Cleaning robot and dirt measuring device

Abstract

The cleaning robot comprises a dirt suction pipe, a detection device and a light guide device, one pipe section of the dirt suction pipe serves as a detection section, the detection section is provided with a first end and a second end, and the first end is close to a dirt inlet. The detection device is used for detecting the dirt degree of sewage and comprises a transmitting unit and a receiving unit, and the receiving unit corresponds to the second end in position. The light inlet end of the light guide device corresponds to the transmitting unit in position and is used for transmitting a first light signal transmitted by the transmitting unit to the first end. And a second optical signal entering the detection section from the first end in the first optical signal is transmitted to the second end through reflection and is received by the receiving unit. The detection of the sewage content is not influenced by the parameters of the sewage pipe due to the propagation characteristic of light, the sewage content measurement is sensitive, the detection device is not in contact with the sewage, additional water prevention is not needed, in addition, the device does not need to be arranged around the sewage suction pipe, and the installation is easier.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of cleaning equipment, in particular to a cleaning robot and a dirt measuring device. BACKGROUND

[0002] The cleaning robot can autonomously walk and clean the cleaning area, and collect the cleaned sewage into the sewage tank. The dirtier the cleaning area is, the higher the dirt content of the sewage in the sewage tank is. Therefore, the cleaning robot is provided with a sewage detection element for detecting the dirt content of the sewage to determine the dirt degree of the area being cleaned by the cleaning robot, so that the cleaning robot can determine whether to repeat the cleaning work. The sewage detection element is an important sensing component of the cleaning robot, and plays a crucial role in the scene adaptability and cleaning ability of the cleaning robot.

[0003] The sewage detection element is installed in a direct transmission mode on both sides of the water suction pipe. The sewage suction pipe is usually thin to reduce the interference of bubbles and ensure faster flow rate and reduce the wall-hanging behavior of dirt on the sewage suction pipe. However, this makes it difficult to install the sewage detection element. The thin sewage suction pipe can cause the light emitted by the sewage detection elements distributed on both sides to penetrate too little sewage, causing the sewage detection element to be insensitive to changes in the dirt content of the sewage. CONTENT OF THE INVENTION

[0004] In view of the above problems, the present application provides a cleaning robot which can be sensitive to the dirt content of the sewage, does not require additional waterproof treatment for the dirt measuring device, and is easy to install.

[0005] To achieve this purpose, the present application adopts the following technical solutions:

[0006] A cleaning robot comprises:

[0007] A sewage suction pipe, one section of the sewage suction pipe serving as a detection section, along the extension direction of the sewage suction pipe, the detection section having a first end and a second end;

[0008] A detection device for detecting the dirt degree of the sewage, the detection device comprising an emission unit and a receiving unit, the receiving unit corresponding to the position of the second end;

[0009] A light guide device, the light entry end of the light guide device corresponding to the position of the emission unit, for guiding the first light signal emitted by the emission unit to the first end;

[0010] Among them, the second light signal in the first light signal enters the detection section from the first end and propagates to the second end by reflection, and is received by the receiving unit.

[0011] Optionally, the light guide device comprises:

[0012] a light guide column having an entrance end and an exit end;

[0013] a reflecting element or a reflecting coating located at the exit end for reflecting the first light signal conducted to the exit end to the first end of the detection section.

[0014] Optionally, the material of the detection section and the material of the light guide column are both light-transmitting materials.

[0015] The light guide column has a first section having the entrance end and a second section having the exit end.

[0016] The detection section has a gap with the first section, and an optical isolation element is arranged in the gap.

[0017] The tube wall of the detection section is connected with the second section through a light-transmitting material body, or the tube wall of the detection section is integrated with the second section.

[0018] Optionally, the center distance between the emitting unit and the receiving unit is 6-8 mm; and / or the gap is 1-1.5 mm.

[0019] Optionally, the entrance end is a convex arc-shaped end face; or

[0020] A first lens is arranged at the entrance end of the light guide column.

[0021] Optionally, the dirt suction pipe comprises a first pipe section and a second pipe section.

[0022] The detection section is a section on the first pipe section.

[0023] The tube wall region of the second pipe section corresponding to the second end of the detection section is a light-transmitting region.

[0024] The receiving unit is located outside the tube wall of the light-transmitting region.

