Water surface cleaning robot and control method therefor

Abstract

Disclosed in the present application are a water surface cleaning robot and a control method therefor. The water surface cleaning robot comprises: a shell, which has a first side surface and a second side surface arranged opposite each other in the movement direction of the water surface cleaning robot, wherein the first side surface is provided with a liquid inlet, and the first side surface and / or the second side surface are provided with liquid outlets; a filter device, which is arranged in the shell; and a suction assembly, which is arranged in the shell and comprises a pump body, wherein, under the action of the suction assembly, liquid to be cleaned enters the filter device through the liquid inlet, and the filtered liquid is discharged out of the shell through the liquid outlets. The water surface cleaning robot disclosed in the embodiments of the present application has the advantages of a good cleaning effect and wide cleaning coverage.

Description

Water surface cleaning robot and control method thereof

[0001] This application claims the Chinese patent application filed on November 27, 2023, with application number 202311598519X and title “Water Surface Cleaning Robot and Control Method Thereof”, filed on November 27, 2023, with application number 2023115960366 and title “Water Surface Cleaning Robot”, filed on November 27, 2023, with application number 202323211681X and title “Water Surface Cleaning Robot”, filed on November 27, 2023, with application number 2023232113232113 760. The priority of the Chinese patent application with application name “Water Surface Cleaning Robot”, the Chinese patent application with application number 2023232135187 and application name “Water Surface Cleaning Robot” submitted to the State Intellectual Property Office on November 27, 2023, the Chinese patent application with application number 2023232111182 and application name “Swimming Pool Cleaning Robot” submitted to the State Intellectual Property Office on November 27, 2023, and the Chinese patent application with application number 2024221574289 and application name “Pool Cleaning Robot” submitted to the State Intellectual Property Office on September 3, 2024, all of which are incorporated by reference into this application. Technical Field

[0002] The present application relates to the technical field of liquid surface cleaning, and in particular to a water surface cleaning robot and a control method thereof. Background Art

[0003] The pool cleaning robot in the related art is usually provided with a driving structure for driving its movement, and because the driving structure is located outside the shell of the pool cleaning robot, when the pool cleaning robot cleans the edge or corner of the pool, the driving structure is likely to interfere with the pool wall. Summary of the Invention

[0004] The present application aims to solve at least one of the technical problems existing in the prior art. To this end, one purpose of the present application is to provide a water surface cleaning robot, which has the advantages of good cleaning effect and large cleaning range.

[0005] In the first aspect, the present application proposes a water surface cleaning robot, comprising: a shell, the shell having a first side surface and a second side surface relatively arranged in the moving direction of the water surface cleaning robot, the first side surface being provided with a liquid inlet, and the first side surface and / or the second side surface being provided with a liquid outlet; a filtering device, the filtering device being provided in the shell; a suction component, the suction component being provided in the shell and including a pump body, under the action of the suction component, the liquid to be cleaned enters the filtering device from the liquid inlet, and the filtered liquid is discharged from the shell from the liquid outlet.

[0006] According to the water surface cleaning robot of the embodiment of the present application, on the one hand, it can prompt the liquid to be cleaned to enter the filtering device through its own movement, and on the other hand, the flow rate of the liquid to be cleaned entering the filtering device is increased through the force of the suction device, so the cleaning effect is good. Moreover, since the suction device is located in the shell, the suction device will not interfere with the pool wall. The water surface cleaning robot can clean the pool edge and corners, and the cleaning range is large.

[0007] In the second aspect, the present application proposes a control method for a water surface cleaning robot, which cleans garbage on the sides and / or corners by controlling the water surface cleaning robot; the water surface cleaning robot includes: a shell, the shell has a first side surface and a second side surface relatively arranged in the moving direction of the water surface cleaning robot, the first side surface is provided with a liquid inlet, and the first side surface and / or the second side surface are provided with a liquid outlet; a filtering device, the filtering device is arranged in the shell; a suction component, the suction component is arranged in the shell and includes a pump body, under the action of the suction component, the liquid to be cleaned enters the filtering device from the liquid inlet, and the filtered liquid is discharged from the shell from the liquid outlet. BRIEF DESCRIPTION OF THE DRAWINGS

[0008] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying any creative work.

[0009] FIG1 is a schematic structural diagram of a water surface cleaning robot according to an embodiment of the present application, wherein the liquid inlet is in an open state;

[0010] FIG2 is a schematic structural diagram of a water surface cleaning robot according to an embodiment of the present application, wherein the liquid inlet is in a closed state;

[0011] FIG3 is a schematic structural diagram of the shell of the water surface cleaning robot according to an embodiment of the present application;

[0012] FIG4 is a schematic structural diagram of an impeller, a front drain outlet, and a rear drain outlet of a water surface cleaning robot according to an embodiment of the present application;

[0013] FIG5 is a schematic structural diagram of a filtering device of a water surface cleaning robot according to an embodiment of the present application;

[0014] FIG6 is another structural diagram of the water surface cleaning robot according to an embodiment of the present application;

[0015] FIG7 is a schematic structural diagram of a water surface cleaning robot in an embodiment of the present application, in which a limiting component is in a limiting state;

[0016] FIG8 is a schematic structural diagram of the water surface cleaning robot according to an embodiment of the present application, in which the limiting component is in a separated state;

[0017] FIG9 is a schematic structural diagram of a filtering device of a water surface cleaning robot according to an embodiment of the present application;

[0018] FIG10 is a schematic diagram of another structure of the water surface cleaning robot according to an embodiment of the present application (top view);

[0019] FIG11 is a schematic cross-sectional view taken along the FF direction in FIG10 ;

[0020] FIG12 is an enlarged schematic diagram of portion H in FIG11 ;

[0021] FIG13 is another structural schematic diagram of the filtering device according to an embodiment of the present application;

[0022] FIG14 is a schematic structural diagram of the second part of the filtering device according to an embodiment of the present application;

[0023] FIG15 is a schematic structural diagram of the first part of the filtering device according to an embodiment of the present application.

[0024] : Drawings: Water surface cleaning robot 1, shell 100, first side 101, second side 102, first side edge 103, second side edge 104, installation cavity 105, outer shell 110, accommodating cavity 111, liquid channel 112, inclined section 113, first liquid channel 114, second liquid channel 115, front protrusion 116, rear protrusion 117, filtering device 120, liquid inlet 121, filtering cavity 122, limiting block 123, shaft hole 124, impeller 140, front water inlet 150, first front water inlet 151, second front water inlet 152, rear water inlet 160, first rear water inlet 161, second rear water inlet 162, anti-collision block 170, front drain outlet 180, rear drain outlet 190, Floating plate assembly 200, first side 201, second side 202, floating plate frame 210, first crossbeam 211, second crossbeam 212, first vertical beam 213, second vertical beam 214, third vertical beam 215, rotating shaft 230, through hole 240, photovoltaic power generation device 300, obstacle 400, first positioning structure 125, box body 220, through hole 221, limiting component 500, second positioning structure 310, inclined surface 320, elastic arm 330, first support arm 340, elastic member 600, first guide wheel 700, second guide wheel 800, stopper 1012, first box wall 126, limiting protrusion 1261, first portion 127, main body 1271, end wall 1272, second portion 128, buckle 1273, slot 1281, limiting protrusion 250, groove 260, Locking member 900 , second support arm 910 , connecting arm 920 . DETAILED DESCRIPTION

[0025] In order to make the purpose, technical solutions and advantages of this application clearer, the following part will further describe the embodiments of this application in detail with reference to the accompanying drawings.

[0026] When the following description refers to the accompanying drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. Instead, they are merely examples of devices and methods consistent with some aspects of the present application, as detailed in the appended claims.

[0027] In the description of this application, it should be understood that the terms "first", "second", etc. are used for descriptive purposes only and should not be understood as indicating or implying relative importance. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to specific circumstances. In addition, in the description of this application, unless otherwise specified, "multiple" refers to two or more. "And / or" describes the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. The character " / " generally indicates that the previous and subsequent associated objects are in an "or" relationship.

[0028] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which this application belongs. The terms used in this specification are for the purpose of describing specific embodiments only and are not intended to limit this application. The term "and / or" as used herein includes any and all combinations of one or more of the relevant listed items.

[0029] The water surface cleaning robot 1 according to an embodiment of the present application is described below with reference to the accompanying drawings.

[0030] As shown in FIG. 1 and FIG. 2 , the water surface cleaning robot 1 according to an embodiment of the present application includes a housing 100 , a filtering device 120 , a suction assembly, and a controller.

[0031] The housing 100 has a first side surface 101 and a second side surface 102 disposed opposite each other in the direction of movement of the water surface cleaning robot 1. The first side surface 101 is provided with a liquid inlet 121, and the first side surface 101 and / or the second side surface 102 are provided with a liquid outlet. A filter device 120 is disposed within the housing 100. A suction assembly is disposed within the housing 100 and includes a pump body. Under the action of the suction assembly, liquid to be cleaned enters the filter device 120 through the liquid inlet 121, and the filtered liquid is discharged from the housing 100 through the liquid outlet. A controller is electrically connected to the suction assembly.

[0032] It should be noted that the direction indicated by arrow A is the direction when the water surface cleaning robot 1 moves toward the opening direction of the liquid inlet 121, and the direction indicated by arrow B is the direction of water flow when the water surface cleaning robot 1 moves toward the liquid inlet direction of the liquid inlet 121.

