Cleaning robot and overwater machine body

Abstract

A cleaning robot (1000), comprising the overwater machine body (100) and an underwater machine body (200) detachably connected to the overwater machine body (100). The overwater machine body (100) is used for floating on the surface level of a working water area. The underwater machine body (200) is used for cleaning at least one of the working water area and the wall surface of a water pool. The overwater machine body (100) comprises a functional module (2), and the functional module (2) comprises at least one of the following: a power supply module (21), a collection module (22), a drive module (23), a communication module (24), a sensor module (25), a prompt module (26), a water quality testing module (27) and a water quality improvement module (280). The cleaning robot (1000) in the present application can achieve separation of the overwater machine body (100) from the underwater machine body (200), so that the two can be separately used. The overwater machine body (100) can also be assembled and connected with the underwater machine body (200), so that the two can work cooperatively. The overwater machine body (100) can expand the functions of the cleaning robot (1000), so that the functions of the cleaning robot (1000) are diversified.

Description

Cleaning robots and water bodies

[0001] This application claims priority to the Chinese patent application with application number 202310886504.7, filed with the China Patent Office on July 18, 2023, and entitled “Cleaning Robot and Water Body” (referred to as prior application 1), the Chinese patent application with application number 202311684730.3, filed with the China Patent Office on December 7, 2023, and entitled “Underwater Cleaning Robot” (referred to as prior application 2), and the Chinese patent application with application number 202322781641.2, filed with the China Patent Office on October 16, 2023, and entitled “Water Surface Cleaning Device and Pool Cleaning Equipment” (referred to as prior application 3). The entire contents of the prior application are based on prior application 1, and are incorporated herein by reference in conjunction with prior application 2 and prior application 3. Technical Field

[0002] The present application relates to the technical field of cleaning equipment, and in particular to a cleaning robot and an aquatic machine. Background Art

[0003] Cleaning robots operating in aquatic environments can clean up debris such as floating objects (such as fallen leaves and dead insects), settled debris (such as sand and gravel), and sediment attached to the walls of pools. Different application scenarios have different functional requirements for cleaning robots. However, cleaning robots in related technologies have a single function, which makes it difficult for them to meet the needs of different application scenarios.

[0004] Summary of the Invention

[0005] The present application provides a cleaning robot and an aquatic body, aiming to diversify the functions of the cleaning robot.

[0006] In a first aspect, an embodiment of the present application provides a cleaning robot, the cleaning robot comprising:

[0007] A water body, the water body being used to float on the liquid surface of the working water area;

[0008] an underwater body, the underwater body being detachably connected to the above-water body and being used to clean at least one of the working water area and the wall of the pool;

[0009] Wherein, the above-water body comprises:

[0010] Functional module, the functional module includes at least one of the following: power supply module, collection module, power module, communication module, sensor module, prompt module, water quality detection module, water quality improvement module.

[0011] In a second aspect, an embodiment of the present application further provides an above-water body, which is used to float on the surface of a working water area and to be detachably connected to an underwater body of a cleaning robot; the above-water body includes:

[0012] Functional module, the functional module includes at least one of the following: power supply module, collection module, power module, communication module, sensor module, prompt module, water quality detection module, water quality improvement module.

[0013] The cleaning robot and its underwater body provided by the present application have a detachable surface body and an underwater body, and the surface body includes a functional module, which includes at least one of the following: a power supply module, a collection module, a power module, a communication module, a sensor module, a prompt module, a water quality detection module, and a water quality improvement module. Therefore, when the surface body or the underwater body needs to be used independently, the surface body and the underwater body can be separated, so that at least one of the surface body and the underwater body can work flexibly and independently according to actual needs, thereby reducing the power consumption and weight of the cleaning robot. When the surface body and the underwater body need to be used together for operation, the surface body and the underwater body can be assembled and connected. On the basis of ensuring that the cleaning robot can perform cleaning operations through the underwater body, the cleaning robot can also provide functions corresponding to at least one of the power supply module, the collection module, the power module, the communication module, the sensor module, the prompt module, the water quality detection module, and the water quality improvement module through the surface body, thereby expanding the functions of the cleaning robot and making the functions of the cleaning robot diversified to meet the usage requirements of different application scenarios.

[0014] It should be understood that the above general description and the following detailed description are merely exemplary and explanatory and do not limit the disclosure of the embodiments of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0016] FIG1 is a schematic diagram of the first structure of a cleaning robot in an example of the present application;

[0017] FIG2 is a structural block diagram of a functional module in an example of the present application;

[0018] FIG3 is a simplified structural diagram of the water body in the present application example;

[0019] FIG4 is a simplified structural diagram of the float of the underwater body and its cooperating components in the example of the present application;

[0020] FIG5 is a schematic diagram of the connection between the above-water body and the underwater body in an example of the present application;

[0021] FIG6 is a structural block diagram of a cleaning robot in an example of the present application;

[0022] FIG7 is another structural block diagram of the functional modules in the example of the present application;

[0023] FIG8 is a schematic diagram of a second structure of the cleaning robot in the present application example;

[0024] FIG9 is a schematic diagram of a third structure of the cleaning robot in the example of the present application;

[0025] FIG10 is a schematic diagram of the fourth structure of the cleaning robot in the example of the present application;

[0026] FIG11 is a schematic diagram of the fifth structure of the cleaning robot in the example of the present application;

[0027] FIG12 is a sixth structural diagram of the cleaning robot in the example of the present application;

[0028] FIG13 is a seventh structural diagram of the cleaning robot in the example of the present application;

[0029] FIG14 is a schematic diagram of the three-dimensional structure of the above-water body of the cleaning robot in FIG11 and FIG13 from one perspective;

[0030] FIG15 is a schematic diagram of the three-dimensional structure of the water body in FIG14 from another perspective; in this figure, the float is connected to the first connecting member;

[0031] FIG16 is a partial enlarged view of point A in FIG15;

[0032] FIG17 is a schematic diagram of the three-dimensional structure of the water body in FIG14 with some shells removed;

[0033] FIG18 is a perspective exploded schematic diagram of the water body in FIG14;

[0034] FIG19 is a schematic plan view of the structure of the underwater body of the cleaning robot in FIG12 and FIG13 when the roller brush drive device is disposed in the body;

[0035] FIG20 is a schematic diagram of the three-dimensional structure of the underwater body in FIG19;

[0036] FIG21 is a schematic diagram of the three-dimensional structure of the underwater body in FIG19 without the chassis, drive wheels and other components;

[0037] FIG22 is a top view of the cleaning brush assembly and other components in the embodiment of the present application;

[0038] FIG23 is a planar cross-sectional view of the AA section in FIG22. DETAILED DESCRIPTION

[0039] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0040] In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present application. In addition, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the said features. In the description of the present application, "multiple" means two or more, unless otherwise clearly and specifically defined.

[0041] It should also be understood that the terms used in this specification are only for the purpose of describing specific embodiments and are not intended to limit the present application. As used in this specification and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms unless the context clearly indicates otherwise.

[0042] It should be further understood that the term "and / or" used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.

[0043] The following describes some embodiments of the present application in detail with reference to the accompanying drawings. In the absence of conflict, the following embodiments and features therein may be combined with each other.

[0044] As shown in Figures 1 and 2, an embodiment of the present application provides a cleaning robot 1000, which includes an above-water body 100 and an underwater body 200. The above-water body 100 is used to float on the liquid surface of the working water area. The underwater body 200 is detachably connected to the above-water body 100, and the underwater body 200 is used to clean at least one of the working water area and the wall of the pool. Among them, the above-water body 100 includes a functional module 2, and the functional module 2 includes at least one of the following: a power supply module 21, a collection module 22, a power module 23, a communication module 24, a sensor module 25, a prompt module 26, a water quality detection module 27, and a water quality improvement module 28.

[0045] The cleaning robot 1000 provided in the above embodiment has a detachable connection between the above-water body 100 and the underwater body 200, and the above-water body 100 includes a functional module 2, which includes at least one of the following: a power supply module 21, a collection module 22, a power module 23, a communication module 24, a sensor module 25, a prompt module 26, a water quality detection module 27, and a water quality improvement module 28. Therefore, when the above-water body 100 or the underwater body 200 needs to be used independently, the above-water body 100 can be separated from the underwater body 200, so that at least one of the above-water body 100 and the underwater body 200 can work flexibly and independently according to actual needs, thereby reducing the power and weight of the cleaning robot 1000.