[0025] Optionally, the first pipe section and the second pipe section are connected perpendicularly.

[0026] Optionally, the detection device is arranged on a circuit board.

[0027] The emitting unit and the receiving unit are spaced apart.

[0028] Optionally, the circuit board is located above the dirt suction pipe.

[0029] Another purpose of the embodiment of the utility model lies in providing a measuring device capable of detecting the dirt content of sewage, unnecessary for additional waterproof treatment, and easy to install.

[0030] To achieve the purpose, the embodiment of the utility model adopts the following technical scheme:

[0031] A measuring device comprises:

[0032] A suction pipe, one pipe section of the suction pipe serving as a detection section, the detection section having a first end and a second end, the first end being close to a sewage inlet of the suction pipe;

[0033] A detection device for detecting the dirtiness of sewage, the detection device comprising a transmitting unit and a receiving unit, the receiving unit corresponding to the position of the second end;

[0034] A light guide device located at one side of the detection section, the light inlet end of the light guide device corresponding to the position of the transmitting unit, for transmitting the first light signal emitted by the transmitting unit to the first end;

[0035] The second light signal in the first light signal enters the detection section from the first end and is transmitted to the second end by reflection, and is received by the receiving unit.

[0036] The technical scheme provided by the embodiment of the utility model has the advantages that the transmitting unit of the detection device corresponds to the light inlet end of the light guide device, the first light signal emitted by the transmitting unit can be transmitted to the first end of the suction pipe by the light guide device to become the second light signal, the second light signal is transmitted to the second end by reflection, and is received by the receiving unit. With the change of the dirt content of the sewage in the sewage tank, the reflection and refraction path of the second light signal in the suction pipe will change, and the signal strength of the second light signal will also change, so that the dirt content of the sewage in the sewage pipe can be determined according to the parameters of the second light signal received by the receiving unit. The detection device does not contact with the sewage, does not need additional waterproof measures, and does not need to be arranged around the suction pipe, so that the installation is easier. BRIEF DESCRIPTION OF DRAWINGS

[0037] In order to more clearly illustrate the technical scheme in the embodiments of the utility model or the prior art, the following will briefly introduce the drawings needed to be used in the embodiment or the prior art description. Obviously, the drawings in the following description are some embodiments of the utility model, and for those skilled in the art, other drawings can also be obtained without creative labor.

[0038] Figure 1 The structural schematic diagram of the cleaning robot provided by the embodiment of the utility model;

[0039] Figure 2 A structural schematic view of the cleaning assembly in an extended state according to an embodiment of the present application is provided.

[0040] Figure 3 A structural schematic view of the pollution measuring device according to an embodiment of the present application is provided.

[0041] Figure 4 A light signal compensation logic flowchart according to an embodiment of the present application is provided.

[0042] In the drawings:

[0043] 1, pollution measuring device; 2, sewage tank; 3, cleaning assembly;

[0044] 11, sewage suction pipe; 111, first pipe section; 1111, first end; 1112, second end; 112, second pipe section; 113, light transmission area; 12, detection device; 121, transmitting unit; 122, receiving unit; 13, light guide device; 131, light guide column; 1311, first section; 1312, second section; 132, reflecting piece (reflecting coating); 14, circuit board. DETAILED DESCRIPTION

[0045] The sewage of the cleaning robot after cleaning the cleaning area is usually detected by the sewage detection element on the base station after returning to the base station, which will result in that the coordinates of the stained area in the cleaning area are unclear, and the expected stained detection requirement cannot be met. The sewage detection element arranged on the cleaning robot is limited by the size of the cleaning robot, resulting in a small installation space, and additional waterproof treatment is required, which increases the difficulty of process technology and structural waterproof.

[0046] Based on this, the present application inventors abandon the previous sewage detection idea, try to use the propagation characteristics of light, the refractive index of different liquid containing different pollution, and the parameters of the finally received light are different, analyze the parameters of the received light to judge the pollution content of the sewage, so that the sewage detection element does not need to be placed in the sewage to detect the pollution content of the sewage, so that the sewage detection element does not need special waterproof treatment, and does not need to be arranged around the sewage pipe, so that the installation is simpler, and the following embodiments are obtained.

[0047] The present application will be further described in detail below in combination with the drawings and embodiments. It can be understood that the specific embodiments described herein are only used to explain the present application, but not to limit the present application. In addition, it should be noted that, in order to facilitate description, only the parts related to the present application are shown in the drawings, not all structures.

