of the installation groove 55 provides a dedicated installation space for the receiver 202, optimizing the utilization of the internal space of the fuselage 201.

[0185] In this way, through a stable mechanical connection, it is ensured that the receiver 202 works reliably under various environmental conditions, improving the reliability of the receiver 202.

[0186] Optionally, Figure 11 The front view of a light-transmitting cover provided for the present utility model is shown in Figure 11 As shown, the light-transmitting cover 41 has an anti-fooling strip 415; the anti-fooling strip 415 is arranged on the mounting post 412 of the light-transmitting cover 41; the fuselage 201 has an anti-fooling groove 56; the anti-fooling strip 415 and the anti-fooling groove 56 are press-fitted.

[0187] In the present utility model, the anti-fooling strip 415 is formed on the mounting post 412 on one side of the light-transmitting cover 41, and the anti-fooling groove 56 is arranged in the installation groove 55 of the upper cover of the cleaning robot 200 to prevent the wrong installation.

[0188] To achieve visible light communication with the cleaning robot 200, the present utility model provides a remote controller Figure 12 The structural schematic diagram of a remote controller provided for the present utility model is shown in Figure 2 and Figure 12 As shown, the remote controller 300 includes a transmitter 301; the transmitter 301 is used to emit visible light, and the visible light includes light beams; the transmitter 301 is also used to respond to the user's operation, so that the light beams pass through air and water in sequence to reach the receiving surface 21, and at least partially overlap with the receiving surface 21;

[0189] Among them, the receiving surface 21 is the surface of the receiver 202 of the cleaning robot 200 for receiving visible light; the receiving surface 21 is disposed on the body 201 of the cleaning robot 200; the cleaning robot 200 is used for cleaning in water; after the receiver 202 receives the control information carried in the visible light, the cleaning robot 200 executes an action corresponding to the control information.

[0190] Among them, the remote controller 300 transmits a visible light signal through the transmitter 301, so that the user can remotely control the cleaning robot 200, which is convenient for operation.

[0191] Since visible light communication has good propagation characteristics in water, it can reduce signal attenuation and interference, and improve the reliability and stability of communication. Therefore, in the present utility model, a transmitter 301 is designed in the remote controller 300 for transmitting a visible light signal to achieve visible light communication with the cleaning robot 200.

[0192] In this way, the user can control the cleaning robot 200 through simple operations, improving the user experience and operation convenience.

[0193] It should be noted that the design and implementation manner of the cleaning robot 200 can be seen in Figures 2 - 11 the description of the embodiments, which will not be elaborated here.

[0194] Optionally, in Figure 1 the application scenario shown, the transmitter 301 is specifically configured to emit corresponding visible light in response to a moving operation of the user on the remote controller 300, so that at least a part of the receiving surface 21 coincides with the light beam within a preset time period.

[0195] Since the cleaning robot 200 is constantly moving, the user can control the remote controller 300 to move forward, backward, left, or right to follow the movement of the cleaning robot 200, so that the optical signal of the visible light can remain at least partially coincident with the receiving surface 21.

[0196] In this way, by making at least a part of the receiving surface 21 coincide with the light beam within a preset time period, the stability and reliability of signal transmission can be ensured, and signal interruption can be avoided.

[0197] It should be noted that the present utility model does not specifically limit the size of the preset time period, as long as it can ensure that the receiving surface 21 receives an optical signal that can be used to control the cleaning robot to execute an action.

[0198] Optionally, as Figure 12 shown, the transmitter 301 is disposed at the front end of the remote controller 300.

[0199] In the present utility model, the transmitter 301 is arranged at the front end of the remote controller 300, which can ensure that the light beam is directly directed towards the receiving surface 21 of the cleaning robot 200. The design of the front-end transmitter 301 enables the user to directly align with the cleaning robot 200, simplifies the operation steps, and improves the operation convenience.

[0200] Moreover, since the transmitter 301 is located at the front end, the user can directly see the emission situation of the light beam, which provides intuitive visual feedback, facilitates the user to perform adjustment operations, and improves the user experience.

[0201] Optionally, as Figure 12 shown, the remote controller 300 further includes an adjusting device 302; the adjusting device 302 is used to adjust the optical wave length of the visible light emitted by the transmitter 301; the optical wave length range is 500 - 550 nm.