[0046] When it is necessary to use the above-water body 100 and the underwater body 200 to work together, the above-water body 100 and the underwater body 200 can be assembled and connected. On the basis of ensuring that the cleaning robot 1000 can perform cleaning operations through the underwater body 200, the cleaning robot 1000 can also provide functions corresponding to at least one of the power supply module 21, the collection module 22, the power module 23, the communication module 24, the sensor module 25, the prompt module 26, the water quality detection module 27, and the water quality improvement module 28 through the above-water body 100, thereby expanding the functions of the cleaning robot 1000 and diversifying the functions of the cleaning robot 1000 to meet the usage requirements of different application scenarios. It is highly practical and conducive to market promotion and application.

[0047] For example, the cleaning robot 1000 can clean at least one of sediment attached to the pool wall, floating objects (such as fallen leaves, dead insects, etc.) floating on the water, and settled debris (such as sand and gravel, etc.). The pool can include a swimming pool, a fish pond, a landscape pond, etc.

[0048] For example, when the surface unit 100 is connected to the underwater unit 200 and performs cleaning operations, the surface unit 100 can float on the surface of the working water area to perform operations, while the underwater unit 200 can float at different depths in the working water area or sink to the bottom of the working water area to perform cleaning operations. It is understood that in other embodiments, when the surface unit 100 is connected to the underwater unit 200 and performs cleaning operations, the surface unit 100 can also float at different depths in the working water area or sink to the bottom of the working water area to perform operations according to actual needs.

[0049] For example, when the above-water body 100 is separated from the underwater body 200, the above-water body 100 and the underwater body 200 can selectively work according to actual conditions; or, the above-water body 100 or the underwater body 200 can work alone, and the above-water body 100 can be suspended at different depths of the working water area or sink to the bottom of the working water area to work according to actual needs, and the above-water body 100 can also float on the liquid surface of the working water area to work, and the underwater body 200 can be suspended at different depths of the working water area or sink to the bottom of the working water area to perform cleaning operations according to actual needs.

[0050] For example, when the cleaning robot 1000 is not needed, the above-water body 100 and the underwater body 200 can be assembled and connected to facilitate the storage or transportation of the cleaning robot 1000; alternatively, the above-water body 100 and the underwater body 200 can be separated so that the above-water body 100 and the underwater body 200 can be stored or transported separately.

[0051] For example, the underwater body 200 can filter and clean the liquid in the working water area, and the underwater body 200 can also clean the wall of the pool. The wall of the pool includes at least one of the inner peripheral wall and the inner bottom wall of the pool.

[0052] Exemplarily, the working water area includes an area in a pool containing liquid. In other embodiments, the working water area may also include a certain area of ​​water in an ocean or a lake.

[0053] Exemplarily, the functional module 2 includes a power supply module 21 , a collection module 22 , a power module 23 , a communication module 24 , a sensor module 25 , a prompt module 26 , a water quality detection module 27 or a water quality improvement module 28 .

[0054] Exemplarily, the functional module 2 includes at least two of the following: a power supply module 21, a collection module 22, a power module 23, a communication module 24, a sensor module 25, a prompt module 26, a water quality detection module 27, and a water quality improvement module 28. For example, the functional module 2 includes the power supply module 21, the collection module 22, the power module 23, the communication module 24, the sensor module 25, the prompt module 26, the water quality detection module 27, and the water quality improvement module 28. For another example, the functional module 2 includes the power supply module 21, the collection module 22, the power module 23, the communication module 24, the sensor module 25, and the like.

[0055] In some embodiments, the detachable connection between the underwater body 200 and the surface body 100 includes at least one of the following: magnetic connection, snap connection, screw lock connection, plug connection, etc. In this way, the disassembly and assembly of the underwater body 200 and the surface body 100 are convenient and quick.

[0056] As shown in Figures 3 to 5, in some embodiments, the underwater body 200 includes a float that is used to float on the surface of the working water area. The surface body 100 also includes an assembly portion 3 that is detachably connected to the float. In this way, when the underwater body 200 is suspended at different depths in the working water area or sunk to the bottom of the working water area to perform cleaning operations, the float is connected to the assembly portion 3, allowing the underwater body 200 and the surface body 100 to be connected as a whole for operation. When the underwater body 200 and the surface body 100 are no longer required to be connected as a whole for operation, the float can be separated from the assembly portion 3.

[0057] As shown in Figures 3 and 4, in some embodiments, the assembly part 3 includes a first conductive connecting sub-part 31, and the float includes a second conductive connecting sub-part 214. The first conductive connecting sub-part 31 is used to be detachably connected to the second conductive connecting sub-part 214 to achieve detachable electrical connection between the underwater body 200 and the above-water body 100.

[0058] As shown in Figures 3 to 5, in some embodiments, the assembly portion 3 is provided with a first magnetic member 32, which is disposed correspondingly to the first conductive connecting sub-portion 31. The underwater body 200 is provided with a second magnetic member 215, which is disposed correspondingly to the second conductive connecting sub-portion 214. The first magnetic member 32 can magnetically cooperate with the second magnetic member 215. For example, the second magnetic member 215 is disposed on the float. The provision of the first magnetic member 32 and the second magnetic member 215 enables rapid positioning and subsequent adsorption between the assembly portion 3 and the float, resulting in a fast and reliable connection between the assembly portion 3 and the float, and a reliable connection between the first conductive connecting sub-portion 31 and the second conductive connecting sub-portion 214.

[0059] As shown in Figures 3 and 4 , in some embodiments, the assembly portion 3 further includes a liquid-proof member 33 disposed around the outside of the first conductive connecting sub-portion 31. The liquid-proof member 33 is used to protect the first conductive connecting sub-portion 31 and the second conductive connecting sub-portion 214 from liquid when the first conductive connecting sub-portion 31 is connected to the second conductive connecting sub-portion 214, thereby ensuring the reliability and safety of the electrical connection between the first conductive connecting sub-portion 31 and the second conductive connecting sub-portion 214. Exemplarily, the liquid-proof member 33 includes a sealing ring, a rubber ring, or a liquid-proof layer formed using sealing oil or sealing grease.

[0060] As shown in Figure 6, in some embodiments, the above-water body 100 includes a first control switch 4 and a first circuit 5. When the above-water body 100 is separated from the underwater body 200, the first control switch 4 is used to control the electrical disconnection of the first conductive connection sub-part 31 and the first circuit 5, so that the above-water body 100 separated from the underwater body 200 can be effectively liquid-proof, thereby ensuring the safety of use of the above-water body 100 separated from the underwater body 200.

[0061] As shown in Figure 6, in some embodiments, when the above-water body 100 is separated from the underwater body 200, the underwater body 200 includes a second control switch 240 and a second circuit 250. The second control switch 240 is used to control the electrical disconnection of the second conductive connecting sub-part 214 and the second circuit 250, so that the underwater body 200 separated from the above-water body 100 can be effectively liquid-proof, thereby ensuring the safety of use of the underwater body 200 separated from the above-water body 100.

[0062] As shown in FIG3 , illustratively, the first control switch 4 includes a conductive spring or a conductive spring, etc. The second control switch 240 includes a conductive spring or a conductive spring, etc.

[0063] As shown in Figures 3 and 5, in some embodiments, the surface body 100 includes a locking portion 6, which is movably mounted on the assembly portion 3. The locking portion 6 is used to lock the float in the assembly portion 3. This not only enhances the liquid-proof performance of the connection between the assembly portion 3 and the float, but also improves the reliability of the connection between the assembly portion 3 and the float, preventing the float from easily separating from the assembly portion 3 when the surface body 100 or the underwater body 200 is towed.