[0033] In some embodiments of the present application, the moving direction of the water surface cleaning robot 1 is longitudinal, and the pump bodies are arranged on both sides of the shell 100 along the transverse direction.

[0034] For example, the filter device 120 may be provided with a filter cavity 122 , and the filter cavity 122 is communicated with the liquid inlet 121 and the liquid outlet respectively.

[0035] In addition, the water surface cleaning robot 1 can be used in water storage areas such as swimming pools, rivers, and lakes to clean leaves, plastic, and other garbage in these water storage areas. In addition, the water surface cleaning robot 1 can float on the liquid surface to mainly clean the liquid surface, or the water surface cleaning robot 1 can sink below the liquid surface to clean the entire liquid.

[0036] According to the water surface cleaning robot 1 of the embodiment of the present application, a liquid inlet 121 is provided on the first side 101 , a liquid outlet is provided on at least one of the first side 101 and the second side 102 , and a filtering device 120 is provided in the housing 100 .

[0037] When the water surface cleaning robot 1 is moving and the liquid inlet 121 is facing forward, the liquid to be cleaned can enter the filter device 120 from the liquid inlet 121 more easily. The filter device 120 filters the liquid to be cleaned, and the garbage in the liquid to be cleaned will remain in the filter device 120. Then the filtered liquid flows out of the filter device 120 and flows back into the water through the liquid outlet.

[0038] For example, both the first side 101 and the second side 102 may be provided with a liquid outlet, and the liquid outlets on the first side 101 and the second side 102 may be selectively opened or closed. When the filtered liquid flows out of the liquid outlet on the first side 101, it pushes the surface cleaning robot 1 toward the second side 102. When the filtered liquid flows out of the liquid outlet on the second side 102, it pushes the surface cleaning robot 1 toward the first side 101.

[0039] In addition, the suction assembly is disposed in the housing 100 and includes a pump body. Under the action of the suction assembly, the liquid to be cleaned enters the filter device 120 from the liquid inlet, and the filtered liquid is discharged from the housing 100 from the liquid outlet.

[0040] By setting up a suction component, the flow rate of the liquid to be cleaned entering the filtering device 120 from the liquid inlet 121 is increased, and even when the water surface cleaning robot 1 is moving and the liquid inlet 121 is facing backward, the force of the suction component can suck the liquid to be cleaned from the liquid inlet 121 into the filtering device 120. The water surface cleaning robot 1 can ensure effective filtration of the liquid to be cleaned in different motion modes, thereby improving the cleaning effect of the water surface cleaning robot 1.

[0041] Since the suction component is arranged in the shell 100, when the water surface cleaning robot 1 is used in a swimming pool, even if the water surface cleaning robot 1 is located at the edge or corner of the swimming pool, the suction component will not interfere with or collide with the pool wall. Therefore, the water surface cleaning robot 1 can clean the edge or corner of the swimming pool, thereby improving the cleaning range of the water surface cleaning robot 1 and the cleaning effect on the pool wall and corners.

[0042] In this way, the water surface cleaning robot 1 according to the embodiment of the present application has the advantages of good cleaning effect and a large cleaning range.

[0043] As shown in Figures 1 to 4, the water surface cleaning robot 1 according to an embodiment of the present application includes a housing 100, a distance sensor, a pump body, and a controller.

[0044] The water surface cleaning robot 1 moves in a horizontal direction. The shell 100 has a first side surface 101 and a second side surface 102 that are relatively arranged in the moving direction of the water surface cleaning robot 1. The shell 100 is provided with a liquid inlet 121 and a filter chamber 122 that are connected in sequence. The liquid inlet 121 is provided on the first side surface 101.

[0045] According to the water surface cleaning robot 1 of the embodiment of the present application, the housing 100 is provided with a liquid inlet 121 and a filter chamber 122 that are sequentially connected. The housing 100 has a first side surface 101 and a second side surface 102 that are arranged opposite to each other in the direction of movement of the water surface cleaning robot 1, and the liquid inlet 121 is provided on the first side surface 101. In this way, when the water surface cleaning robot 1 moves toward the first side surface 101, a large amount of liquid to be cleaned can enter the filter chamber 122 through the liquid inlet 121, so that garbage in the liquid to be cleaned is stored in the filter chamber 122.

[0046] At least one distance sensor is provided on the first side 101 and / or the second side 102 to detect the position of the water surface cleaning robot 1. The distance sensor may be an infrared sensor. This allows the water surface cleaning robot 1 to continuously detect the distance between itself and the pool wall during movement, preventing collisions and improving safety.

[0047] At least two distance sensors are provided on the first side surface 101 near both ends of the housing 100, each for detecting the distance between the corresponding end and an external object. By providing two distance sensors on the first side surface 101, the first side surface 101 can perform multi-point distance detection, effectively preventing one end of the housing 100 from contacting the pool wall when the housing 100 deflects relative to the pool wall, thereby greatly improving the safety of the water surface cleaning robot 1 during movement.

[0048] At least two distance sensors are provided on the second side surface 102 near both ends of the housing 100, each for detecting the distance between the corresponding end and an external object. By providing two distance sensors on the second side surface 102, the second side surface 102 can perform multi-point distance detection, effectively preventing one end of the housing 100 from contacting the pool wall when the housing 100 deflects relative to the pool wall, thereby greatly improving the safety of the water surface cleaning robot 1 during movement.

[0049] At least one anti-collision block 170 is provided on the first side surface 101 and / or the second side surface 102. By providing the anti-collision block 170, when the water surface cleaning robot 1 approaches the pool wall, the anti-collision block 170 comes into contact with the pool wall before the housing 100, thereby preventing the housing 100 from contacting the pool wall, reducing the probability of damage to the housing 100 due to collision, and increasing the service life of the water surface cleaning robot 1.

[0050] As shown in Figures 1 and 2, the housing 100 is provided with an energy storage device, which includes a photovoltaic power generation device 300. The photovoltaic power generation device 300 supplies power to the water surface cleaning robot 1. The photovoltaic power generation device 300 is provided on the top of the housing 100 and is higher than the liquid level of the liquid to be cleaned.

[0051] As shown in Figures 1 and 4 , the water surface cleaning robot 1 according to an embodiment of the present application includes a housing 100 and a pump body. At least one of the pump body and the distance sensor is electrically connected to a photovoltaic power generation device 300 .

[0052] For example, a battery can be installed in the housing 100 and connected to the pump body to power the pump body. The photovoltaic power generation device 300 can be connected to the battery to charge the battery. The photovoltaic power generation device 300 can be directly connected to the pump body to power the pump body. The photovoltaic power generation device 300 can also be connected to the pump body and the battery separately to power the pump body and charge the battery.

[0053] In addition, the battery can also be connected to the distance sensor to supply power to the distance sensor. The photovoltaic power generation device 300 can also be connected to the distance sensor to supply power to the distance sensor.

[0054] By setting a photovoltaic power generation device 300 on the top of the shell 100, on the one hand, the endurance of the water surface cleaning robot 1 can be improved, and on the other hand, the space utilization of the shell 100 is improved without affecting the use of the internal space of the shell 100. Moreover, since solar energy is a clean energy, pollution can be avoided.

[0055] In some embodiments, a distance sensor is provided on the housing 100 and is used to detect whether an obstacle 400 is present in the direction of the first side 101 and / or the distance between the surface cleaning robot 1 and the obstacle 400. A pump body is provided on the housing 100. A controller is connected to the distance sensor and the pump body, respectively, and controls the operating state of the pump body based on feedback from the distance sensor.

[0056] It should be noted that the direction of the first side surface refers to the side of the housing 100 where the first side surface is located, that is, the direction of the liquid inlet 121 away from the housing 100 .

[0057] When the water surface cleaning robot 1 of this embodiment moves toward the first side surface 101 , a large amount of liquid to be cleaned can enter the filter chamber 122 through the liquid inlet 121 , so that garbage in the liquid to be cleaned will be stored in the filter chamber 122 .

[0058] In addition, the pump body is disposed within the housing 100. Through the operation of the pump body, the liquid to be cleaned can be sucked into the filter chamber 122 through the liquid inlet 121, thereby increasing the flow rate of the liquid to be cleaned into the filter chamber 122. Furthermore, garbage in the liquid to be cleaned can also enter the filter chamber 122 more quickly, thereby improving the cleaning efficiency of the water surface cleaning robot 1 for garbage in the liquid to be cleaned. The pump body can operate regardless of the motion mode of the water surface cleaning robot 1, for example, whether the water surface cleaning robot 1 is in a forward state, a backward state, or a stationary state, the pump body can operate to further optimize the cleaning effect of the water surface cleaning robot 1 on the liquid to be cleaned.

[0059] In addition, the water surface cleaning robot 1 moves in the horizontal direction, and the distance sensor is provided on the housing 100 . The distance sensor is used to detect whether there is an obstacle 400 in the opening direction of the liquid inlet 121 , and the distance between the water surface cleaning robot 1 and the obstacle 400 .