[0048] In the description of the present application, unless otherwise explicitly specified and limited, the terms "connected", "connected", "fixed" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or it can be integrated; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two elements or the interaction relationship between two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances. In the present application, unless otherwise explicitly specified and limited, the first feature "on" or "under" the second feature can include that the first and second features are in direct contact, or the first and second features are not in direct contact but are in contact through another feature between them. Moreover, the first feature "on", "above" and "above" the second feature includes that the first feature is directly above and obliquely above the second feature, or only indicates that the horizontal height of the first feature is higher than that of the second feature. The first feature "below", "below" and "below" the second feature includes that the first feature is directly below and obliquely below the second feature, or only indicates that the horizontal height of the first feature is less than that of the second feature. In the description of the embodiments, the terms "up", "down", "right", and the like orientation or position relationship are based on the orientation or position relationship shown in the drawings, and are only for the convenience of description and simplification of operation, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application. In addition, the terms "first", "second" are only used to distinguish in the description, and have no special meaning.

[0049] Please refer to Figure 1 The cleaning robot provided by the embodiments of the present application includes a main machine and a walking assembly, the walking assembly is arranged at the bottom of the main machine and can drive the main machine to move autonomously, the main machine is provided with a cleaning assembly 3, a clean water tank for providing cleaning water for the cleaning assembly 3, and a scraping strip abutting against the cleaning assembly 3, the cleaning assembly 3 includes a cleaning piece abutting against the surface to be cleaned and a sewage tank 2 accommodating the sewage scraped by the scraping strip. In order to avoid the retention of the cleaned sewage on the surface to be cleaned and ensure good cleaning effect.

[0050] Further, please refer to Figure 2 In some embodiments of the present application, the cleaning assembly 3 can move relative to the machine body, when the cleaning assembly 3 walks to the cleaning dead angle such as the wall root, the cleaning assembly 3 can extend a part from at least one side of the machine body to clean the cleaning dead angle, and ensure good cleaning effect on the whole cleaning area.

[0051] It can be understood that the dirtiness in the belt cleaning area is not consistent, some places have more dirt and some places have less dirt. If the same cleaning mode is used, the area with less dirt can be cleaned completely, but the area with more dirt may not be cleaned well, especially the heavy dirt area. In order to clean the heavy dirt area well, the heavy dirt area needs to be identified, and then the cleaning assembly 3 can perform a strong cleaning mode or perform multiple cleaning tasks.

[0052] Therefore, in some embodiments of the present application, referring to Figure 1 、 Therefore, in some embodiments of the present application, referring to Figure 3 The cleaning robot further comprises a dirt measuring device 1 for detecting the dirt content of the sewage in the sewage tank 2. The dirt measuring device 1 comprises a dirt suction pipe 11, a detection device 12 and a light guide device 13. The dirt suction pipe 11 has a dirt inlet in the sewage tank 2. A section of the dirt suction pipe 11 serves as a detection section. The detection section has a first end 1111 and a second end 1112 along the extension direction of the dirt suction pipe 11, i.e. the direction of the sewage flow. The first end 1111 is close to the dirt inlet. The detection device 12 is used to detect the dirtiness of the sewage. The detection device 12 comprises an emission unit 121 and a receiving unit 122. The receiving unit 122 corresponds to the position of the second end 1112. The light guide device 13 is located on one side of the detection section. The light guide device 13 has a light inlet corresponding to the position of the emission unit 121. The first light signal emitted by the emission unit 121 enters the light inlet of the light guide device 13. The light inlet of the light guide device 13 can collimate the first light signal, so that the first light signal has almost no divergence angle and remains almost unchanged during propagation. After collimation, the incident angle of the light ray is greater than the total reflection angle, and the light ray can be totally reflected in the light guide device 13 to prevent the light ray from being emitted from the light guide device 13, so that the first light signal can be transmitted to the first end 1111, and the attenuation of the first light signal during transmission can be avoided. The first light signal becomes a second light signal when it enters the detection section from the first end 1111. The second light signal propagates to the second end 1112 in the dirt suction pipe 11 through refraction, multiple reflections or multiple total reflections, and is received by the receiving unit 122. Because the dirtiness of the area to be cleaned is different, the dirt content of the sewage in the sewage tank 2 is different. The light signal can repeatedly penetrate the sewage, and enough sewage is involved in the detection to improve the detection sensitivity of the receiving unit 122 to the sewage. While considering the sewage projection rate and the sewage spectrum color, the dirtiness of the sewage can be detected by evaluating the content of the soluble substances in the sewage through the change of the refractive index of the sewage.