[0064] Exemplarily, after the first conductive connecting sub-part 31 and the second conductive connecting sub-part 214 are connected in place, the engaging part 6 is moved relative to the assembly part 3 so that the engaging part 6 engages with the matching part (not shown) on the assembly part 3 to lock the float. Exemplarily, one end of the engaging part 6 is movably connected to the assembly part 3, and the other end of the engaging part 6 can be engaged or disengaged with the matching part. After the first conductive connecting sub-part 31 and the second conductive connecting sub-part 214 are connected in place, the other end of the engaging part 6 engages with the matching part to lock the float, thereby improving the connection reliability between the assembly part 3 and the float. When it is necessary to separate the assembly part 3 from the float, the other end of the engaging part 6 can be disengaged from the matching part. Exemplarily, one of the engaging part 6 and the matching part includes a card slot and the other includes a card protrusion.

[0065] In some embodiments, as shown in Figure 2, the functional modules of the watercraft 100 further include at least one of the following: a cleaning module 29, a safety module, and an entertainment module 211. For example, the functional modules may include a power supply module 21, a power module 23, and a cleaning module 29. In another example, the functional modules may include a power supply module 21, a communication module 24, a cleaning module 29, and a safety module.

[0066] Exemplarily, the cleaning module 29 includes but is not limited to a roller brush; the safety module includes but is not limited to a spirit level, etc.; the entertainment module 211 includes but is not limited to an alarm, etc.

[0067] In some embodiments, the power supply module 21 is used to power at least one of the electronic components of the surface body 100 (such as the power module 23, the communication module 24, or the sensor module 25) and the underwater body 200, thereby ensuring the normal operation of the surface body 100 and the underwater body 200. The power supply module 21 includes at least one of the following: a solar charging panel 211, a battery, and a charging port 213.

[0068] Illustratively, the solar charging panel 211 can continuously provide electrical energy to the electronic components of the above-water body 100 and at least one of the underwater body 200 by collecting light, thereby reducing the energy consumption of the cleaning robot 1000 and ensuring the endurance of the cleaning robot 1000.

[0069] Illustratively, the battery can store electrical energy and supply power to at least one of the electronic components of the above-water body 100 and the underwater body 200 to ensure the endurance of the cleaning robot 1000 .

[0070] Exemplarily, the external power supply device can be connected to the charging interface 213 via an external cable, thereby supplying power to at least one of the electronic components of the above-water body 100 and the underwater body 200 , thereby ensuring the endurance of the cleaning robot 1000 .

[0071] In some embodiments, the collection module 22 is used to collect garbage and / or oil in the working waters. The collection module 22 includes at least one of the following: a skimmer 221, an oil skimmer, a garbage collection module 222, etc. Thus, when the above-water body 100 and the underwater body 200 are assembled and connected, the above-water body 100 can filter or clean the liquid in the working waters, and the underwater body 200 can clean at least one of the working waters and the walls of the pool. The above-water body 100 and the underwater body 200 can operate simultaneously, effectively improving the cleaning efficiency of the cleaning robot 1000 and enhancing the user experience.

[0072] For example, the garbage collection module 222 may include a debris collection device or a debris processing device, etc. When the liquid surface is cleaned, the garbage collected may be crushed by the debris collection device or the debris processing device.

[0073] As shown in FIG7 , in some embodiments, a power module 23 is used to drive the watercraft 100. The power module 23 includes at least one of a propulsion mechanism 231 and a posture adjustment mechanism 232. The propulsion mechanism 231 is used to drive the watercraft 100, and the posture adjustment mechanism 232 is used to adjust the posture of the watercraft 100. The power module 23 can enable the watercraft 100 to at least one of propel and change direction. For example, the posture adjustment mechanism 232 may include two independently mounted electric drive wheels 222 on either side of the bottom of the watercraft 100. The electric drive wheels 222 utilize the speed difference between the two electric drive wheels 222 to turn the watercraft 100, thereby achieving movement and direction change.

[0074] Understandably, in some usage scenarios, it is difficult to accurately move the surface body 100 to a target location by dragging the surface body 100 with the underwater body 200. In this embodiment, the surface body 100 can actively move under the power module 23 to fine-tune its position or posture, thereby enabling the surface body 100 to more accurately move to a target location for cleaning and other tasks.

[0075] In other embodiments, the power module 23 may be omitted or not work, and the underwater body 200 may drive the above-water body 100 to move.

[0076] In some embodiments, the travel power mechanism 231 includes at least one of the following: a motor, a steering gear, a propeller structure, a sail, a fluid jet structure, etc. The attitude adjustment mechanism 232 includes at least one of the following: a motor, a steering gear, a propeller structure, a sail, a fluid jet structure, etc.

[0077] Exemplarily, the sail is located on the above-water portion of the water body 100 and can utilize wind power to assist in driving the water body 100 to move, thereby enabling the water body 100 to move within a certain range and reducing the electrical energy or fuel required to power the water body 100.

[0078] For example, the liquid jet structure may include two water jets and associated structures; the two water jets are positioned on the geometric centerline of the watercraft 100, spraying water in opposite directions with the line connecting the spray directions forming a 1° angle. By adjusting the flow rates of the two jets, the watercraft 100 can be moved forward or backward. In other embodiments, the liquid jet structure may include two water jets positioned non-collinearly at the bottom of the watercraft 100. The differential speed and spray velocity of the two jets can be utilized to enable the watercraft 100 to turn or move forward.

[0079] In some embodiments, the communication module 24 is used to communicate and connect the cleaning robot 1000 and external devices. Compared with the second body 220 in which the communication module 24 is provided in the underwater body 200, the communication module 24 of this embodiment is provided in the water body 100. The water body 100 and the communication module 24 can float on the liquid surface of the working water area during operation, reducing the impact of the liquid in the working water area on electromagnetic waves and improving communication quality and communication stability. In addition, the communication module 24 is provided in the water body 100. Since the water body 100 is larger, and in some embodiments, the power supply module 21 is provided on the water body 100, the power supply of the entire system is more sufficient, and the restrictions on the volume and power of the communication module 24 are avoided, thereby increasing the design power of the communication module 24 to ensure the communication quality of the communication module 24 to a certain extent. Exemplarily, the external device may include at least one of a maintenance base station, a terminal (such as a mobile phone, etc.), a remote control, etc.

[0080] As shown in FIG7 , in some embodiments, the sensor module 25 includes a first sensor 251 for detecting first position information of the watercraft 100. The watercraft 100 can utilize its own first sensor 251 to form a full map mode, locate and navigate the position of the watercraft 100, and achieve cleaning of a specific area on the surface or bottom of the working water area.

[0081] For example, the first sensor 251 is arranged on the above-water part of the above-water body 100. When the above-water body 100 floats on the liquid surface of the working water area and works, the first sensor 251 can float on the liquid surface of the working water area and work, thereby reducing the impact of the liquid in the working water area on the first sensor 251 and improving the positioning accuracy.

[0082] Exemplarily, the first sensor 251 includes at least one of the following: a binocular vision sensor 2511 , a laser radar 2512 , a global positioning system sensor 2513 , and the like.

[0083] Exemplarily, the first position information is position information of the above-water body 100 relative to a first reference object, and the first reference object may include the earth, a pool, a preset position of the pool, or the underwater body 200, etc.

[0084] In some embodiments, the underwater body 200 can obtain the second position information of the underwater body 200, so that the underwater body 200 controls the movement of the underwater body 200 according to the second position information, thereby locating and navigating the position of the underwater body 200, and realizing the cleaning of a fixed area of ​​the liquid surface or bottom of the working water area.

[0085] Alternatively, as shown in Figure 7, in some embodiments, the sensor module 25 includes a second sensor 252, which is used to detect environmental information around the water body 100, where the environmental information may include obstacle information, floating object information, etc.; the environmental information may also include at least one of the following: second position information of the underwater body 200, garbage position information, and obstacle position information.

[0086] For example, the environmental information includes the location information of the garbage. Based on the location information of the garbage, the above-water body 100 or the underwater body 200 can move to the corresponding location to clean the garbage. For example, the environmental information includes the location information of obstacles, so that the above-water body 100 or the underwater body 200 can avoid the obstacles, thereby ensuring that the cleaning robot 1000 can operate smoothly.