[0060] Since the water surface cleaning robot 1 moves in the horizontal direction, when the water surface cleaning robot 1 is used in a swimming pool, the water surface cleaning robot 1 will gradually approach the pool wall. The above-mentioned obstacle 400 is the pool wall. When the distance between the water surface cleaning robot 1 and the pool wall is close, the water surface cleaning robot 1 can stop moving and remain stationary, so that the liquid inlet 121 maintains a certain distance from the pool wall, avoiding collision between the shell 100 and the obstacle 400, and reducing the probability of damage to the water surface cleaning robot 1. At this time, the controller controls the start of the pump body or increases the operating power according to the detection result of the distance sensor ( It can be understood that the pump body can be kept inactive during the movement of the water surface cleaning robot 1, and the garbage can be brought into the filter chamber 122 by the water flow alone. The pump body can also be started, but run at a lower power to assist in guiding the garbage and reduce energy consumption. It can also be run at a higher power according to the environment to be cleaned to improve the cleaning efficiency) to absorb a large amount of liquid to be cleaned near the pool wall, so that the garbage near the pool wall will also enter the filter chamber 122 in large quantities, avoiding contact between the water surface cleaning robot 1 and the pool wall, and achieving effective cleaning of the garbage near the pool wall with a low probability of damage.

[0061] When the water surface cleaning robot 1 is used in a river or lake, the above-mentioned obstacle 400 can be a building, a raised earth platform or a bank in the river or lake. When the distance between the water surface cleaning robot 1 and the above-mentioned obstacle 400 is close, the water surface cleaning robot 1 can stop moving and remain stationary, so that the liquid inlet 121 maintains a certain distance from the above-mentioned obstacle 400, avoiding collision between the shell 100 and the obstacle 400, and reducing the probability of damage to the water surface cleaning robot 1. At this time, the controller controls the start-up of the pump body or increases the operating power according to the detection result of the distance sensor (it can be understood that on the water surface During the movement of the cleaning robot 1, the pump body can be kept silent, and only the water flow can be used to bring the garbage into the filter chamber 122. The pump body can also be started, but run at a lower power to assist in guiding the garbage and reduce energy consumption. It can also be run at a higher power according to the environment to be cleaned to improve the cleaning efficiency) to absorb a large amount of liquid to be cleaned near the above-mentioned obstacle 400, so that the garbage near the above-mentioned obstacle 400 will also enter the filter chamber 122 in large quantities. While avoiding contact between the water surface cleaning robot 1 and the above-mentioned obstacle 400, the garbage near the above-mentioned obstacle 400 can be effectively cleaned with a low probability of damage.

[0062] In this way, the water surface cleaning robot 1 according to this embodiment can effectively clean the liquid to be cleaned near the obstacle 400, with good cleaning effect and low probability of damage.

[0063] When the distance sensor detects that there is an obstacle 400 in the opening direction of the liquid inlet 121:

[0064] If the distance between the obstacle 400 and the water surface cleaning robot 1 is greater than a preset value, the pump body operates at the first power;

[0065] If the distance between the obstacle 400 and the water surface cleaning robot 1 is not greater than a preset value, the pump body operates at a second power, which is greater than the first power.

[0066] Specifically, when the distance between the obstacle 400 and the water surface cleaning robot 1 is greater than a preset value, the distance between the obstacle 400 and the water surface cleaning robot 1 is farther, so the water surface cleaning robot 1 can continue to move toward the obstacle 400. At this time, the pump body operates at the first power, and the first power is relatively low, which can play a role in assisting in guiding the flow of the liquid to be cleaned. At this time, the energy consumption is low, ensuring the endurance of the water surface cleaning robot 1; higher power can also be used for cleaning according to the environment to be cleaned.

[0067] When the distance between the obstacle 400 and the water surface cleaning robot 1 is not greater than the preset value, the distance between the obstacle 400 and the water surface cleaning robot 1 is close, so the water surface cleaning robot 1 stops moving toward the obstacle 400, avoiding a collision between the shell 100 and the obstacle 400, and reducing the probability of damage to the water surface cleaning robot 1. At this time, the pump body operates at the second power, which is higher and can guide a large amount of liquid to be cleaned to flow into the filter chamber 122, thereby increasing the speed of filtering garbage.

[0068] The above-mentioned first side surface 101 has a first side edge 103 and a second side edge 104 arranged opposite to each other, and the first side edge 103 and the second side edge 104 are both perpendicular to the liquid surface of the liquid to be cleaned. There are multiple distance sensors, at least one of the multiple distance sensors is close to the first side edge 103, and at least another one of the multiple distance sensors is close to the second side edge 104.

[0069] By providing at least two distance sensors, and disposing the two distance sensors separately on the first side edge 103 and the second side edge 104, the distance between the side edge of the first side surface 101 in the horizontal direction and the obstacle 400 can be detected, thereby effectively adjusting the movement direction and movement state of the water surface cleaning robot 1. For example, the movement direction includes straight forward, moving to the left front, moving to the right front, straight backward, moving to the left rear, and moving to the right rear, and the movement state includes forward, backward, and stationary.

[0070] A first distance from the first side edge 103 to the obstacle 400 is obtained based on the detection results of at least one distance sensor on the first side edge 103. A second distance from the second side edge 104 to the obstacle 400 is obtained based on the detection results of at least one distance sensor on the second side edge 104. If the first distance is not equal to the second distance, the controller controls the pump body corresponding to the first side edge 103 to operate and / or controls the pump body corresponding to the second side edge 104 to operate so that the first distance equals the second distance.

[0071] Specifically, there can be multiple pump bodies, one of the multiple pump bodies corresponds to the position of the first side edge 103, and the pump body can drive the movement of the first side edge 103, for example, driving the first side edge 103 forward or backward; another one of the multiple pump bodies corresponds to the position of the second side edge 104, and the pump body can control the movement of the second side edge 104, for example, driving the second side edge 104 forward or backward.

[0072] By comparing the size relationship between the first distance and the second distance, it is possible to determine whether the first side surface 101 is parallel to the obstacle 400. If the first side surface 101 is not parallel to the obstacle 400, the first distance between the first side edge 103 and the obstacle 400 is adjusted, or the second distance between the second side edge 104 and the obstacle 400 is adjusted, or the first distance between the first side edge 103 and the obstacle 400 and the second distance between the second side edge 104 and the obstacle 400 are adjusted at the same time.

[0073] In this way, the first side surface 101 can be ensured to be parallel to the obstacle 400 , so that each area of ​​the liquid inlet 121 has the same ability to guide the liquid to be cleaned, thereby more effectively cleaning the garbage near the obstacle 400 .

[0074] If the first distance is greater than the second distance, and the second distance is equal to zero, the controller controls the pump body corresponding to the first side edge 103 to operate so that the first distance and the second distance are both zero. Similarly, if the second distance is greater than the first distance, and the first distance is equal to zero, the controller controls the pump body corresponding to the second side edge 104 to operate so that the first distance and the second distance are both zero.

[0075] As shown in FIG4 , the first side surface 101 is provided with a front drain port 180, and the second side surface 102 is provided with a rear drain port 190. The water surface cleaning robot 1 has a forward mode and a reverse mode. The pump body includes an impeller 140. When the water surface cleaning robot 1 is in the forward mode, the impeller 140 rotates in a first direction to guide the liquid in the housing 100 to flow toward the rear drain port 190. When the water surface cleaning robot 1 is in the reverse mode, the impeller 140 rotates in a second direction opposite to the first direction to guide the liquid in the housing 100 to flow toward the front drain port 180.

[0076] By adjusting the rotation direction of the impeller 140, the flow direction of the liquid in the shell 100 can be adjusted. When the impeller 140 rotates along the first direction, the liquid in the shell 100 flows out from the rear drain port 190, which will give the water surface cleaning robot 1 a forward reaction force to push the water surface cleaning robot 1 forward; when the impeller 140 rotates along the second direction, the liquid in the shell 100 flows out from the front drain port 180, which will give the water surface cleaning robot 1 a backward reaction force to push the water surface cleaning robot 1 backward.

[0077] In this way, the pump body can not only guide the liquid to be cleaned into the filter chamber 122, but also adjust the moving direction of the water surface cleaning robot 1. The pump body can realize multiple functions, reduce the number of parts, and the structure of the water surface cleaning robot 1 is simple, and the cost and weight can be reduced accordingly.

[0078] As shown in Figures 1 and 2, the first side 101 is provided with an installation cavity 105, and the distance sensor is arranged in the installation cavity. By setting the installation cavity 105, on the one hand, the distance sensor can be protected and the probability of damage to the distance sensor can be reduced. On the other hand, the installation cavity 105 is constructed on the first side 101. When the water surface cleaning robot 1 moves forward, the distance sensor in the installation cavity 105 can more reliably detect whether there is an obstacle 400 in the forward direction of the water surface cleaning robot 1, and the distance between the obstacle 400 and the first side 101.

[0079] As shown in Figures 1 and 2, the first side surface 101 is provided with a plurality of anti-collision blocks 170, which are arranged in a horizontal direction, and the arrangement direction of the anti-collision blocks 170 is perpendicular to the movement direction of the housing 100. By providing a plurality of anti-collision blocks 170, when the water surface cleaning robot 1 moves toward the first side surface 101, the anti-collision blocks 170 cover a larger area of ​​the first side surface 101 of the water surface cleaning robot 1, thereby further reducing the probability of collision with the first side surface 101.