[0053] In detail, when the area with low degree of dirt is cleaned, the sewage on the cleaning assembly 3 has low dirt content, and when the sewage reaches the sewage tank 2, the sewage with high dirt content in the sewage tank 2 is diluted. However, when the area with high degree of dirt is cleaned, the sewage on the cleaning assembly 3 has high dirt content, and when the sewage reaches the sewage tank 2, the dirt content of the sewage in the sewage tank 2 is increased. The sewage pipe can detect the sewage in the sewage tank 2 in real time. The second light signal has different refractive indexes due to different dirt contents of the sewage in the sewage pipe. The refractive index increases with the increase of the concentration, and the second light signal received by the receiving unit is weakened. In addition, the particles in the sewage can block the propagation of light, and the more the particles in the sewage, the weaker the second light signal received by the receiving unit. Therefore, the parameters of the second light signal received by the receiving unit 122 can be analyzed to determine the dirt content of the sewage in the suction pipe 11. The cleaning robot can identify different degrees of dirt and different types of stains such as cola, red wine and fruit juice during the cleaning process, so as to ensure good cleaning effect.

[0054] It should be noted that the cleaning robot in the embodiments of the present application can be a sweeping robot, a glass cleaning robot, a sweeping and mopping integrated robot or other robots with cleaning function and capable of automatic movement. The present application does not make specific limitation on this.

[0055] Specifically, referring to FIG. 1, Figure 3 In some embodiments of the present application, the light guide device 13 includes a light guide column 131 and a reflecting element or a reflecting coating 132. The light guide column 131 has an incident end and an emitting end, and the reflecting element or the reflecting coating 132 is located at the emitting end. The first light signal enters the incident end, is straightened at the incident end, and then is totally reflected in the light guide column 131 to reach the reflecting element or the reflecting coating 132. The first light signal is reflected by the reflecting element or the reflecting coating 132 to become the second light signal in the suction pipe 11 and reach the first end 1111 of the detection section. In this way, the light signal emitted by the emitting element can enter the suction pipe 11 as much as possible, serving as a medium for detecting the dirt content of the sewage in the suction pipe 11. By arranging the light guide column 131, the light signal can be guided to the first end 1111, so that the detection device 12 can be arranged outside the sewage tank 2 without occupying the space inside the narrow sewage tank 2, thereby solving the problem of insufficient assembly space and the waterproof problem of the detection device 12.

[0056] Further, please refer to Figure 3 In some embodiments of the present application, the light-incident end of the light guide column 131 is a convex arc-shaped end face, and the convex part is provided with a first lens at the light-incident end of the light guide column 131 or the emitting element. The first light signal emitted by the emitting element and diverging in various directions can be refracted when passing through the convex arc-shaped end face or the first lens, thereby straightening the first light signal and ensuring that the first light signal can be totally reflected at the column wall of the light guide column 131 when propagating in the light guide column 131, so as to prevent the first light signal from attenuating when propagating in the light guide column 131.

[0057] In some embodiments of the present application, please refer to Figure 3 As shown in the figure, the material of the detection section and the material of the light guide column 131 are both light-transmitting materials, the light guide column 131 has a first section 1311 and a second section 1312, the first section 1311 has a light-incident end, the second section 1312 has a light-emitting end, and the detection section has a gap with the first section 1311, and an optical isolation piece is arranged in the gap to prevent part of the first light signal emitted by the emitting unit 121 from directly entering the receiving unit without entering the light-incident end, thereby preventing interference with the second light signal actually received by the receiving unit 122 and ensuring the accuracy of sewage detection. The pipe wall of the detection section is connected to the second section 1312 through a light-transmitting material body, or the pipe wall of the detection section is integrated with the second section 1312 as a whole structure, so as to ensure that the first light signal reflected by the reflecting element or the reflective coating 132 can smoothly enter the first end 1111 of the detection section to become the second light signal, avoid the intensity of the second light signal being insufficient due to the first light signal being blocked before being reflected to the detection section, and ensure that the receiving unit 122 can receive a second light signal with sufficient intensity, thereby ensuring the accuracy of the detection result.