[0087] When the environmental information includes the second position information of underwater body 200, surface body 100 can communicate with underwater body 200, so that underwater body 200 can control its movement based on the second position information of underwater body 200 obtained by surface body 100. Second sensor 252 can track underwater body 200 and determine its relative position, thereby assisting underwater body 200 in navigation and positioning, and better planning the overall cleaning path.

[0088] Exemplarily, the second sensor 252 is arranged on the above-water part of the water body 100. When the water body 100 can float on the liquid surface of the working water area and work, the second sensor 252 can float on the liquid surface of the working water area and work, reducing the impact of the liquid in the working water area on the second sensor 252 and improving the navigation positioning accuracy of the underwater body 200.

[0089] Exemplarily, the second sensor 252 is arranged in the underwater part of the water body 100. When the water body 100 can float on the liquid surface of the working water area and work, the second sensor 252 can remain below the liquid surface of the working water area and work, reducing the impact of the fluctuating liquid surface in the working water area on the second sensor 252, and improving the navigation positioning accuracy of the underwater body 200.

[0090] Exemplarily, the second position information is position information of the underwater body 200 relative to a second reference object, and the second reference object may include a preset position of a pool or the above-water body 100 .

[0091] Exemplarily, the first sensor 251 can detect the first position information of the above-water body 100, and the second sensor 252 can detect the second position information of the underwater body 200 relative to the above-water body 100. The above-water body 100 can communicate with the underwater body 200, so that the cleaning robot 1000 can navigate and locate the underwater body 200 according to the first position information and the second position information, and better plan the overall cleaning path.

[0092] Exemplarily, the second sensor 252 includes at least one of the following: a visual sensor 2521 , a time-of-flight TOF sensor, an ultrasonic sensor, a laser ranging sensor, an infrared ranging sensor, a sonar sensor, a radar, and the like.

[0093] In some embodiments, the water quality detection module 27 is used to detect water quality parameters of the liquid. For example, based on the water quality parameters, it can be determined whether to subsequently perform water quality improvement work on the liquid in the working water area.

[0094] In some embodiments, water quality improvement module 28 is configured to administer water quality improvement materials. For example, when water quality parameters meet preset conditions, water quality improvement module 28 may administer water quality improvement materials to the working water area, thereby improving the water quality of the liquid within the working water area. For example, the water quality improvement materials include at least one of purification materials and sterilization materials.

[0095] For example, the water quality detection module 27 can detect the water quality parameters of the pool. When the water quality is poor, the water quality improvement module 28 can be used to add medicine to improve the water quality. The communication module can also communicate with the user terminal to generate a water quality detection report on the app of the user terminal. At the same time, the user can also use the app to control the medicine delivery module to manually add water quality improvement materials.

[0096] In some embodiments, the prompt module 26 is used to notify people around the cleaning robot 1000 of the presence of the cleaning robot 1000, thereby improving the safety of the cleaning robot 1000. The prompt module 26 can provide prompts in at least one of light, sound, and signs. Exemplarily, the prompt module 26 includes at least one of a warning unit and a speaker.

[0097] It is understood that the number of surface bodies 100 can be designed based on actual needs, such as one, two, three, four, or more. For example, the number of surface bodies 100 includes multiple surface bodies 100, and multiple surface bodies 100 can be selectively connected to the underwater body 200; multiple surface bodies 100 can be configured with different functional modules; or multiple surface bodies 100 can be simultaneously connected to the underwater body 200. This is not a limitation and users can adapt according to actual usage scenarios.

[0098] As shown in Figures 1 and 8 to 13, in some embodiments, the cleaning robot 1000 further includes a first connecting member 300, and the surface body 100 is detachably connected to the underwater body 200 via the first connecting member 300. For example, the surface body 100 can be connected to the underwater body 200 via the first connecting member 300, and driven by the underwater body 200, it can float on the water surface for cleaning without providing power or using power. Of course, in actual applications, in order to better achieve the coordinated operation of the surface body 100 and the underwater body 200, the surface body 100 and the underwater body 200 can also be directly electrically connected and / or communicatively connected via the first connecting member 300 to exchange information.

[0099] It should be noted that the schematic diagrams of the watercraft 100 shown in Figures 1, 8 to 10, and 12 are merely exemplary and do not limit the number, shape, and / or structure of the watercraft 100. In actual applications, the number, shape, and / or structure of the watercraft 100 may be modified based on the actual application scenario. For example, the schematic diagrams of the watercraft 100 shown in Figures 11 and 13 illustrate an actual structure.

[0100] Similarly, the schematic diagrams of underwater body 200 shown in Figures 1 and 8 through 11 are merely exemplary and do not limit the shape and / or structure of underwater body 200. In actual applications, the shape and / or structure of underwater body 200 may be modified based on the actual application scenario. For example, the schematic diagrams of underwater body 200 shown in Figures 12 and 13 illustrate a practically employed structure.

[0101] In some embodiments, as shown in Figures 9 and 10 , the underwater body 200 further includes a float, which is detachably connected to the surface body 100. As can be understood, since the surface body 100 floats on the surface of the working water, the float, by being directly attached to the surface body 100, can also float on the surface of the working water together with the surface body 100.

[0102] In some embodiments, as shown in Figures 9 to 11 and 13, the cleaning robot 1000 also includes a second connecting member 400, and the underwater body 200 also includes a float, which floats on the liquid surface and is detachably connected to the main body of the underwater body 200 through the second connecting member 400.

[0103] For example, the float can float directly on the liquid surface through the connection of the second connector 400. Alternatively, when the float is detachably connected to the surface body 100, the float can also be connected to the underwater body 200 through the second connector 400 or the first connector 300. As shown in Figures 9 to 11 and 13, the first connector 300 and the second connector 400 can be combined into one to connect the surface body 100 and the underwater body 200.

[0104] For example, the second connection member 400 includes a connection cable or a connection rope, etc. The first connection member 300 includes a connection cable or a connection rope, etc.

[0105] For the convenience of explanation, the specific structures that may be adopted by the water body 100 shown in Figures 11 and 13 to 18 will be described below.

[0106] In some embodiments, as shown in Figures 11 and 13 , the surface body 100 further includes a first body 1 . When the underwater body 200 further includes a float, to achieve a detachable connection between the float and the surface body 100, as shown in Figures 11 , 13 , and 14 , a mounting slot 11 is defined in the first body 1 of the surface body 100 , into which the float can be selectively mounted. For example, the float can be mounted within the mounting slot 11 using a magnetic structure or a snap-fit ​​structure, allowing the underwater body 200 to float on the water surface while being pulled by the float. The float can also provide power to the surface body 100 or enable communication with the surface body 100.

[0107] To ensure that the float is properly installed, the sensor module 25 of the water body 100 may further include a third sensor 253 . The third sensor 253 is installed on the first body 1 and is used to detect whether the float is connected to the body of the water body 100 .

[0108] In some embodiments, as shown in Figures 11, 13, and 14, to ensure a simple and compact overall structure, the mounting slot 11 is located at the rear of the first body 1. Furthermore, to facilitate control of the movement of the waterborne body 100, a limit hook 12 is provided at the bottom of the first body 1 near the front side of the first body 1. The first connector 300 can pass through the limit hook 12 and be hooked on the limit hook 12. The limit hook 12 thereby limits the first connector 300 to the bottom of the first body 1 along the forward direction of the first body 1.

[0109] For example, as shown in Figures 11 and 13, the first connecting member 300 is at the bottom of the first body 1, pulled from the tail of the first body 1 to the front side of the first body 1, and then goes underwater to connect with the underwater body 200. In this way, when the float is set at the tail of the first body 1, it is convenient for the underwater body 200 to better pull the surface body 100 to move along the target direction, which is also conducive to better control of the movement direction of the surface body 100.

[0110] In some embodiments, as shown in FIG8 , the above-water body 100 further includes a first body 1 and a connection portion 7 . The first body 1 is configured to float in the operating waters. The connection portion 7 is detachably connected to the underwater body 200 . The first body 1 or the float is structurally connected to the connection portion 7 via a first connector 300 . The first body 1 and / or the float are also electrically or communicatively connected to the connection portion 7 via the first connector 300 .