[0080] The dimension of the anti-collision block 170 extending beyond the first side surface 101 is 5 mm to 20 mm. On the one hand, setting the dimension of the anti-collision block 170 extending beyond the first side surface 101 to be no less than 5 mm allows for sufficient clearance between the housing 100 and the obstacle 400, facilitating the water surface cleaning robot 1 to collect garbage near the obstacle 400. On the other hand, setting the dimension of the anti-collision block 170 extending beyond the first side surface 101 to be no more than 20 mm prevents the anti-collision block 170 from being too long and affecting the operation of the water surface cleaning robot 1, thereby reducing costs and weight.

[0081] As shown in Figures 1 and 2, a part of the above-mentioned liquid inlet 121 is located above the liquid surface, and the other part of the liquid inlet 121 is below the liquid surface. That is, the upper side of the liquid inlet 121 is higher than the liquid surface, and the lower side of the liquid inlet 121 is lower than the liquid surface. The water surface cleaning robot 1 floats on the liquid surface. For example, the water surface cleaning robot 1 can be provided with a buoyancy device. Since the garbage in the water storage area mainly floats on the liquid surface, the water surface cleaning robot 1 can clean the liquid surface with higher cleaning efficiency.

[0082] In addition, the distance sensor is located below the liquid inlet 121. When the water surface cleaning robot 1 is used in a swimming pool, since the water surface cleaning robot 1 floats on the liquid surface, if the distance sensor is higher than the liquid surface, the distance sensor may be higher than the pool wall of the swimming pool. Similarly, when the water surface cleaning robot 1 is used in a river or a lake, if the distance sensor is higher than the liquid surface, the distance sensor may be higher than the edge of the river and the surrounding wall of the lake. Therefore, the distance sensor is set below the liquid inlet 121 to ensure that the distance sensor is below the liquid surface, thereby ensuring the accuracy of the distance sensor in detecting obstacles 400.

[0083] In addition, the anti-collision block 170 is located below the liquid inlet 121. When the water surface cleaning robot 1 is used in a swimming pool, since the water surface cleaning robot 1 floats on the liquid surface, if the anti-collision block 170 is higher than the liquid surface, the anti-collision block 170 may be higher than the pool wall of the swimming pool. Similarly, when the water surface cleaning robot 1 is used in a river or a lake, if the anti-collision block 170 is higher than the liquid surface, the anti-collision block 170 may be higher than the edge of the river and the surrounding wall of the lake. Therefore, the anti-collision block 170 is set below the liquid inlet 121 to ensure that the anti-collision block 170 is below the liquid surface, and the protection of the shell 100 by the anti-collision block 170 is more reliable.

[0084] As shown in Figures 1 to 3, the housing 100 includes a shell 110. The shell 110 has a receiving chamber 111. The filter device 120 is detachably mounted in the receiving chamber 111. The filter chamber 122 is mounted in the filter device 120. At least one of the distance sensor and the anti-collision block 170 is mounted in the shell 110.

[0085] After the water surface cleaning robot 1 cleans the liquid surface, the filter device 120 can be removed from the accommodating chamber 111, and then the garbage in the filter chamber 122 of the filter device 120 can be poured out, and then the filter device 120 can be installed into the accommodating chamber 111. The water surface cleaning robot 1 has a good reuse effect, and there is no need to pick up the water surface cleaning robot 1 as a whole to dump garbage, which improves the convenience of the water surface cleaning robot 1 in dumping garbage.

[0086] Since the filter device 120 and the shell 110 may be in a relative position, and the filter device 120 is located inside the shell 110, setting the distance sensor on the shell 110 can more accurately judge the distance between the obstacle 400 detected by the distance sensor and the shell 110, and then more accurately judge the distance between the obstacle 400 detected by the distance sensor and the outer surface of the water surface cleaning robot 1, thereby effectively controlling the switching of the working state of the water surface cleaning robot 1.

[0087] After the filter device 120 is continuously disassembled and assembled from the shell 110, the relative position relationship between the filter device 120 and the shell 110 may change. The filter device 120 is located inside the shell 110. Therefore, setting the anti-collision block 170 on the shell 110 can more reliably prevent the shell 110 from being hit, thereby effectively protecting the shell 110 and reducing the probability of damage to the shell 110.

[0088] As shown in FIG. 1 and FIG. 2 , the water surface cleaning robot 1 according to an embodiment of the present application includes a housing 100 and a floating plate assembly 200 .

[0089] The liquid inlet 121 is provided with a float assembly 200. The float assembly 200 is rotatably mounted on the housing 100 or the filter device 120 between an open position and a closed position. When the surface cleaning robot 1 is stationary, the float assembly 200 is maintained in the closed position by the buoyancy of the liquid to be cleaned. When the float assembly 200 is open, at least a portion of the liquid inlet 121 is open, allowing the liquid to be cleaned to enter.

[0090] That is to say, the density of the float assembly 200 is less than the density of the liquid to be cleaned, and the float assembly 200 is kept in the closed position when the buoyancy of the liquid to be cleaned is driven, that is, when the water surface cleaning robot 1 is in a stationary state, the float assembly 200 is kept in the closed position when the buoyancy of the liquid to be cleaned is driven.

[0091] According to the water surface cleaning robot 1 of the embodiment of the present application, a liquid inlet 121 and a filter chamber 122 are provided on the shell 100, the filter chamber 122 is connected to the liquid inlet 121, and the float assembly 200 is rotatably provided on the shell 100 between an open position and a closed position. When the float assembly 200 is in the open position, the liquid inlet 121 is open, and when the float assembly 200 is in the closed position, at least a portion of the liquid inlet 121 is covered.

[0092] For example, the rotation axis of the floating plate assembly 200 can be a physical rotation axis, that is, the rotation axis of the floating plate assembly 200 passes through the floating plate assembly 200, or the rotation axis of the floating plate assembly 200 can be a virtual axis, that is, the rotation axis of the floating plate assembly 200 does not pass through the floating plate assembly 200, and the floating plate assembly 200 has a larger range of motion.

[0093] When the float assembly 200 is in the open position, the garbage in the liquid can enter the filter chamber 122 through the liquid inlet 121; when the float assembly 200 is in the closed position, the garbage in the filter chamber 122 will be blocked by the float assembly 200 to reduce the probability of the garbage in the filter chamber 122 flowing out of the filter chamber 122.

[0094] Furthermore, the density of the float assembly 200 is less than the density of the liquid to be cleaned, and the float assembly 200 is maintained in the closed position by the buoyancy of the liquid to be cleaned. Furthermore, when the surface cleaning robot 1 moves toward the first side 101, the liquid to be cleaned pushes the float assembly 200 from the closed position to the open position. The liquid to be cleaned can include water, another single liquid, or a mixture of liquids.

[0095] That is, the density of the float assembly 200 is less than the density of the liquid to be cleaned. When the water surface cleaning robot 1 is not moving (i.e., in a stationary state), the buoyancy exerted by the liquid to be cleaned on the float assembly 200 will push the float assembly 200 toward the liquid surface, thereby enabling the float assembly 200 to cover at least a portion of the liquid inlet 121 when in the closed position, thereby reducing the probability of garbage in the filter chamber 122 flowing out of the filter chamber 122. Alternatively, when the water surface cleaning robot 1 moves in a direction away from the liquid inlet 121, the water surface cleaning robot 1 and the liquid to be cleaned move relative to each other. In addition to the buoyancy exerted by the liquid to be cleaned, the float assembly 200 will also be subjected to the thrust exerted by the liquid to be cleaned on the float assembly 200, so that the float assembly 200 switches from the open position to the closed position more quickly, thereby preventing garbage in the filter chamber 122 from being moved out of the filter chamber 122 under the flow of the liquid to be cleaned.

[0096] When the water surface cleaning robot 1 moves toward the liquid inlet 121, the water surface cleaning robot 1 and the liquid to be cleaned move relative to each other, and the float assembly 200 is subjected to the thrust exerted by the liquid to be cleaned on the float assembly 200. When the thrust exerted by the liquid to be cleaned on the float assembly 200 is greater than the buoyancy exerted by the liquid to be cleaned on the float assembly 200, the float assembly 200 will start to rotate toward the open position to switch the float assembly 200 to the open position. At this time, the garbage in the liquid to be cleaned will enter the filter chamber 122 more quickly to ensure the cleaning speed of the water surface cleaning robot 1 on the liquid to be cleaned.

[0097] In addition, in the water surface cleaning robot 1 of the embodiment of the present application, the rotation of the float plate assembly 200 between the open position and the closed position does not require an additional driving structure. The opening and closing of the float plate assembly 200 can be controlled by relying on the water surface cleaning robot 1 to change its own motion state. The water surface cleaning robot 1 has a simple structure, a small number of parts, simplified disassembly and assembly steps, low production cost and weight, and a concise control program, which is conducive to improving cleaning efficiency and easy operation.

[0098] The water surface cleaning robot 1 according to the embodiment of the present application does not need to provide an additional driving structure for the floating plate assembly 200, and has the advantages of simple structure, small number of parts, low production cost and weight, etc.

[0099] As shown in Figures 1 and 2, the rotation axis of the float plate assembly 200 is located below the liquid surface of the liquid to be cleaned, and the rotation axis can pass through the float plate assembly 200. Since the rotation axis of the float plate assembly 200 is located below the liquid surface of the liquid to be cleaned, no matter what position the float plate assembly 200 is in, at least a portion of the float plate assembly 200 will be located below the liquid surface, which can ensure that the float plate assembly 200 effectively blocks the liquid inlet 121.