[0202] Among them, the adjusting device 302 is used to change the optical wave length of the visible light to emit different visible lights, so as to form different optical signals, that is, corresponding to different control information. By adjusting the optical wave length, multi-channel communication can be achieved, and different optical signals with different wave lengths can carry different information, so as to improve the parallelism and efficiency of data transmission.

[0203] It can be understood that lights with different wave lengths have different attenuation characteristics in water. By adjusting the optical wave length, the wave length with less attenuation can be selected to improve the signal transmission efficiency. Moreover, by adjusting the optical wave length, multi-channel communication can be achieved, increasing the communication capacity and flexibility of the system, and meeting different application requirements.

[0204] Especially after the optical wave length range is set to 500 - 550 nm, the attenuation of the visible light can be weakened and the propagation distance can be far, thereby realizing long-distance data transmission.

[0205] In this way, the user can conveniently adjust the optical wave length through the adjusting device 302, optimize the signal transmission effect, and improve the operation convenience and comfort.

[0206] Optionally, as Figure 12 shown, the remote controller 300 further includes a remote control button 303; the remote control button 303 is electrically connected to the adjusting device 302; the adjusting device 302 adjusts the optical wave length of the emitted visible light based on the option indication of the remote control button 303.

[0207] In the present utility model, since the remote control button 303 is electrically connected to the adjusting device 302, therefore, through the remote control button 303, the user can conveniently select and adjust the optical wave length emitted by the transmitter 301 without complex operation steps, which simplifies the user operation.

[0208] Among them, the remote control button 303 can provide an intuitive operation interface, enabling users to quickly make adjustments, thereby improving the convenience and efficiency of operation.

[0209] In this way, based on the option indication of the remote control button 303, the adjustment device 302 can accurately adjust the light wave length. The design of the remote control button 303 allows users to easily adjust the light wave length, providing a better user experience and operation comfort.

[0210] Optionally, as Figure 12 shown, the remote control 300 further includes an adjustment device 302; the adjustment device 302 is used to adjust the physical property information of the visible light emitted by the transmitter 301; the physical property information includes at least one of the following: light intensity, light frequency, color type, and the shape of the received light.

[0211] In the present utility model, the explanation of the physical property information can refer to the description of the above embodiments and will not be elaborated here.

[0212] Therefore, by adjusting the physical property information of the light, the adjustment device 302 can achieve multi-channel communication, improve the flexibility and adaptability of visible light transmission, and meet the requirements of different working scenarios.

[0213] Optionally, Figure 13 is a schematic diagram of the distribution of a remote control button provided by the present utility model; as Figure 13 shown, the remote control 300 further includes a remote control button 303; the remote control button 303 is electrically connected to the adjustment device 302; the adjustment device 302 adjusts the physical property information of the emitted visible light based on the option indication of the remote control button 303.

[0214] In the present utility model, through the remote control button 303, users can conveniently select and adjust the physical property information of the visible light emitted by the transmitter 301 without complex operation steps, simplifying the user operation.

[0215] The remote control button 303 provides an intuitive operation interface, enabling users to quickly make adjustments, thereby improving the convenience and efficiency of operation.

[0216] In this way, based on the option indication of the remote control button 303, the adjustment device 302 can accurately adjust the physical property information of the visible light. The design of the remote control button 303 allows users to easily adjust the physical property information of the visible light, providing a better user experience and operation comfort.

[0217] Optionally, as Figure 13 shown, the remote control button 303 includes: a movement button 31 and a working mode button 32; the movement button 31 is used to instruct the cleaning robot 200 to move and walk in at least one direction; the working mode button 32 is used to indicate that the cleaning robot is in the corresponding working mode.

[0218] Optionally, the adjustment device 302 can adjust the physical property information and / or the light wave length of the visible light emitted by the transmitter 301 based on the instructions of the movement button 31 and the working mode button 32.

[0219] In the present utility model, through the movement button 31 and the working mode button 32, the user can conveniently control the movement and working mode of the cleaning robot 200 without complex operation steps, simplifying the user operation. For example, the user can select the movement button 31 and / or the working mode button 32 according to actual needs to adjust the movement direction and working mode of the cleaning robot 200 in real time, improving the operation efficiency and flexibility.

[0220] Based on the instructions of the movement button 31 and the working mode button 32, the cleaning robot 200 can accurately execute the corresponding movement and working mode, ensuring the accuracy and stability of the operation.