[0111] Alternatively, when the underwater body 200 includes a mounting portion 260, the connecting portion 7 can be detachably connected to the mounting portion 260 of the underwater body 200. This allows the underwater body 200 to be connected to the surface body 100 as a single unit, through the connection between the mounting portion 260 and the connecting portion 7, when the underwater body 200 is suspended at different depths in the operating waters or sunk to the bottom of the operating waters for cleaning operations. When the underwater body 200 and surface body 100 are no longer required to be connected as a single unit for operation, the mounting portion 260 can be detached from the connecting portion 7.

[0112] Understandably, when the underwater body 200 is operating underwater and the first body 1 is able to float on the surface of the liquid, the connecting portion 7 can penetrate underwater to connect with the mounting portion 260 of the underwater body 200. In this way, the configuration of the first connecting member 300 ensures that the connecting portion 7 can penetrate underwater to connect with the mounting portion 260.

[0113] For example, the connection method between the mounting portion 260 and the connecting portion 7 can refer to the connection method between the assembly portion 3 and the float, which will not be repeated here.

[0114] For example, the specific structure of the mounting portion 260 may refer to the structure of the assembly portion 3 . The structure of the connecting portion 7 is adapted to the structure of the mounting portion 260 .

[0115] In some embodiments, the power module 23 of the watercraft 100 is mounted on the first body 1 and is used to drive the watercraft 100. The power module 23 includes at least one of the following: a propulsion mechanism 231 for driving the watercraft 100 and a posture adjustment mechanism 232. The propulsion mechanism 231 is used to drive the watercraft 100, and the posture adjustment mechanism 232 is used to adjust the posture of the watercraft 100. Of course, in other embodiments, the power module 23 of the watercraft 100 may be omitted or inoperative.

[0116] In some embodiments, the power supply module 21 of the surface body 100 is mounted on the first body 1 and is used to power at least one of the electronic components of the surface body 100 and the underwater body 200. The electronic components of the surface body 100 described herein include at least a power module 23. The power supply module 21 includes at least one of the following: a solar charging panel 211, a battery, and a charging port 213.

[0117] In some embodiments, as shown in FIG18 , the water body 100 further includes a collection basket 8 and an auxiliary collection assembly 9. A cavity 13 is formed within the first body 1, and an opening 131 is provided at the top of the cavity 13. That is, the cavity 13 of the first body 1 is in communication with the outside world through the opening 131. The collection basket 8 is detachably mounted within the cavity 13 via the opening 131. It is understood that the collection basket 8 can be inserted through the opening 131 into the cavity 13 of the first body 1 and can be fixedly mounted to the first body 1, or released from the fixed mounting to the first body 1 and detached from the first body 1 through the opening 131, allowing the collection basket 8 to be removed from or installed in the top of the first body 1. This also helps ensure the compactness of the overall structure of the water body 100, making it suitable for use in small water areas such as pools.

[0118] It should be noted that to ensure the structural stability of the watercraft 100, the outer shape of the collection basket 8 is adapted to the inner shape of the first body 1. The collection basket 8 can have a polygonal columnar structure, a cylindrical structure, or an irregular columnar structure. For example, the collection basket 8 is approximately a rectangular columnar structure, and accordingly, the inner shape of the first body 1 is approximately a rectangle.

[0119] As shown in Figure 8, a plurality of surface collection ports 14 communicating with the cavity 13 are formed on the peripheral wall of the first machine body 1. Correspondingly, a collection cavity 81 is formed inside the collection basket 8. Among them, at the position corresponding to each surface collection port 14, the peripheral wall of the collection basket 8 is provided with an opening 82, and each opening 82 is communicated with the collection cavity 81 and the corresponding surface collection port 14. It can be understood that when the collection basket 8 is not installed in the first machine body 1, the cavity 13 of the first machine body 1 can also communicate with the outside world through the surface collection port 14; when the collection basket 8 is installed in the cavity 13 of the first machine body 1, the collection cavity 81 can be communicated with the outside world through the opening 82 and the surface collection port 14 in sequence, so as to be mainly used for collecting and storing floating objects on the water surface.

[0120] In order to expand the collection range of the water body 100 and improve the cleaning effect and efficiency of the water body 100, the water collection port 14 faces the forward direction of the first machine body 1. For example, the water collection port 14 is opened on the front side of the first machine body 1.

[0121] And / or, the water collection port 14 faces both sides of the forward direction of the first machine body 1. Exemplarily, the water collection port 14 is opened on at least one of the left side and the right side of the first machine body 1.

[0122] And / or, the water collection port 14 faces the rear of the first machine body 1. Exemplarily, the water collection port 14 is opened at the rear side of the first machine body 1, and the water collection port 14 is set on at least two sides of the first machine body 1.

[0123] As can be understood, the surface collection ports 14 are formed on at least two of the front, left, right, and rear sides of the first body 1. This facilitates simultaneous collection of floating debris from different sides of the first body 1, allowing the surface body 100 to quickly and thoroughly collect the debris without requiring excessive steering.

[0124] To further improve the cleaning effect and efficiency, auxiliary collection assemblies 9 are provided on the first body 1 at locations corresponding to the surface collection ports 14 to capture and collect floating objects into the collection chamber 81. It is understood that during the movement of the surface body 100, the auxiliary collection assemblies 9 can capture floating objects around the surface body 100 into the corresponding surface collection ports 14, and allow floating objects near the surface collection ports 14 to quickly pass through the surface collection ports 14 and enter the collection chamber 81 through the opening 82.

[0125] It should be noted that the auxiliary collection component 9 can be a rolling structure arranged in the water collection port 14, or it can be a material gathering structure that can extend out of the water collection port 14. Of course, it can also be other suitable structures. The specific structure adopted by the auxiliary collection component 9 to accelerate the collection of floating objects will not be elaborated here.

[0126] In general, the floating machine 100 forms a cavity 13 within the first body 1 and detachably installs the collection basket 8 from an opening 131 within the cavity 13 of the first body 1, thereby simplifying the overall structure and ensuring its compactness, making it suitable for use in pools and similar waters. Furthermore, the floating machine 100 provides a water collection port 14 on at least two sides of the first body 1, communicating with the cavity 13. This ensures that the floating machine 100 can simultaneously collect floating debris from the water surface from different sides of the first body 1. This not only expands the collection range, but also eliminates the need for excessive steering operations or multiple round trips by the floating machine 100, allowing it to quickly and thoroughly collect surrounding floating debris, making it easier to plan a travel route. The floating machine 100 is not only simple in structure and easy to operate, but also has excellent cleaning effects and high cleaning efficiency.

[0127] In some embodiments, as shown in Figures 14 and 18 , the surface water collection port 14 formed on the front side of the first body 1 is a first collection port 141, and the surface water collection ports 14 formed on the left and right sides of the first body 1 are second collection ports 142. For example, in this embodiment, surface water collection ports 14 are provided on the front, left, and right sides of the first body 1, namely, one first collection port 141 and two second collection ports 142, for a total of three surface water collection ports 14, to improve the cleaning effect and efficiency of the surface water body 100.

[0128] Of course, in other embodiments, according to actual needs, the water collection port 14 can be set on the front side and left side of the first machine body 1, or the front side and right side of the first machine body 1. That is, in addition to setting the water collection port 14 on the front side of the first machine body 1, the water collection port 14 can also be opened on the left side or right side of the first machine body 1 to perform a single-sided opening 82.

[0129] As shown in Figures 14 and 18 , the auxiliary collection assembly 9 includes a first rolling assembly 91, a second rolling assembly 92, and a first drive device 93. Both the first rolling assembly 91 and the second rolling assembly 92 are disposed on the first machine body 1, with the first rolling assembly 91 corresponding to the first collection port 141, and the second rolling assembly 92 corresponding to the second collection port 142. The first rolling assembly 91 is primarily used to assist in collecting floating debris near the first collection port 141, while the second rolling assembly 92 is primarily used to assist in collecting floating debris near the second collection port 142.

[0130] In addition, the first driving device 93 can be used to drive the second rolling assembly 92 to rotate, and the first rolling assembly 91 rotates under the linkage of the second rolling assembly 92. In this way, the number of driving devices can be reduced, which is conducive to reducing the weight of the whole machine and facilitating better floating on the water surface for collection.