[0058] It can be understood that the emitting unit 121 can convert an electrical signal into a light signal and emit the light signal, and the receiving unit 122 can receive a light signal and convert the light signal into an electrical signal and send it out, so that the transmission of the electrical signal needs a medium. Therefore, in some embodiments of the present application, please refer to Figure 3 As shown in the figure, the detection device 12 is arranged on a circuit board 14, and the circuit board 14 is the medium for transmitting the electrical signal. The electrical signal can be transmitted to the emitting unit 121 through the circuit board 14, and the electrical signal of the receiving unit 122 can also be transmitted out through the circuit board 14.

[0059] Further, please refer to Figure 3As shown, in some embodiments of the present application, the emitting unit 121 and the receiving unit 122 are arranged separately to avoid mutual influence. The center distance between the emitting unit 121 and the receiving unit 122 is 6mm-8mm, and the minimum distance between the emitting unit 121 and the receiving unit 122 is 1mm-1.5mm; or the distance between the emitting unit 121 and the receiving unit 122 satisfies one of the center distance of 6mm-8mm and the minimum distance of 1mm-1.5mm, so as to ensure that the emitting unit 121 and the receiving unit 122 have sufficient distance to ensure that they do not interfere with each other, and ensure the accuracy of detection.

[0060] In order to avoid the attenuation of the second light signal when the receiving unit receives the second light signal, please refer to Figure 3 As shown, in some embodiments of the present application, the sewage suction pipe 11 includes a first pipe segment 111 and a second pipe segment 112, the upper end of the first pipe segment 111 is connected vertically with the right end of the second pipe segment 112, the detection segment is a segment on the first pipe segment 111, and the receiving unit 122 is located at the second end 1112 of the detection segment. The second light signal from the second end 1112 can be directly emitted into the receiving unit 122, so as to ensure the accuracy of the parameters of the second light signal received by the receiving unit 122 and ensure the accuracy of sewage detection.

[0061] Please refer to Figure 3 As shown, in some embodiments of the present application, the pipe wall region of the second pipe segment 112 corresponding to the second end 1112 of the detection segment is a light transmission region 113, that is, the light transmission region 113 is located

[0062] The receiving unit 122 is located outside the pipe wall of the light transmission region 113, the light transmission region 113 can allow the second light signal to pass through and straighten the second light signal, and the second light signal is received by the receiving unit 122 after collimation, so as to ensure the completeness of the second signal received by the receiving unit 122 and ensure the accuracy of the parameters of the second light signal received by the receiving unit 122.

[0063] It can be understood that if the joint between the second pipe segment 112 and the first pipe segment 111 is not connected tightly, the light of the second light signal will leak out, which will affect the detection result, therefore, please refer to Figure 3As shown, in some embodiments of the present application, the first pipe segment 111 and the second pipe segment 112 are connected in a structural nested manner and are connected by ultrasonic welding to ensure that there is no gap at the connection between the first pipe segment 111 and the second pipe segment 112. In addition, a collimating lens can be arranged above the second pipe segment 112 towards the first pipe segment 111 to ensure that the second light signal can be emitted from the sewage suction pipe 11 into the receiving unit 122. In this way, the circuit board 14 will not be in contact with the sewage suction pipe 11 and the sewage in the sewage suction pipe 11, and no additional waterproof measures are required, and only a conventional three-proofing paint needs to be sprayed. Alternatively, the receiving unit 122 can be a light receiving sensor, and the emitting unit 121 can be a spotlight, as long as the receiving unit 122 can receive the light signal and convert it into an electrical signal. The present application does not make specific limitations. Similarly, as long as the emitting unit 121 can convert the electrical signal into a light signal and emit it, the present application does not make specific limitations.

[0064] In some embodiments of the present application, the cleaning robot further comprises a control device electrically connected to the detection device 12 to control the pollution measuring device 1 to perform the pollution measuring task.