[0221] Since the movement button 31 and the working mode button 32 provide an intuitive operation interface, enabling the user to quickly make adjustments and easily control the movement and working mode of the cleaning robot 200, providing a better user experience, operation comfort, and operation convenience.

[0222] Optionally, Figure 14 is a schematic structural diagram of a remote control button provided for the present utility model, as Figure 14 shown, the movement button 31 includes: a forward button 311, a backward button 312, a left turn button 313, and a right turn button 314; the working mode button 32 includes a docking button 321, a cleaning button 322, and a reset button 323; the forward button 311 is used to instruct the cleaning robot 200 to move forward based on the front side direction of the fuselage 201; the backward button 312 is used to instruct the cleaning robot 200 to move backward based on the rear side direction of the fuselage 201; the left turn button 313 is used to instruct the cleaning robot 200 to rotate counterclockwise; the right turn button 314 is used to instruct the cleaning robot 200 to rotate clockwise; the docking button 321 is used to instruct the cleaning robot 200 to perform a docking operation; the cleaning button 322 is used to instruct the cleaning robot 200 to enter the cleaning mode for work; the reset button 323 is used to instruct the cleaning robot 200 to enter the restart and restoration mode for work.

[0223] Exemplarily, the user can long-press the forward button 311 of the remote controller 300 to cause the remote controller 300 to emit visible light and align the light beam formed by the visible light to the receiving surface 21 of the fuselage 201, thereby sending an optical signal for moving forward based on the front side direction of the fuselage 201.

[0224] The user can send an optical signal for moving the cleaning robot 200 in the backward direction by pressing and holding the backward button 312 of the remote controller 300 for a long time, causing the remote controller 300 to emit visible light and aligning the light beam formed by the visible light with the receiving surface 21 of the body 201.

[0225] The user can send an optical signal for counterclockwise rotation by pressing and holding the left turn button 313 of the remote controller 300 for a long time, causing the remote controller 300 to emit visible light and aligning the light beam formed by the visible light with the receiving surface 21 of the body 201.

[0226] The user can send an optical signal for clockwise rotation by pressing and holding the right turn button 314 of the remote controller 300 for a long time, causing the remote controller 300 to emit visible light and aligning the light beam formed by the visible light with the receiving surface 21 of the body 201.

[0227] The user can send an optical signal for performing the shore docking operation by pressing and holding the shore docking button 321 of the remote controller 300 for a long time, causing the remote controller 300 to emit visible light and aligning the light beam formed by the visible light with the receiving surface 21 of the body 201, so that the cleaning robot 200 can dock at the shore at the water inlet.

[0228] The user can send an optical signal for entering the cleaning mode to work by pressing and holding the cleaning button 322 of the remote controller 300 for a long time, causing the remote controller 300 to emit visible light and aligning the light beam formed by the visible light with the receiving surface 21 of the body 201. For example, after receiving the optical signal, the cleaning robot 200 can perform star - shaped trajectory cleaning within an area of one square meter.

[0229] The user can send an optical signal for entering the restart and recovery mode to work by pressing and holding the reset button 323 of the remote controller 300 for a long time, causing the remote controller 300 to emit visible light and aligning the light beam formed by the visible light with the receiving surface 21 of the body 201. For example, after receiving the optical signal, the cleaning robot 200 can execute the logic of continuing the cleaning from the breakpoint, that is, continue to execute the previously issued cleaning task.

[0230] Therefore, with the forward, backward, left turn, and right turn buttons of the remote controller 300 in the present utility model, the user can comprehensively control the moving direction of the cleaning robot 200. With the shore docking, cleaning, and reset buttons, the user can control different working modes of the cleaning robot 200, meeting various operation requirements. In this way, with clear button functions, the user can easily understand and operate, improving the user experience and operation comfort.

[0231] Optionally, Figure 15 is a schematic structural diagram of a transmitter provided for the present utility model, as Figure 15As shown in the figure, the transmitter 301 includes: a data sending module 331, a data processing module 332, and a transmitting module 333; the data sending module 331 is used to transmit the control information to be transmitted to the data processing module 332 through hardware transmission or online transmission; the data processing module 332 is used to process the control information to be transmitted to obtain an electrical signal; the transmitting module 333 is used to convert the electrical signal into visible light and emit the visible light from the air into the water.