[0131] Similarly, for the convenience of explanation, the specific structures that may be adopted by the underwater body 200 shown in Figures 12, 13, and 19 to 23 will be described below.

[0132] In some embodiments, as shown in Figures 12 and 13, the underwater body 200 includes a second body 220, which is configured to float at different depths in the working water area or sink to the bottom of the working water area to perform cleaning operations. As shown in Figures 9 to 11 and 13, when the cleaning robot 1000 also includes at least a float, the second body 220 can be connected to the float structure detachably connected to the above-water body 100 via a first connector 300. The second body 220 can also be electrically connected or communicatively connected to the float via the first connector 300.

[0133] Alternatively, the cleaning robot 1000 further includes a second connecting member 400, and the second body 220 can be further connected to the float structure via the second connecting member 400. The second body 220 is further electrically or communicatively connected to the float via the second connecting member 400, and the float is detachably connected to the surface body 100. When the second body 220 is operating underwater, the float can float on the liquid surface, so that the float can be connected to the surface body 100 floating on the liquid surface.

[0134] In some embodiments, as shown in Figures 19 and 20, the second body 220 includes a chassis 221 and a drive wheel 222, wherein the drive wheel 222 is configured to drive the chassis 221. A collection bin 223 (see Figure 21) is formed within the second body 220. The chassis 221 is provided with an underwater collection port 2211, which is connected to the collection bin 223. In other words, the underwater body 200 can collect garbage into the collection bin 223 through the underwater collection port 2211. Of course, the collection bin 223 can be detachably mounted relative to the chassis 221 to facilitate cleaning of dirt and debris within the collection bin 223.

[0135] For example, to facilitate crawling of the underwater body 200, two driving wheels 222 may be provided as rear wheels, and correspondingly, two driven wheels may be provided as front wheels, resulting in a total of four wheels for the underwater body 200. Of course, in other embodiments, the number and placement of the driving wheels 222 and driven wheels may be determined based on actual needs and are not specifically set here, as long as they ensure stable crawling of the underwater body 200.

[0136] As shown in Figures 12, 13, and 20, in this embodiment, the second body 220 further comprises a housing and a filter (not shown). The housing cover is mounted on the chassis 221, and together with the chassis 221, forms a housing cavity (not shown) for accommodating components such as the collection bin 223. The housing cover, combined with the chassis 221, the drive wheel 222, and the driven wheel, forms an exterior similar to that of a car. Of course, in other embodiments, the second body 220 may have other shapes and structures, which are not particularly limited herein.

[0137] As shown in Figures 12 and 20, the underwater body 200 further includes a cleaning brush assembly 230, which is disposed on the front and / or rear side of the second body 220. As shown in Figure 20, the cleaning brush assembly 230 includes a main body 231 and a roller brush assembly 232. The main body 231 is disposed on the second body 220, and the roller brush assembly 232 is rotatably mounted on the main body 231. Specifically, in this embodiment, the main body 231 is disposed on the second body 220 along the width of the second body 220, i.e., axially of the drive wheel 222. The roller brush assembly 232 is disposed on the main body 231 along the width of the second body 220 and axially rotates relative to the main body 231 during operation, thereby cleaning the pool bottom, walls, waterline, etc. when the second body 220 moves forward or backward.

[0138] In some embodiments, as shown in Figures 19 and 23, the cleaning brush assembly 230 also includes a second drive device 233, which is configured to independently drive the roller brush assembly 232 to rotate axially relative to the main body 231, so that the roller brush assembly 232 rotates independently of the drive wheel 222, thereby further enhancing the cleaning effect and cleaning efficiency, and saving energy loss.

[0139] It can be understood that no matter what state the second body 220 is in, by independently driving the movement of the second body 220 and the movement of the roller brush assembly 232, the underwater body 200 can adjust the movement speed and direction of the second body 220 according to actual conditions such as sensors and pool environmental information, and independently adjust the speed, direction and whether the roller brush assembly 232 is in a rotating state in real time, so as to improve the cleaning effect and cleaning efficiency of the underwater body 200, and maximize the use of the energy of the underwater body 200 battery to improve the endurance of the machine.

[0140] For example, when the user needs to switch to the remote control mode and perform deep or focused cleaning on local dirty locations such as the right-angled pool bottom, waterline, and heavily polluted areas, the roller brush assembly 232 is kept in a high-speed rotation cleaning state. It is only necessary to control the movement speed and direction of the chassis 221 so that the rotation speed and direction of the roller brush assembly 232 will not change with the movement of the chassis 221, which is convenient for deep or focused cleaning of local locations and helps to maintain a stable cleaning effect.

[0141] Also exemplarily, in scenarios such as pool bottom mapping or position calibration, when the roller brush assembly 232 and the chassis 221 are independently controlled, it can be well achieved that when the second machine body 220 moves, the roller brush assembly 232 does not roll, that is, the ineffective rotation of the roller brush assembly 232 can be avoided to cause additional power consumption, which is conducive to maximizing the use of the battery energy of the machine and improving the battery life.

[0142] In some embodiments, in order to enable the second driving device 233 to independently drive the roller brush assembly 232 to rotate, the second driving device 233 is installed in the second machine body 220 and is in transmission connection with the roller brush assembly 232.

[0143] Alternatively, in other embodiments, as shown in Figures 20 and 23, when the roller brush assembly 232 is independently driven by the second drive device 233, in order to achieve stable rotation of the roller brush assembly 232 and simplify the structure of the cleaning brush assembly 230, the main body 231 of the cleaning brush assembly 230 includes a support portion 2311, the second drive device 233 is installed on the support portion 2311, and the interior of the roller brush assembly 232 is hollow and sleeved on the outside of the second drive device 233 and is transmission-connected to the second drive device 233.

[0144] In short, the second drive device 233 is axially built into the roller brush assembly 232 to drive the roller brush assembly 232 to rotate, thereby making full use of the hollow structure of the roller brush assembly 232, avoiding occupying other space of the underwater body 200, ensuring the compactness of the cleaning brush assembly 230, and facilitating maximizing the volume of the collection bin 223, thereby improving the dirt recovery capability of the underwater body 200.

[0145] In some embodiments, to provide independent driving force for the roller brush assembly 232 when the second drive device 233 is internally mounted within the roller brush assembly 232, a transmission portion 234 is provided within the roller brush assembly 232, as shown in FIG23 . The transmission portion 234 includes a shaft connection slot 2341 having a non-cylindrical cross-section. Accordingly, the second drive device 233 includes a drive shaft 2331 that engages with the shaft connection slot 2341, thereby establishing a transmission connection between the second drive device 233 and the roller brush assembly 232.

[0146] In some embodiments, in order to realize the driving function of the second driving device 233, as shown in Figure 23, the second driving device 233 includes a mounting cylinder 2332 and a driving member 2333, and a mounting cavity 23321 is formed in the mounting cylinder 2332, and one end of the mounting cylinder 2332 (specifically the right end) is installed on the main body 231; the main body 231 part of the driving member 2333 is installed on the other end (specifically the left end) of the mounting cylinder 2332 in the mounting cavity 23321, and the output shaft of the driving member 2333 extends out of the mounting cylinder 2332 and is transmission-connected to the roller brush assembly 232.

[0147] It should be noted that the output shaft of the driving member 2333 is the driving shaft 2331 of the second driving device 233. That is, the output shaft is plugged into the shaft connecting groove 2341 inside the roller brush assembly 232 through a coupling to achieve a transmission connection between the driving member 2333 and the roller brush assembly 232.

[0148] For example, specifically in this embodiment, the length of the mounting cylinder 2332 is smaller than the width of the roller brush assembly 232 , and the shaft connecting groove 2341 is opened in the middle part of the roller brush assembly 232 and is open toward one end.

[0149] As shown in Figures 2 and 3, the embodiment of the present application also provides an above-water body 100, which is used to float on the liquid surface of the working water area and is used to be detachably connected to the underwater body 200 of the cleaning robot 1000; the above-water body 100 includes a functional module 2, and the functional module 2 includes at least one of the following: a power supply module 21, a collection module 22, a power module 23, a communication module 24, a sensor module 25, a prompt module 26, a water quality detection module 27, and a water quality improvement module 28.