[0100] As shown in FIG5 , the floating plate assembly 200 has a first side 201 and a second side 202. The first side 201 and the second side 202 are located on opposite sides of the floating plate assembly 200. The first side 201 is rotatably connected to the housing 100 or the sidewall of the filter chamber 122 or the filter device 120. Preferably, the first side 201 is rotatably connected to the housing 100. In other words, the rotation axis of the floating plate assembly 200 is disposed on the first side 201, and the arrangement direction of the first side 201 and the second side 202 is perpendicular to the rotation axis of the floating plate assembly 200. Specifically, when the floating plate assembly 200 switches from an open position to a closed position, the second side 202 rotates upward about the rotation axis of the floating plate assembly 200. When the floating plate assembly 200 switches from a closed position to an open position, the second side 202 rotates downward about the rotation axis of the floating plate assembly 200.

[0101] Because the density of the float assembly 200 is less than the density of the liquid to be cleaned, when the surface cleaning robot 1 moves away from the liquid inlet 121, or when the surface cleaning robot 1 is not moving, the buoyancy exerted by the liquid to be cleaned on the float assembly 200 naturally pushes the float assembly 200 upward. Compared to setting the rotation axis of the float assembly 200 between the first side 201 and the second side 202, connecting the first side 201 to the housing 100 reduces the travel of the first side 201 relative to the housing 100, allowing the second side 202 to rotate upward about the rotation axis of the float assembly 200. This facilitates the rotation of the float assembly 200 between the open and closed positions.

[0102] As shown in Figures 1 and 2, the surface cleaning robot 1 moves horizontally. The housing 100 has a first side surface 101 and a second side surface 102 that are positioned opposite each other in the direction of movement of the surface cleaning robot 1. The liquid inlet 121 is located on the first side surface 101. When the float assembly 200 is in the closed position, the first side surface 201 is positioned below the second side surface 202. For example, the surface cleaning robot 1 can float on the liquid surface to clean it, or it can sink into the liquid to clean the entire liquid.

[0103] When the water surface cleaning robot 1 moves toward the first side 101, the float assembly 200 rotates to the open position under the thrust of the liquid to be cleaned. At this time, the float assembly 200 can be in a horizontal state, the liquid inlet 121 is open, and garbage can enter the filter chamber 122; when the water surface cleaning robot 1 does not move, the float assembly 200 rotates to the closed position under the buoyancy of the liquid to be cleaned. At this time, the float assembly 200 can be in a vertical state, preventing the garbage in the filter chamber 122 from moving out; when the water surface cleaning robot 1 moves toward the second side 102, the float assembly 200 rotates to the closed position under the buoyancy of the liquid to be cleaned and the thrust of the liquid to be cleaned. At this time, the float assembly 200 can be in a vertical state, preventing the garbage in the filter chamber 122 from moving out.

[0104] As shown in Figures 1 and 2, a portion of the liquid inlet 121 is located above the liquid surface, while another portion is located below the liquid surface. In other words, the lower edge of the liquid inlet 121 is lower than the liquid surface of the liquid to be cleaned, while the lower edge of the liquid inlet 121 is higher than the liquid surface of the liquid to be cleaned. The water surface cleaning robot 1 floats on the liquid surface. For example, the water surface cleaning robot 1 is provided with a buoyancy device. In this way, the water surface cleaning robot 1 mainly cleans the liquid surface, so that the garbage in the liquid to be cleaned is concentrated on the liquid surface. Therefore, after the garbage on the liquid surface is cleaned, the cleanliness of the liquid to be cleaned is greatly improved, thereby improving the cleaning efficiency of the water surface cleaning robot 1.

[0105] As shown in Figures 1 and 2, the float assembly 200 can be made of a material with a density less than that of the liquid to be cleaned. For example, when the surface cleaning robot 1 is used in a swimming pool, the float assembly 200 can be made of a material with a density less than that of the liquid in the swimming pool. When the surface cleaning robot 1 is used in a river, the float assembly 200 can be made of a material with a density less than that of the liquid in the river. The float assembly 200 can also be provided with a cavity so that the density of the float assembly 200 is less than that of the liquid to be cleaned. In this way, the construction of the float assembly 200 is more diverse, which is conducive to the application of the surface cleaning robot 1 in different usage scenarios.

[0106] As shown in FIG. 1 and FIG. 2 , the housing 100 is provided with a limit block 123 . When the floating plate assembly 200 is in the closed position, the floating plate assembly 200 is stopped by the limit block 123 , thereby limiting the rotational travel of the floating plate assembly 200 .

[0107] For example, there can be at least two limit blocks 123, and the two limit blocks 123 are arranged on opposite sides of the float plate assembly 200 in the extension direction of the rotation axis of the float plate assembly 200, so that the float plate assembly 200 is evenly stressed, and the limit blocks 123 are stopped at the second side 202. The limit blocks 123 are located above the liquid surface, which has a better limiting effect on the float plate assembly 200, and when the float plate assembly 200 is in the closed position, the limit blocks 123 are located on the upper side of the liquid inlet 121, that is, the limit blocks 123 are far away from the liquid surface, which is not easy to affect the garbage on the liquid surface from entering the filter chamber 122, thereby ensuring the cleaning efficiency of the water surface cleaning robot 1 for liquid surface garbage.

[0108] In the process of the water surface cleaning robot 1 moving toward the liquid inlet 121, the liquid to be cleaned continuously enters the filter chamber 122 from the liquid inlet 121, and the float assembly 200 is pushed to move from the closed position to the open position. At this time, the float assembly 200 gradually rotates into the filter chamber 122. When the float assembly 200 moves to the open position, it will be stopped by the inner wall of the filter chamber 122. Therefore, there is no need to provide an additional stop structure to stop the float assembly 200 in the open position.

[0109] When the water surface cleaning robot 1 moves toward the liquid inlet 121 facing away from the liquid inlet 121 or when the water surface cleaning robot 1 is in a stationary state, the liquid to be cleaned exerts buoyancy on the float assembly 200, and the float assembly 200 is pushed to move from the open position to the closed position. At this time, the float assembly 200 gradually rotates toward the outside of the filter chamber 122. By setting a limit block 123, the limit block 123 can be located on the side of the float assembly 200 facing away from the filter chamber 122. The limit block 123 can limit the float assembly 200 to the closed position, thereby preventing the limit block 123 from rotating excessively toward the outside of the filter chamber 122, ensuring that the float assembly 200 maximizes the blocking of the liquid inlet 121. The float assembly 200 has a better blocking effect on the liquid inlet 121 in the closed position, reducing the probability of objects in the filter chamber 122 moving out of the liquid inlet 121.

[0110] As shown in Figures 1 and 2, the floating plate assembly 200 includes a floating plate frame 210 and a first filter. The floating plate frame 210 is rotatably mounted to the housing 100. The density of the floating plate frame 210 is less than the density of the liquid to be cleaned. The first filter is mounted on the floating plate frame 210. When the floating plate assembly 200 is in the closed position, the first filter covers at least a portion of the liquid inlet 121.

[0111] Among them, the floating plate frame 210 is made of a material with a density lower than that of water, or the floating plate assembly 200 is provided with a cavity so that the density of the floating plate assembly 200 is lower than the density of the liquid to be cleaned, or the floating plate frame 210 is made of a material with a density lower than that of water, and the floating plate assembly 200 is provided with a cavity.

[0112] By setting the first filter, not only can the garbage in the filter chamber 122 be prevented from flowing out when the float assembly 200 is in the closed position, but also the degree of sealing of the filter chamber 122 by the float assembly 200 in the closed position can be reduced, thereby increasing the exchange efficiency between the filter chamber 122 and the external liquid to be cleaned, and reducing the weight of the float assembly 200 and reducing costs.

[0113] As shown in Figure 5, the floating plate frame 210 has a plurality of through-holes 240, and a plurality of first filter screens are disposed one-to-one in correspondence with the plurality of through-holes 240. This separation of the first filter screens reduces the area of ​​each first filter screen, thereby reducing the probability of damage to the first filter screens and improving the structural strength of the floating plate frame 210.

[0114] As shown in FIG5 , the arrangement direction of the plurality of through holes 240 is perpendicular to the moving direction of the water surface cleaning robot 1 , thereby avoiding the stacking of the plurality of first filter screens along the moving direction of the water surface cleaning robot 1 , and facilitating increasing the area of ​​the liquid inlet 121 covered by the plurality of first filter screens.

[0115] For example, the floating plate skeleton 210 includes a first horizontal beam 211 , a second horizontal beam 212 , a first vertical beam 213 , a second vertical beam 214 and a third vertical beam 215 .

[0116] The first horizontal beam 211 extends horizontally and is below the liquid level of the liquid to be cleaned. The second horizontal beam 212 extends horizontally and is above the liquid level of the liquid to be cleaned. The first vertical beam 213, the second vertical beam 214, and the third vertical beam 215 all extend vertically and are arranged horizontally at intervals. The first horizontal beam 211 is connected to the first vertical beam 213, the second vertical beam 214, and the third vertical beam 215, respectively. The second horizontal beam 212 is connected to the first vertical beam 213, the second vertical beam 214, and the third vertical beam 215, respectively. One of the first filter screens is located between the first vertical beam 213 and the second vertical beam 214, and the other first filter screen is located between the second vertical beam 214 and the third vertical beam 215.