[0232] In the present utility model, the data sending module 331 may include a data acquisition device. After collecting the control information to be transmitted, the control information to be transmitted can be transmitted to the data processing module 332 for further processing. The present utility model does not specifically limit the structure of the data sending module 331.

[0233] Furthermore, after the data processing module 332 receives the control information, the control information can be subjected to source coding, channel coding, information encryption, etc. to obtain an electrical signal.

[0234] Among them, source coding is to encode the control information. In this process, the control information will be optimized and compressed, improving the proportion of effective information and the transmission efficiency of the information; the main purpose of channel coding is to improve the reliability and anti-interference ability of the control information during the transmission process. For example, channel coding adds redundant information to the control information, enabling the receiver 202 to detect and correct errors that may occur during the transmission process, thereby ensuring the integrity and accuracy of the control information; information encryption processing can encrypt the control information by using an encryption algorithm, effectively improving the security of the data and reducing the possibility of the control information being stolen.

[0235] Furthermore, the transmitting module 333 will convert the control information into various types of optical signals suitable for transmission in water according to the selected transmission carrier.

[0236] In this way, through the collaborative work of the data sending module 331, the data processing module 332, and the transmitting module 333, the control information can be efficiently converted into visible light signals and transmitted into the water; among them, the data sending module 331 can ensure the stable transmission of the control information through hardware transmission or online transmission, reducing interference and packet loss phenomena during the transmission process. The data processing module 332 processes the control information, ensuring the accuracy and stability of the signal and improving the precision of signal processing. The transmitting module 333 converts the electrical signal into visible light and emits it from the air into the water, optimizing the signal transmission path and ensuring the effective transmission of the signal.

[0237] Optionally, as Figure 14 shown, the transmitter 301 includes an optical module 334; the optical module 334 is used to emit visible light.

[0238] In the present utility model, the optical module 334 can optimize the characteristics of the light beam (such as intensity, direction, wavelength, etc.), improve the quality and stability of signal transmission, or the optical module 334 can precisely control the emission angle and direction of the light beam to ensure that the signal accurately reaches the receiver 202.

[0239] Exemplarily, the optical module 334 typically uses an LED light source, which has low power consumption, helps to extend the working time of the remote controller 300, reduces battery consumption. The LED light source usually selects structures such as laser diodes, with low cost, thereby reducing the cost of the remote controller 300.

[0240] Combined with the designs of the above-mentioned cleaning robot 200 and remote controller 300, Figure 16 is a schematic structural diagram of a visible light communication system provided by the present utility model, as Figure 16 shown, the present utility model provides a visible light communication system, including a receiver 202 and a transmitter 301; the receiver 202 has a receiving surface 21 for receiving visible light;

[0241] The transmitter 301 is used to emit visible light, and the visible light includes a light beam; the light beam sequentially passes through air and water to reach the receiving surface 21. Among them, when at least part of the light beam coincides with the receiving surface 21, the receiver 202 receives the visible light for communication.

[0242] Optionally, referring to Figures 1 - 6 , the visible light communication system 600 is applied to the cleaning robot 200 and its corresponding remote controller 300; the cleaning robot 200 is used for cleaning in water; the cleaning robot 200 includes a body 201 and a receiver 202; the remote controller 300 includes a transmitter 301; the receiving surface 21 is arranged on the body 201;

[0243] Among them, after the transmitter 301 responds to the user's operation, the light beam coincides with at least part of the receiving surface 21, and the receiver 202 communicates based on the visible light, so that the cleaning robot 200 executes actions corresponding to the control information carried in the visible light.

[0244] It should be noted that the visible light communication system 600 can achieve efficient underwater visible light communication. The specific implementation principle and effect of the visible light communication system 600 can refer to the descriptions and effects corresponding to the relevant embodiments of the above-mentioned cleaning robot 200 and remote controller 300, and will not be elaborated here too much.

[0245] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present utility model, rather than to limit it; although the present utility model has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that it is easy for those skilled in the art to understand that the protection scope of the present utility model is obviously not limited to these specific embodiments. Without departing from the principle of the present utility model, those skilled in the art can make equivalent changes or substitutions to relevant technical features, and the technical solutions after these changes or substitutions will all fall within the protection scope of the present utility model.