[0150] The cleaning robot 1000 provided in the above embodiment has a detachable connection between the above-water body 100 and the underwater body 200, and the above-water body 100 includes a functional module 2, which includes at least one of the following: a power supply module 21, a collection module 22, a power module 23, a communication module 24, a sensor module 25, a prompt module 26, a water quality detection module 27, and a water quality improvement module 28. Therefore, when the above-water body 100 or the underwater body 200 needs to be used independently, the above-water body 100 can be separated from the underwater body 200, so that at least one of the above-water body 100 and the underwater body 200 can work flexibly and independently according to actual needs, thereby reducing the power and weight of the cleaning robot 1000.

[0151] When it is necessary to use the above-water body 100 and the underwater body 200 to work together, the above-water body 100 and the underwater body 200 can be assembled and connected. On the basis of ensuring that the cleaning robot 1000 can perform cleaning operations through the underwater body 200, the cleaning robot 1000 can also provide functions corresponding to at least one of the power supply module 21, the collection module 22, the power module 23, the communication module 24, the sensor module 25, the prompt module 26, the water quality detection module 27, and the water quality improvement module 28 through the above-water body 100, thereby expanding the functions of the cleaning robot 1000 and diversifying the functions of the cleaning robot 1000 to meet the usage requirements of different application scenarios. It is highly practical and conducive to market promotion and application.

[0152] Illustratively, the above-water body 100 includes the above-water body 100 of any one of the above-mentioned embodiments. The underwater body 200 includes the underwater body 200 of any one of the above-mentioned embodiments.

[0153] As shown in FIG9 , in some embodiments, the power supply module 21 includes a solar charging panel 211, a first battery 212, and a charging port 213. The solar charging panel 211 of the surface body 100 can use solar energy to power the surface body 100, the first battery 212 of the surface body 100 can power the surface body 100, and the second battery (not shown) of the underwater body 200 can power the underwater body 200. The power supply systems of the surface body 100 and the underwater body 200 can also be electrically connected to achieve complementarity, so that each component can be selectively used according to the application scenarios of different products. For example, after the first battery 212 is fully charged, the solar charging panel 211 can charge the second battery of the underwater body 200. The surface unit 100 can be provided with a charging port 213, through which the user can charge the surface unit 100. The user can also charge the underwater unit 200 through the charging port 213, eliminating the need to remove the underwater unit 200 during charging, thereby improving the convenience of charging the underwater unit 200. For example, as shown in Figures 1, 4, and 9, the charging port 213 can be used to connect the float and the second connector 400 to charge the underwater unit 200. For another example, as shown in Figures 8 and 9, the charging port 213 can be used to connect the mounting portion 260 and the connector 7 to charge the underwater unit 200.

[0154] As shown in Figure 10, in some embodiments, the first sensor 251 includes a binocular vision sensor 2511, a laser radar 2512, and a global positioning system (GPS) sensor. The surface body 100 can use its own binocular vision sensor 2511, laser radar 2512, and global positioning system sensor 2513 to form a full map mode to locate and navigate its position on the water surface. At the same time, the surface body 100 can also add a second sensor 252 disposed downward. The second sensor 252 includes a visual sensor 2521 and an ultrasonic sensor 2522. The second sensor 252 can track the underwater body 200 and determine the relative position of the underwater body 200. Finally, the float is connected to the surface body 100, enabling communication between the surface body 100 and the underwater body 200, assisting the navigation and positioning of the underwater body 200 and better planning the overall cleaning path.

[0155] As shown in Figures 9 and 10, in some embodiments, the collection module 22 includes a skimmer 221 and a garbage collection module 222. The laser radar 2512 of the watercraft 100 is capable of full-map scanning. The watercraft 100 can use the full-map function of the laser radar 2512 and utilize the skimmer 221 and garbage collection module 222 to clean specific areas on the water surface or underwater. It can also implement a patrol mode using the binocular vision sensor 2511 to actively identify garbage on the water surface and use the skimmer 221 and garbage collection module 222 to clean up the garbage.

[0156] In the description of this application, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "mechanically coupled", and "coupled" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection. It can be a mechanical connection or an electrical connection. It can be directly connected or indirectly connected through an intermediate medium. It can be the internal connection of two elements or the interaction relationship between two elements. The mechanical coupling or coupling of two components includes direct coupling and indirect coupling, for example, direct fixed connection, connection through a transmission mechanism, etc. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to the specific circumstances.

[0157] In this application, unless otherwise expressly specified or limited, a first feature being "above" or "below" a second feature may include the first and second features being in direct contact, or may include the first and second features being in contact not directly but through another feature between them. Moreover, a first feature being "above," "above," and "above" a second feature may include the first feature being directly above or obliquely above the second feature, or may simply mean that the first feature is higher in level than the second feature. A first feature being "below," "below," and "below" a second feature may include the first feature being directly below or obliquely below the second feature, or may simply mean that the first feature is lower in level than the second feature.

[0158] The disclosure above provides many different embodiments or examples for realizing the different structures of the present application. In order to simplify the disclosure of the present application, the components and settings of specific examples are described above. Of course, they are merely examples and are not intended to limit the present application. In addition, the present application may repeat reference numerals and / or reference letters in different examples, and such repetition is for the purpose of simplicity and clarity, and does not itself indicate the relationship between the various embodiments and / or settings discussed. In addition, the present application provides examples of various specific processes and materials, but those of ordinary skill in the art will appreciate the application of other processes and / or the use of other materials.

[0159] Throughout this specification, reference to terms such as "one embodiment," "some embodiments," "illustrative embodiments," "examples," "specific examples," or "some examples" means that the specific method steps, features, structures, materials, or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific method steps, features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

[0160] The above description is merely a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in the present application, and such modifications or substitutions should be included in the scope of protection of the present application. Therefore, the scope of protection of the present application should be based on the scope of protection of the claims.

Claims

1. A cleaning robot, comprising: A water body, wherein the water body is used to float on the liquid surface of the working water area; An underwater machine body, which is detachably connected to the above-water machine body and is used to clean at least one of the working water area and the wall of the pool; Wherein, the above-water body comprises: The functional module includes at least one of the following: a power supply module, a collection module, a power module, a communication module, a sensor module, a prompt module, a water quality detection module, and a water quality improvement module.

2. The cleaning robot according to claim 1, wherein: The detachable connection between the underwater body and the above-water body includes at least one of the following: magnetic connection, snap connection, screw locking connection, and plug connection; And / or, the underwater body comprises: A float, the float is used to float on the liquid surface of the working water area; The above-water body also includes: An assembly part is detachably connected to the float.

3. The cleaning robot according to claim 2, wherein: The assembly portion includes a first conductive connecting sub-portion, and the float includes a second conductive connecting sub-portion, and the first conductive connecting sub-portion is used for detachable connection with the second conductive connecting sub-portion.

4. The cleaning robot according to claim 3, wherein: The assembly portion is provided with a first magnetic attraction member, and the first magnetic attraction member is arranged corresponding to the first conductive connection sub-portion; The underwater body is provided with a second magnetic attraction member, the second magnetic attraction member is arranged corresponding to the second conductive connecting sub-portion, and the first magnetic attraction member can be magnetically matched with the second magnetic attraction member; and / or, The assembly unit further comprises: A liquid-proof member is disposed around the outside of the first conductive connecting sub-portion and is used to prevent the first conductive connecting sub-portion and the second conductive connecting sub-portion from being liquid-proof when the first conductive connecting sub-portion is connected to the second conductive connecting sub-portion.

5. The cleaning robot according to claim 3, wherein: The above-water body further comprises a first control switch and a first circuit. When the above-water body is separated from the underwater body, the first control switch is used to control the first conductive connection sub-part to be electrically disconnected from the first circuit; and / or; The underwater body comprises a second control switch and a second circuit. When the above-water body is separated from the underwater body, the second control switch is used to control the second conductive connecting sub-part to be electrically disconnected from the second circuit.