[0117] By setting the first horizontal beam 211, the second horizontal beam 212, the first vertical beam 213, the second vertical beam 214 and the third vertical beam 215, the floating plate skeleton 210 roughly forms a "sun" shaped frame. The structure of the floating plate skeleton 210 is more stable, and setting the first filter screen to multiple can reduce the area of ​​each first filter screen, thereby reducing the probability of damage to the first filter screen.

[0118] As shown in Figures 1 and 2, the filter device 120 is retractably mounted in the accommodating chamber 111. The floating plate assembly 200 is rotatably mounted on the housing 110 or the filter device 120.

[0119] After the water surface cleaning robot 1 cleans the liquid surface, the filter device 120 can be removed from the accommodating chamber 111, and then the garbage in the filter chamber 122 of the filter device 120 can be poured out, and then the filter device 120 can be installed into the accommodating chamber 111. The water surface cleaning robot 1 has a good reuse effect, and there is no need to pick up the water surface cleaning robot 1 as a whole to dump garbage, which improves the convenience of the water surface cleaning robot 1 in dumping garbage.

[0120] As shown in FIG5 , one of the floating plate assembly 200 and the filter device 120 is provided with a rotating shaft 230, and the other is provided with an axial hole 124. The rotating shaft 230 and the axial hole 124 are rotatably engaged with each other. Compared to installing the floating plate assembly 200 on the housing 110, installing the floating plate assembly 200 on the filter device 120 does not interfere with the filter device 120 when the filter device 120 is installed in the accommodating chamber 111 or removed from the accommodating chamber 111, making installation and removal of the filter device 120 more convenient.

[0121] As shown in Figures 1-4, the filter device 120 and / or the housing 100 are provided with an inlet, and the housing 100 is provided with a liquid passage 112. The pump body is disposed within the liquid passage 112, which is connected to the inlet and the liquid outlet, respectively. After the liquid to be cleaned is filtered by the filter device 120, it enters the liquid passage 112 through the inlet and is then discharged from the liquid outlet.

[0122] There are at least two inlets, which are arranged on the inner wall of the housing 100. Under the action of the suction assembly, the filtered liquid enters the liquid channel 112 from the inlet and is discharged from the corresponding outlet.

[0123] The pump body includes a motor and an impeller 140. The impeller 140's rotation axis extends along the direction of movement of the water surface cleaning robot 1. Driven by the motor, the impeller rotates in a first direction and a second direction, the first direction and the second direction being opposite. Different rotation directions cause liquid to be discharged from different outlets.

[0124] The housing 100 is provided with a liquid inlet 121, a filter chamber 122, and a liquid channel 112, which are connected in sequence. The water surface cleaning robot 1 moves in a horizontal direction. The housing 100 has a first side surface 101 and a second side surface 102, which are arranged opposite each other in the direction of movement of the water surface cleaning robot 1. The first side surface 101 is provided with a liquid inlet 121 and a front drain port 180, and the second side surface 102 is provided with a rear drain port 190. The liquid channel 112 is connected to the front drain port 180 and the rear drain port 190, respectively. The pump body is disposed in the liquid channel 112.

[0125] As shown in Figures 1, 2, and 4, at least two different inlets correspond to different fluid channels. One fluid channel is located near the third side of the housing 100, and the other fluid channel is located near the fourth side of the housing 100. The third and fourth sides are disposed opposite each other and perpendicular to the first and second sides. Different fluid channels correspond to different outlets. Under the action of the suction assembly, liquid enters the different fluid channels from the different inlets and is discharged from the different outlets, enabling the surface cleaning robot to move forward, backward, or turn.

[0126] With the first side 101 and the second side 102 being two opposing sides in the front-to-back direction of the water surface cleaning robot 1, the third side and the fourth side can be two opposing sides in the left-to-right direction of the housing 100. Thus, different liquid channels 112 have different inlets and outlets, and are located on opposite sides of the housing 100. The suction assembly can control the different liquid entry channels to enable the water surface cleaning robot 1 to move forward, backward, or turn.

[0127] For example, the water surface cleaning robot 1 has a forward mode and a reverse mode, and the liquid outlet may include a front drain port 180 and a rear drain port 190. When the water surface cleaning robot 1 is in the forward mode, the impeller 140 rotates in a first direction, and the pump body guides the liquid in the liquid channel 112 to the rear drain port 190; when the water surface cleaning robot 1 is in the reverse mode, the impeller 140 rotates in a second direction, and the pump body guides the liquid in the liquid channel 112 to the front drain port 180. By changing the rotation direction of the impeller 140, the flow direction of the liquid in the liquid channel 112 can be changed, that is, the liquid in the liquid channel 112 is guided to flow to the front drain port 180 or the rear drain port 190. There is no need to set a structure for opening and closing the front drain port 180 or the rear drain port 190, the structure is simpler, the number of parts is reduced, and the cost of use is reduced. In this way, the pump body can not only guide the liquid to be cleaned into the filter chamber 122, but also adjust the moving direction of the water surface cleaning robot 1. The pump body can realize multiple functions, reduce the number of parts, and the structure of the water surface cleaning robot 1 is simple, and the cost and weight can be reduced accordingly.

[0128] The sidewall of the liquid channel 112 facing the filter chamber 122 in the horizontal direction has an inclined section 113. The inclined section 113 is arranged at an angle relative to the rotation axis of the impeller 140, and the rotation axis of the impeller 140 passes through the inclined section 113. In this way, the impeller 140 can be fixed by the sidewall of the liquid channel 112 without the need for additional fixing structure, resulting in a small number of parts and a simple structure.

[0129] Specifically, the inclined section 113 can be configured to be arc-shaped, which protrudes horizontally toward the filter cavity 122 to increase the volume of the liquid channel 112 , thereby reducing the flow resistance of the liquid and improving the guiding effect.

[0130] In addition, the inlet includes a front water inlet 150 and a rear water inlet 160 . The front water inlet 150 is located between the impeller 140 and the first side surface 101 , and the rear water inlet 160 is located between the impeller 140 and the second side surface 102 .

[0131] The filter cavity 122 and the liquid channel 112 may be selectively connected via a front water inlet 150 or a rear water inlet 160 , and both the front water inlet 150 and the rear water inlet 160 are connected to the liquid channel 112 .

[0132] When the water surface cleaning robot 1 is in the forward mode, the front water inlet 150 is connected to the filter chamber 122, and the rear water inlet 160 is disconnected from the filter chamber 122; when the water surface cleaning robot 1 is in the backward mode, the front water inlet 150 is disconnected from the filter chamber 122, and the rear water inlet 160 is connected to the filter chamber 122.

[0133] That is to say, when the water surface cleaning robot 1 is in the forward mode, the liquid to be cleaned in the filter chamber 122 flows into the liquid channel 112 through the front water inlet 150, and is discharged from the housing 100 from the rear drain port 190 under the guidance of the impeller 140. Since the front water inlet 150 is located in front of the impeller 140 and the rear drain port 190 is located behind the impeller 140, when the impeller 140 rotates, the liquid in front of the impeller 140 is continuously guided to the rear of the impeller 140. The liquid flowing into the front water inlet 150 can be replenished to the front of the impeller 140 in time, and the liquid in the liquid channel 112 flows more smoothly, thereby accelerating the flow rate of the liquid in the liquid channel 112 and ensuring the forward speed of the water surface cleaning robot 1.

[0134] When the water surface cleaning robot 1 is in the backward mode, the liquid to be cleaned in the filter chamber 122 flows into the liquid channel 112 through the rear water inlet 160, and is discharged from the shell 100 from the front drain port 180 under the guidance of the impeller 140. Since the rear water inlet 160 is located on the rear side of the impeller 140 and the front drain port 180 is located on the front side of the impeller 140, the liquid on the rear side of the impeller 140 is continuously guided to the front of the impeller 140. The liquid flowing into the rear water inlet 160 can be replenished to the rear side of the impeller 140 in time. The liquid in the liquid channel 112 flows more smoothly, which speeds up the flow rate of the liquid in the liquid channel 112 and ensures the backward speed of the water surface cleaning robot 1.

[0135] A protruding front protrusion 116 and a rear protrusion 117 are provided on the side of the liquid channel 112 facing the filter chamber 122. The front protrusion 116 is connected to the front water inlet 150, and the rear protrusion 117 is connected to the rear water inlet 160 to increase the volume of the liquid channel 112, and the inclined section 113 is constructed as a part of the front protrusion 116, and the inclined section 113 is used to fix the impeller 140.

[0136] By adjusting the rotation direction of the impeller 140, the flow direction of the liquid in the shell 100 can be adjusted. When the impeller 140 rotates along the first direction, the liquid in the shell 100 flows out from the rear drain port 190, which will give the water surface cleaning robot 1 a forward reaction force to push the water surface cleaning robot 1 forward; when the impeller 140 rotates along the second direction, the liquid in the shell 100 flows out from the front drain port 180, which will give the water surface cleaning robot 1 a backward reaction force to push the water surface cleaning robot 1 backward.

[0137] In this way, the pump body can not only guide the liquid to be cleaned into the filter chamber 122, but also adjust the moving direction of the water surface cleaning robot 1. The pump body can realize multiple functions, reduce the number of parts, and the structure of the water surface cleaning robot 1 is simple, and the cost and weight can be reduced accordingly.