Claims

1. A cleaning robot, characterized in that, The cleaning robot is used for cleaning in water; the cleaning robot includes a body and a receiver; the receiver has a receiving surface for receiving visible light; the receiving surface is disposed on the body; The visible light includes a light beam, and the light beam passes through air and water in sequence to reach the receiving surface. Wherein, when at least part of the light beam coincides with the receiving surface, the receiver receives the control information carried in the visible light so that the cleaning robot executes an action corresponding to the control information.

2. The cleaning robot according to claim 1, characterized in that, The shape of the receiving surface is rectangular or hemispherical.

3. The cleaning robot according to claim 1, characterized in that, The receiver is disposed on the upper side of the body.

4. The cleaning robot according to claim 1, characterized in that, The light beam has a preset shape; the preset shape is any one of a three-dimensional shape and a two-dimensional shape; and / or, the color of the visible light is at least one of purple, green, red, yellow, orange, and blue.

5. The cleaning robot according to claim 1, characterized in that The receiver includes a receiving module; the receiving module is used for receiving the visible light and converting it into an electrical signal according to the wavelength of the visible light; the wavelength range is 500-550nm.

6. The cleaning robot according to claim 1, wherein The receiver includes a receiving module; the receiving module is used for receiving the visible light and converting it into an electrical signal according to the physical property information of the visible light; the physical property information includes at least one of the following: light intensity, light frequency, color type, and the shape of the received light.

7. The cleaning robot according to claim 5 or 6, characterized in that, The receiver further includes a data processing module; the data processing module is used for restoring the electrical signal into a control signal.

8. The cleaning robot according to claim 7, wherein The data processing module is specifically used for filtering, correcting, and / or complementing the electrical signal to obtain a first electrical signal, and restoring the first electrical signal into a control signal.

9. The cleaning robot according to claim 7, characterized in that, The receiver further includes a data receiving module; the data receiving module is used for filtering the control signal to obtain control information so that the control information meets a preset requirement.

10. The cleaning robot according to claim 7, characterized in that The cleaning robot further includes: a controller; the controller is electrically connected to the receiver; the controller is used for controlling the movement of the body based on the control information and / or controlling the cleaning robot to be in a corresponding working mode.

11. The cleaning robot according to claim 10, characterized in that, The working mode includes at least one of the following: a cleaning mode, a restart and restoration mode, and a return charging mode; the cleaning mode includes a mode of cleaning at a preset time point and / or a mode of cleaning within a preset range.

12. The cleaning robot according to claim 1, wherein The receiver includes a light-transmitting cover, and the upper surface of the light-transmitting cover is the receiving surface.

13. The cleaning robot according to claim 12, wherein, The receiver further includes an optical sensor, a circuit board, a sealing ring, and an installation box; the optical sensor is located below the receiving surface; the circuit board is electrically connected to the optical sensor; the installation box has an installation cavity; the optical sensor and the circuit board are disposed in the installation cavity; the light-transmitting cover is press-fitted with the installation box through the sealing ring.

14. The cleaning robot according to claim 13, wherein, The opposite sides of the upper surface of the light-transmitting cover are convex structures; the side panel of the light-transmitting cover has a rib structure.

15. The cleaning robot according to claim 13, characterized in that, The light-transmitting cover has mounting posts, a sensor pressure plate, and a limiting plate; the mounting box has a baffle, a limiting groove, a sensor board support edge, circuit board fixing holes, light-transmitting cover fixing holes, and a sealing strip installation groove; the sealing strip installation groove is used to hold the sealing ring; the sealing strip installation groove is deployed at the top of the mounting box and is located outside the mounting box; the limiting plate is press-fitted with the limiting groove, and the light-transmitting cover fixing holes are perforated and connected with the mounting posts to fix the mounting box and the light-transmitting cover; the sensor board support edge is used to support the optical sensor to fix the optical sensor; the baffle and the circuit board fixing holes are used to fix the circuit board.

16. The cleaning robot according to claim 13, characterized in that, The receiver further includes a buckle, a wiring head, and a wiring head fixing hole; the fuselage includes a card slot and a mounting groove; the mounting groove is used to place the receiver; the receiver is fixedly connected to the fuselage by the cooperation of the buckle and the card slot and the fixation based on the wiring head and the wiring head fixing hole.