6. The cleaning robot according to claim 2, characterized in that: The above-water body comprises: The clamping part is movably arranged on the assembly part and is used for clamping on the assembly part to lock the float.

7. The cleaning robot according to claim 1, wherein: The functional module of the water body also includes at least one of the following: a cleaning module, a safety module, and an entertainment module; and / or, the power supply module is used to supply power to at least one of the electronic components of the above-water body and the underwater body; The power supply module includes at least one of the following: a solar charging panel, a battery, and a charging interface; and / or, the collection module is used to collect garbage and / or oil pollution in the working waters, and the collection module includes at least one of the following: a skimmer, an oil skimmer, and a garbage collection module; And / or, the power module is used to drive the water body to move; The power module includes at least one of the following: a traveling power mechanism and a posture adjustment mechanism, wherein the traveling power mechanism is used to drive the water body to travel, and the posture adjustment mechanism is used to adjust the posture of the water body; The travel power mechanism and attitude adjustment mechanism each include at least one of the following: a motor, a steering gear, a propeller structure, a sail, and a liquid jet structure; And / or, the communication module is used to communicate with the cleaning robot and an external device; And / or, the sensor module comprises: a first sensor, the first sensor being used to detect first position information of the above-water body; And / or, the underwater body can obtain the second position information of the underwater body, so that the underwater body controls the movement of the underwater body according to the second position information; or, the sensor module includes: a second sensor, the second sensor being used to detect environmental information around the above-water body; The environmental information includes at least one of the following: second position information of the underwater body, position information of garbage, and position information of obstacles; when the environmental information includes the second position information of the underwater body, the above-water body can be connected to the underwater body in communication, so that the underwater body obtains the second position information of itself, and controls the movement of the underwater body according to the second position information; And / or, the water quality detection module is used to detect water quality parameters of the liquid; And / or, the water quality improvement module is used to deliver water quality improvement materials.

8. The cleaning robot according to claim 1, wherein: The cleaning robot also includes: A first connecting member, through which the above-water body is detachably connected to the underwater body; and / or, The underwater body also includes a float, and the float is detachably connected to the above-water body; Alternatively, the cleaning robot further includes a second connecting member, and the underwater body further includes a float, wherein the float floats on the liquid surface and is detachably connected to the underwater body via the second connecting member.

9. The cleaning robot according to claim 8, wherein: The above-water body also includes a first body; When the underwater machine body further includes a float, a mounting groove is provided on the first machine body, and the float is selectively mounted in the mounting groove; The sensor module of the above-water body further comprises: A third sensor is used to detect whether the float is connected to the first machine body.

10. The cleaning robot according to claim 9, wherein: The installation groove is located at the tail of the first machine body; a limit hook is arranged at the bottom of the first machine body, and the limit hook is used for the first connecting member to pass through, so as to control the movement of the water body.

11. The cleaning robot according to claim 8, wherein: The above-water body also includes: A first machine body, the first machine body is used to float in the working water area; A connecting portion, wherein the connecting portion is detachably connected to the underwater body; or, when the underwater body includes a mounting portion, the connecting portion is detachably connected to the mounting portion of the underwater body; The first machine body or the float is structurally connected to the connecting part via a first connecting member, and the first machine body and / or the float is also electrically or communicatively connected to the connecting part via the first connecting member.

12. The cleaning robot according to claim 11, wherein: The power module of the water body is installed on the first body, and is used to drive the water body to move; The power module includes at least one of the following: a traveling power mechanism and a posture adjustment mechanism, wherein the traveling power mechanism is used to drive the water body to travel, and the posture adjustment mechanism is used to adjust the posture of the water body.

13. The cleaning robot according to claim 12, wherein: The travel power mechanism and attitude adjustment mechanism each include at least one of the following: a motor, a steering gear, a propeller structure, a sail, and a liquid jet structure; and / or, the power supply module of the above-water body is installed on the first body, and is used to supply power to the electronic components of the above-water body and at least one of the underwater body; The electronic components of the water body at least include the power module; The power supply module includes at least one of the following: a solar charging panel, a battery, and a charging interface.

14. The cleaning robot according to claim 11, wherein: A cavity is formed inside the first machine body, and the top of the cavity is open; A plurality of water collecting ports communicating with the cavity are formed on the peripheral wall of the first machine body, and the water collecting ports are arranged on at least two sides of the first machine body; and the water collecting ports face the forward direction of the first machine body, and / or the water collecting ports face the two sides of the forward direction of the first machine body; and / or the water collecting ports face the tail of the first machine body; The above-water body also includes: A collecting basket having a collecting cavity formed therein; the collecting basket is detachably installed in the cavity from the opening; openings are provided on the peripheral wall of the collecting basket at positions corresponding to the above-water collecting ports, and each of the openings is communicated with the collecting cavity and the corresponding above-water collecting port; The auxiliary collection assembly is arranged on the first machine body at a position corresponding to each of the above-water collection ports to capture and collect floating objects into the collection chamber.

15. The cleaning robot according to claim 14, wherein: The above-water collection port formed on the front side of the first machine body is a first collection port, and the above-water collection ports formed on the left and right sides of the first machine body are second collection ports; The auxiliary collection assembly includes a first rolling assembly, a second rolling assembly and a first driving device, the first rolling assembly and the second rolling assembly are both arranged on the first machine body, and the first rolling assembly corresponds to the first collection port, and the second rolling assembly corresponds to the corresponding second collection port; The first driving device is used to drive the second rolling assembly to rotate, and the first rolling assembly rotates in conjunction with the second rolling assembly.

16. The cleaning robot according to claim 8, wherein: The underwater body comprises: The second machine body is used to float at different depths of the working water area or sink to the bottom of the working water area to perform cleaning operations; When the cleaning robot at least includes a float, the second machine body is connected to the float structure detachably connected to the water body through a first connecting member, and the second machine body is also electrically connected or communicatively connected to the float through the first connecting member; Alternatively, the cleaning robot further comprises a second connecting member, and the second machine body is connected to the float structure floating on the liquid surface via the second connecting member, and the second machine body is also electrically or communicatively connected to the float via the second connecting member.

17. The cleaning robot according to claim 16, wherein: A collecting bin is formed in the second machine body; the second machine body comprises: A chassis, wherein the chassis is provided with an underwater collecting port, and the underwater collecting port is communicated with the collecting bin; a driving wheel, wherein the driving wheel is configured to drive the chassis to move; The underwater body also includes: A cleaning brush assembly, the cleaning brush assembly being arranged on the front side and / or the rear side of the second machine body; The cleaning brush assembly comprises: A main body, the main body is arranged on the second machine body; A roller brush assembly is rotatably arranged on the main body.

18. The cleaning robot according to claim 17, wherein: The cleaning brush assembly also includes: A second driving device is configured to independently drive the roller brush assembly to rotate axially relative to the main body.

19. The cleaning robot according to claim 18, wherein: The second driving device is installed in the second machine body and is transmission-connected to the roller brush assembly; Alternatively, the main body includes a supporting portion, the second driving device is mounted on the supporting portion, and the roller brush assembly is hollow inside and sleeved outside the second driving device and is transmission-connected to the second driving device.

20. The underwater body according to claim 19, characterized in that: A transmission part is arranged inside the roller brush assembly, and the transmission part includes a shaft connecting groove, and the cross section of the shaft connecting groove is a non-cylindrical surface; The second driving device comprises a driving shaft, and the driving shaft is plugged into the shaft connecting groove to realize the transmission connection between the second driving device and the roller brush assembly; Alternatively, the second driving device includes a mounting cylinder and a driving member, wherein the mounting cylinder is formed with a mounting cavity, and one end of the mounting cylinder is mounted on the main body; the main body of the driving member is mounted on the other end of the mounting cylinder in the mounting cavity, and the output shaft of the driving member extends out of the mounting cylinder and is transmission-connected to the roller brush assembly.

21. A water-based body, wherein: The above-water body is used to float on the liquid surface of the working water area and is used to be detachably connected to the underwater body of the cleaning robot; the above-water body includes: The functional module includes at least one of the following: a power supply module, a collection module, a power module, a communication module, a sensor module, a prompt module, a water quality detection module, and a water quality improvement module.

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