[0065] In order to ensure the accuracy of the measured sewage pollution content, the detection device 12 needs to be calibrated before detecting the sewage. In addition, the strength of the light signal emitted by the emitting unit 121 needs to be detected to avoid the light signal being too weak to be received by the receiving unit 122 after passing through the sewage. Therefore, please refer to Figure 4As shown, before sewage is detected, clean water will be injected into the sewage tank 2, the clean water will be sucked into the suction pipe 11, then the emission unit 121 emits a first light signal, the first light signal is reflected to the detection section of the suction pipe 11 after total reflection of the light guide column 131 to become a second light signal, the second light signal is refracted in the clean water in the suction pipe 11 and is received by the receiving unit 122 after collimation of the collimating lens, the receiving unit converts the second light signal into an electrical signal and transmits it to the control device, the control device will analyze the parameters of the second light signal passing through the clean water, such as the RGB value and the intensity value of the second light signal, compare the measured RGB value with the calibration value pre-stored in the control device, if the RGB value is weak or strong, execute the predetermined compensation strategy, so that the RGB value detected by the sensor is equal to the pre-stored calibration value, and then complete the compensation. The compensation strategy can be to control the receiving unit 122 to compensate the received RGB value, in other words, to increase the ability of the receiving unit 122 to receive the RGB value, or to control the receiving unit 122 to compensate the exposure time TIME to receive the RGB value, in other words, to increase the time for the receiving unit 122 to receive the RGB value, or to perform the above two compensation methods at the same time. If the intensity of the second light signal is detected to be weak, the control device will control the power supply current of the emission unit 121 to make the emission unit 121 emit a stronger first light signal to realize light intensity compensation.

[0066] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit them; although the utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement to part of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the utility model.

Claims

1. A cleaning robot, characterized in that, The application relates to a sewage suction pipe and a sewage suction pipe detection device. The sewage suction pipe comprises a detection section as a detection section, and the detection section has a first end and a second end along the extension direction of the sewage suction pipe. The detection device is used for detecting the dirtiness of sewage, and comprises an emitting unit and a receiving unit, and the receiving unit corresponds to the position of the second end. The light guide device has an incident end corresponding to the position of the emitting unit and is used for conducting a first light signal emitted by the emitting unit to the first end. The second light signal in the first light signal enters the detection section from the first end and is reflected to the second end, and is received by the receiving unit.

2. The cleaning robot according to claim 1, wherein, The light guide device comprises: A light guide column has an incident end and an exit end. A reflecting element or a reflective coating is arranged at the exit end and is used for reflecting the first light signal conducted to the exit end to the first end of the detection section.

3. The cleaning robot according to claim 2, wherein, The material of the detection section and the material of the light guide column are both light-transmitting materials. The light guide column has a first section and a second section, the first section has the incident end, and the second section has the exit end. The detection section and the first section have a gap, and an optical isolation piece is arranged in the gap. The pipe wall of the detection section is connected with the second section through a light-transmitting material body, or the pipe wall of the detection section is integrated with the second section.

4. The cleaning robot according to claim 3, wherein, The center distance between the emitting unit and the receiving unit is 6-8 mm, and / or the gap is 1-1.5 mm.

5. The cleaning robot according to claim 2, wherein, The incident end is a convex arc-shaped end face; or A first lens is arranged at the incident end of the light guide column.

6. The cleaning robot according to any one of claims 1 to 5, wherein, The sewage suction pipe comprises a first pipe section and a second pipe section. The detection section is a section on the first pipe section. The pipe wall region of the second pipe section corresponding to the second end of the detection section is a light-transmitting region. The receiving unit is located outside the pipe wall of the light-transmitting region.

7. The cleaning robot according to claim 6, wherein, The first pipe section is connected with the second pipe section perpendicularly.

8. The cleaning robot according to claim 6, wherein, The detection device is arranged on a circuit board. The emitting unit and the receiving unit are spaced apart. 9.The cleaning robot according to claim 8, wherein, The circuit board is located above the sewage suction pipe.

10. A pollution measuring device, characterized by The sewage suction pipe comprises a detection section, and the detection section has a first end and a second end. The detection device is used for detecting the dirtiness of sewage, and comprises an emitting unit and a receiving unit, and the receiving unit corresponds to the position of the second end. The light guide device is arranged on one side of the detection section, has an incident end corresponding to the position of the emitting unit, and is used for conducting a first light signal emitted by the emitting unit to the first end. The second light signal in the first light signal enters the detection section from the first end and is reflected to the second end, and is received by the receiving unit. ​

Images