17. The cleaning robot according to claim 13, wherein, The light-transmitting cover has an anti-misalignment strip; the anti-misalignment strip is provided on the mounting post of the light-transmitting cover; the fuselage has an anti-misalignment groove; the anti-misalignment strip and the anti-misalignment groove are press-fitted.

18. A remote controller, characterized in that, The remote control includes a transmitter; the transmitter is used to emit visible light, and the visible light includes light beams; the transmitter is further used to, in response to a user's operation, make the light beams pass through air and water in sequence to reach a receiving surface and at least partially overlap with the receiving surface. Wherein, the receiving surface is the surface of the receiver of the cleaning robot for receiving visible light; the receiving surface is provided on the fuselage of the cleaning robot; the cleaning robot is used to clean in water; after the receiver receives the control information carried in the visible light, the cleaning robot performs actions corresponding to the control information.

19. The remote controller according to claim 18, wherein The transmitter is specifically used to, in response to a user's moving operation on the remote control, emit corresponding visible light so that the receiving surface and the light beam at least partially overlap within a preset time period.

20. The remote controller according to claim 18, wherein The transmitter is provided at the front end of the remote control.

21. The remote controller according to claim 18, wherein, The remote control further includes an adjusting device; the adjusting device is used to adjust the wavelength of the visible light emitted by the transmitter; the wavelength range is 500 - 550 nm.

22. The remote controller according to claim 21, wherein, The remote control further includes a remote control button; the remote control button is electrically connected to the adjusting device; the adjusting device adjusts the wavelength of the emitted visible light based on the option indication of the remote control button.

23. The remote controller according to claim 18, wherein The remote control further includes an adjusting device; the adjusting device is used to adjust the physical property information of the visible light emitted by the transmitter; the physical property information includes at least one of the following: light intensity, light frequency, color type, and the shape of the received light.

24. The remote controller according to claim 23, characterized in that, The remote control further includes a remote control button; the remote control button is electrically connected to the adjusting device; the adjusting device adjusts the physical property information of the emitted visible light based on the option indication of the remote control button.

25. The remote controller according to claim 22 or 24, characterized in that, The remote control button includes: a movement button and a working mode button; the movement button is used to instruct the cleaning robot to move and walk in at least one direction; the working mode button is used to instruct the cleaning robot to be in a corresponding working mode.

26. The remote controller according to claim 25, wherein, The mobile buttons include: a forward button, a backward button, a left-turn button, and a right-turn button; the working mode buttons include a docking button, a cleaning button, and a reset button; the forward button is used to instruct the cleaning robot to move forward based on the front side direction of the body; the backward button is used to instruct the cleaning robot to move backward based on the rear side direction of the body; the left-turn button is used to instruct the cleaning robot to rotate counterclockwise; the right-turn button is used to instruct the cleaning robot to rotate clockwise; the docking button is used to instruct the cleaning robot to perform a docking operation; the cleaning button is used to instruct the cleaning robot to enter the cleaning mode for work; the reset button is used to instruct the cleaning robot to enter the restart and restoration mode for work.

27. The remote controller according to claim 18, wherein, The transmitter includes: a data sending module, a data processing module, and a transmitting module; the data sending module is used to transmit the control information to be transmitted to the data processing module through hardware transmission or online transmission; the data processing module is used to process the control information to be transmitted to obtain an electrical signal; the transmitting module is used to convert the electrical signal into visible light and emit the visible light from the air into the water.

28. The remote controller according to claim 18, wherein The transmitter includes an optical module; the optical module is used to emit visible light.

29. A visible light communication system, characterized in that, The visible light communication system includes a receiver and a transmitter; the receiver has a receiving surface for receiving visible light. The transmitter is used to emit visible light, and the visible light includes a light beam; the light beam passes through air and water in sequence to reach the receiving surface. Wherein, when at least part of the light beam coincides with the receiving surface, the receiver receives the visible light for communication.

30. The visible light communication system according to claim 29, characterized in that, The visible light communication system is applied to a cleaning robot and its corresponding remote control; the cleaning robot is used for cleaning in water; the cleaning robot includes a body and a receiver; the remote control includes a transmitter; the receiving surface is arranged on the body. Wherein, after the transmitter responds to the user's operation, the light beam and the receiving surface have at least partial coincidence, and the receiver communicates based on the visible light, so that the cleaning robot performs an action corresponding to the control information carried in the visible light.

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