[0138] As shown in Figures 3 and 4, the distance between the front water inlet 150 and the first side 101 is greater than the distance between the front water inlet 150 and the second side 102, and the distance between the rear water inlet 160 and the first side 101 is greater than the distance between the rear water inlet 160 and the second side 102.

[0139] That is to say, the front water inlet 150 and the rear water inlet 160 are relatively far away from the liquid inlet 121. In this way, the liquid to be cleaned that enters the filter chamber 122 from the liquid inlet 121 has a long flow path in the filter chamber 122, which prevents garbage in the liquid to be cleaned from accumulating near the liquid inlet 121 and affecting the subsequent liquid to be cleaned from continuing to flow into the filter chamber 122, and fully utilizes the space of the filter chamber 122 to store garbage.

[0140] As shown in Figures 3 and 4 , the housing 100 is provided with a plurality of fluid channels 112, which are spaced apart from each other. The arrangement of the plurality of fluid channels 112, the movement direction of the housing 100, and the vertical direction are perpendicular to each other. The plurality of fluid channels 112 include a first fluid channel 114 and a second fluid channel 115, which are respectively provided on opposite sides of the filter cavity 122.

[0141] By setting up multiple liquid channels 112, pump bodies can be set in the multiple liquid channels 112. Multiple pump bodies run simultaneously, which provides greater driving force for the water surface cleaning robot 1, thereby improving the moving speed of the water surface cleaning robot 1 in the forward and backward states.

[0142] In addition, multiple liquid channels 112 are arranged in the horizontal direction, which can reduce the vertical size of the shell 100, thereby reducing the vertical size of the water surface cleaning robot 1, and increase the horizontal size of the shell 100, that is, increase the horizontal size of the liquid inlet 121, which is beneficial to improve the cleaning speed of the water surface cleaning robot 1 on liquid surface garbage.

[0143] As shown in Figures 3 and 4, the above-mentioned water surface cleaning robot 1 has a first steering mode and a second steering mode. When the water surface cleaning robot 1 is in the first steering mode, the impeller 140 in the first liquid channel 114 rotates along the first direction, and the impeller 140 in the second liquid channel 115 rotates along the second direction. When the water surface cleaning robot 1 is in the second steering mode, the impeller 140 in the first liquid channel 114 rotates along the second direction, and the impeller 140 in the second liquid channel 115 rotates along the first direction.

[0144] It should be noted that the impeller 140 in the first liquid channel 114 can be a normal slurry, and the impeller 140 in the second liquid channel 115 can be a reverse slurry, or the impeller 140 in the first liquid channel 114 can be a reverse slurry, and the impeller 140 in the second liquid channel 115 can be a normal slurry. Therefore, the first direction of the impeller 140 in the first liquid channel 114 and the first direction of the impeller 140 in the second liquid channel 115 can be opposite to each other, and the second direction of the impeller 140 in the first liquid channel 114 and the second direction of the impeller 140 in the second liquid channel 115 can be opposite to each other.

[0145] For example, when viewed from the first side surface 101 toward the second side surface 102, the impeller 140 in the first liquid channel 114 rotates clockwise in its first direction, and the impeller 140 in the first liquid channel 114 rotates counterclockwise in its second direction. The impeller 140 in the second liquid channel 115 rotates counterclockwise in its first direction, and the impeller 140 in the second liquid channel 115 rotates clockwise in its second direction.

[0146] Or when viewed from the first side 101 toward the second side 102, the impeller 140 in the first liquid channel 114 rotates counterclockwise in its first direction, and the impeller 140 in the first liquid channel 114 rotates clockwise in its second direction. The impeller 140 in the second liquid channel 115 rotates clockwise in its first direction, and the impeller 140 in the second liquid channel 115 rotates counterclockwise in its second direction.

[0147] In this way, the motion force of the water surface cleaning robot 1 is more balanced, thus avoiding problems such as deflection of the water surface cleaning robot 1.

[0148] Specifically, when the water surface cleaning robot 1 is in the first steering mode, the impeller 140 in the first liquid channel 114 rotates in the first direction, and the liquid in the first liquid channel 114 is discharged from the rear drain port 190, that is, the water surface cleaning robot 1 moves forward on the side close to the first liquid channel 114, and the impeller 140 in the second liquid channel 115 rotates in the second direction, and the liquid in the second liquid channel 115 is discharged from the front drain port 180, that is, the water surface cleaning robot 1 moves backward on the side close to the second liquid channel 115, thereby realizing the steering of the water surface cleaning robot 1.

[0149] When the water surface cleaning robot 1 is in the second steering mode, the impeller 140 in the second liquid channel 115 rotates in the second direction, and the liquid in the second liquid channel 115 is discharged from the rear drain port 190. That is, the water surface cleaning robot 1 moves forward on the side close to the second liquid channel 115, and the impeller 140 in the first liquid channel 114 rotates in the first direction, and the liquid in the first liquid channel 114 is discharged from the front drain port 180. That is, the water surface cleaning robot 1 moves backward on the side close to the first liquid channel 114, thereby realizing the steering of the water surface cleaning robot 1.

[0150] The water surface cleaning robot 1 may turn left (or right) when in the first steering mode, and may turn right (or left) when in the second steering mode.

[0151] In this way, the water surface cleaning robot 1 can not only move in a straight line (i.e. forward and backward), but also turn. The user cannot manually change the moving direction of the water surface cleaning robot 1. The water surface cleaning robot 1 has a higher degree of automation, which is conducive to expanding the cleaning area of ​​the liquid surface and achieving better cleaning effects.

[0152] As shown in Figures 3 and 4, the above-mentioned front water inlet 150 includes a first front water inlet 151 and a second front water inlet 152, and the first front water inlet 151 and the first rear water inlet 161 are both connected to the first liquid channel 114. The rear water inlet 160 includes a first rear water inlet 161 and a second rear water inlet 162, and the second front water inlet 152 and the second rear water inlet 162 are both connected to the second liquid channel 115.

[0153] When the water surface cleaning robot 1 is in the first steering mode, the first front water inlet 151 is connected to the filter chamber 122, the first rear water inlet 161 is disconnected from the filter chamber 122, the second front water inlet 152 is disconnected from the filter chamber 122, and the second rear water inlet 162 is connected to the filter chamber 122;

[0154] When the water surface cleaning robot 1 is in the second steering mode, the first front water inlet 151 is disconnected from the filter chamber 122, the first rear water inlet 161 is connected to the filter chamber 122, the second front water inlet 152 is connected to the filter chamber 122, and the second rear water inlet 162 is disconnected from the filter chamber 122.

[0155] That is, the first front water inlet 151 is in communication with the first liquid channel 114 but not with the second liquid channel 115, and the first rear water inlet 161 is in communication with the first liquid channel 114 but not with the second liquid channel 115. The second front water inlet 152 is in communication with the second liquid channel 115 but not with the first liquid channel 114, and the second rear water inlet 162 is in communication with the second liquid channel 115 but not with the first liquid channel 114.

[0156] For example, the surface cleaning robot 1 is provided with a baffle that is rotatably connected to the housing 100 and is rotatable between an open position and a closed position. As the baffle rotates from the closed position to the open position, the baffle gradually moves into the fluid channel, that is, gradually moves away from the filter chamber 122. As the baffle rotates from the open position to the closed position, the baffle gradually moves toward the filter chamber 122 until it is stopped by the filter device 120 or the housing 100, thereby preventing the baffle from entering the filter chamber 122.

[0157] Among them, baffles are provided at the front water inlet 150 and the rear water inlet 160 .

[0158] When the water surface cleaning robot 1 is in the forward mode, under the guidance of the impeller 140, the liquid in the liquid channel 112 is discharged from the housing 100 from the rear drain port 190, the pressure of the liquid channel 112 is reduced at the front water inlet 150, and the baffle at the front water inlet 150 moves into the liquid channel 112 under the pressure of the liquid in the filter chamber 122, and the filter chamber 122 is connected with the liquid channel 112 through the front water inlet 150. The pressure of the liquid channel 112 is increased at the rear water inlet 160, and the baffle of the rear water inlet 160 is fixed in the closed position under the pressure of the liquid in the liquid channel 112 to prevent the filter chamber 122 from communicating with the liquid channel 112 through the rear water inlet 160;

[0159] When the water surface cleaning robot 1 is in the backward mode, under the guidance of the impeller 140, the liquid in the liquid channel 112 is discharged from the housing 100 from the front drain port 180, the pressure of the liquid channel 112 is reduced at the rear water inlet 160, and the baffle at the rear water inlet 160 moves into the liquid channel 112 under the pressure of the liquid in the filter chamber 122. The filter chamber 122 is connected to the liquid channel 112 through the rear water inlet 160, and the pressure of the liquid channel 112 is increased at the front water inlet 150. The baffle of the front water inlet 150 is fixed in the closed position under the pressure of the liquid in the liquid channel 112 to prevent the filter chamber 122 from communicating with the liquid channel 112 through the front water inlet 150.

[0160] When the water surface cleaning robot 1 is in the first steering mode, the first liquid channel 114 is discharged from the shell 100 from the rear drain port 190, the pressure of the liquid channel 112 at the first front water inlet 151 is reduced, and the baffle at the first front water inlet 151 moves into the first liquid channel 114 under the pressure of the liquid in the filter chamber 122. The filter chamber 122 is connected to the first liquid channel 114 through the first front water inlet 151, and the pressure of the liquid channel 112 at the first rear water inlet 161 is increased. The baffle of the first rear water inlet 161 is fixed in the closed position under the pressure of the liquid in the first liquid channel 114 to prevent the filter chamber 122 from passing through the first rear water inlet 161 and the filter chamber 122 from passing through the first rear water inlet 161 and the filter chamber 122. The first liquid channel 114 is connected, and the second liquid channel 115 is discharged from the housing 100 through the front drain port 180. The pressure of the liquid channel 112 at the second rear water inlet 162 is reduced. Under the pressure of the liquid in the filter chamber 122, the baffle at the second rear water inlet 162 moves into the second liquid channel 115. The filter chamber 122 is connected to the second liquid channel 115 through the second rear water inlet 162. The pressure of the liquid channel 112 at the second front water inlet 152 is increased. The baffle of the second front water inlet 152 is fixed in the closed position under the pressure of the liquid in the second liquid channel 115 to prevent the filter chamber 122 from communicating with the second liquid channel 115 through the second front water inlet 152.

[0161] When the water surface cleaning robot 1 is in the second steering mode, the first liquid channel 114 is discharged from the shell 100 from the front drain port 180, the pressure of the liquid channel 112 at the first rear water inlet 161 is reduced, and the baffle at the first rear water inlet 161 moves into the first liquid channel 114 under the pressure of the liquid in the filter chamber 122. The filter chamber 122 is connected to the first liquid channel 114 through the first rear water inlet 161, and the pressure of the liquid channel 112 at the first front water inlet 151 is increased. The baffle of the first front water inlet 151 is fixed in the closed position under the pressure of the liquid in the first liquid channel 114 to prevent the filter chamber 122 from passing through the first front water inlet 151 and the filter chamber 122 from passing through the first front water inlet 151 and the filter chamber 122. The first liquid channel 114 is connected, and the second liquid channel 115 discharges the shell 100 from the rear drain port 190. The pressure of the liquid channel 112 at the second front water inlet 152 is reduced. Under the pressure of the liquid in the filter chamber 122, the baffle at the second front water inlet 152 moves into the second liquid channel 115. The filter chamber 122 is connected with the second liquid channel 115 through the second front water inlet 152. The pressure of the liquid channel 112 at the second rear water inlet 162 is increased. The baffle of the second rear water inlet 162 is fixed in the closed position under the pressure of the liquid in the second liquid channel 115 to prevent the filter chamber 122 from being connected with the second liquid channel 115 through the second rear water inlet 162.

[0162] In this way, the control method of the water surface cleaning robot 1 is clearer, the liquid in the first liquid channel 114 flows more smoothly, the liquid in the second liquid channel 115 flows more smoothly, and the amount of liquid in the first liquid channel 114 and the second liquid channel 115 is more sufficient.

[0163] As shown in FIG3 and FIG4 , at least one of the housing 110 and the filter device 120 is provided with a second filter screen. The second filter screen cover is provided between the filter cavity 122 and the liquid channel 112 for filtering the liquid flowing from the filter cavity 122 to the liquid channel 112 .

[0164] During the forward movement of the water surface cleaning robot 1, the liquid to be cleaned will continuously enter the filter chamber 122 through the liquid inlet 121, and the liquid to be cleaned in the filter chamber 122 can flow to the liquid channel 112 through the water inlet, and finally be discharged from the shell 110 through the liquid channel 112 via the front drain port 180 or the rear drain port 190, wherein the second filter screen is located between the filter chamber 122 and the water inlet to prevent the liquid in the filter chamber 122 from flowing into the water inlet, avoid the liquid channel 112 and the water inlet from being blocked, ensure the smoothness of the liquid to be cleaned in the filter chamber 122, and prevent the liquid to be cleaned in the filter chamber 122 from flowing out of the liquid inlet 121 in reverse and causing garbage overflow.

[0165] The first front water inlet 151, the second front water inlet 152, the first rear water inlet 161, and the second rear water inlet 162 are located between the first liquid channel 114 and the second liquid channel 115. In this way, the front drain port 180 and the rear drain port 190 connected to the first liquid channel 114 are closer to one side of the width direction of the water surface cleaning robot 1, and the front drain port 180 and the rear drain port 190 connected to the second liquid channel 115 are closer to the other side of the width direction of the water surface cleaning robot 1. This allows the water surface cleaning robot 1 to have a fast turning speed, which is beneficial for the water surface cleaning robot 1 to adjust its own moving direction.

[0166] Specifically, the first front water inlet 151 and the first rear water inlet 161 can be arranged at intervals along the extension direction of the water surface cleaning robot 1, and the second front water inlet 152 and the second rear water inlet 162 can be arranged at intervals along the extension direction of the water surface cleaning robot 1. The first front water inlet 151 is closer to the first liquid channel 114 than the second front water inlet 152, and the first rear water inlet 161 is closer to the first liquid channel 114 than the second rear water inlet 162.

[0167] In this way, the first front water inlet 151 and the first rear water inlet 161 are closer to the first liquid channel 114, reducing the flow path of the liquid between the first front water inlet 151 and the first liquid channel 114, and reducing the flow path of the liquid between the first rear water inlet 161 and the first liquid channel 114, and the structure of the water surface cleaning robot 1 is simpler.

[0168] The second front water inlet 152 and the second rear water inlet 162 are closer to the second liquid channel 115, reducing the flow path of the liquid between the second front water inlet 152 and the second liquid channel 115, and reducing the flow path of the liquid between the second rear water inlet 162 and the second liquid channel 115, and the structure of the water surface cleaning robot 1 is simpler.

[0169] The liquid channel 112 is located below the filter chamber 122. In this way, the liquid in the filter chamber 122 flows downward into the liquid channel 112 under the guidance of the impeller 140 without having to overcome gravity. Moreover, the liquid in the filter chamber 122 flows more easily into the liquid channel 112 with the assistance of gravity, thereby reducing the energy efficiency of the water surface cleaning robot 1 and extending the endurance of the water surface cleaning robot 1.

[0170] As shown in FIG3 and FIG5 , the housing 100 includes a shell 110 , a liquid channel 112 and a water inlet are provided in the shell 110 , a pump body is connected to the shell 110 , a filter device 120 is detachably provided in the shell 110 , and a filter cavity 122 is provided in the filter device 120 .

[0171] As shown in FIG3 and FIG4 , at least one of the housing 110 and the filter device 120 is provided with a second filter screen. The second filter screen cover is provided between the filter cavity 122 and the liquid channel 112 for filtering the liquid flowing from the filter cavity 122 to the liquid channel 112 .

[0172] During the forward movement of the water surface cleaning robot 1, the liquid to be cleaned will continuously enter the filter chamber 122 through the liquid inlet 121, and the liquid to be cleaned in the filter chamber 122 can flow to the liquid channel 112 through the water inlet, and finally be discharged from the shell 110 through the liquid channel 112 via the front drain port 180 or the rear drain port 190, wherein the second filter screen is located between the filter chamber 122 and the water inlet to prevent the liquid in the filter chamber 122 from flowing into the water inlet, avoid the liquid channel 112 and the water inlet from being blocked, ensure the smoothness of the liquid to be cleaned in the filter chamber 122, and prevent the liquid to be cleaned in the filter chamber 122 from flowing out of the liquid inlet 121 in reverse and causing garbage overflow.

[0173] In some embodiments, as shown in Figures 6 to 8, the water surface cleaning robot 1 further includes a limiting component 500. The housing 100 is provided with a receiving chamber 111, and the filter device 120 is movably provided in the receiving chamber 111. The limiting component 500 is provided in the housing 100 and can be switched between a limiting state and a separation state. When the limiting component 500 is in the limiting state, it abuts against the filter device 120 to fix the relative position of the housing 100 and the filter device 120. When the limiting component 500 is in the separation state, it is separated from the filter device 120, and the filter device 120 is movable relative to the housing 100.

[0174] It should be noted that the direction indicated by arrow D in FIG. 7 is the moving direction of the filter device 120 when it is pushed into the housing 100 , and the direction indicated by arrow E in FIG. 8 is the moving direction of the filter device 120 when it is pulled out of the housing 100 .

[0175] For example, the limiting component 500 can be a button, in which case the limiting component 500 can be switched between the limiting state and the separation state by manual operation of the user, and the direction indicated by the arrow M in Figure 8 is the moving direction of the limiting component 500 when it is pressed; or the limiting component 500 can be an electric structure, in which case the limiting component 500 can be switched between the limiting state and the separation state by control of a controller, a handle or a touch button.

[0176] In addition, the water surface cleaning robot 1 is provided with a baffle, which is rotatably connected to the housing 100 and is rotatable between an open position and a closed position. When the baffle rotates from the closed position to the open position, the baffle gradually moves away from the filter device 120, and the space within the filter device 120 is connected to the water outlet; when the baffle rotates from the open position to the closed position, the baffle gradually moves toward the filter device 120 until the baffle is stopped by the filter device 120 or the housing 100, thereby blocking the space within the filter device 120 from connecting to the water outlet.

[0177] The water surface cleaning robot 1 of this embodiment is provided with a accommodating chamber 111 on the shell 100, and the filtering device 120 is movably provided in the accommodating chamber 111. When the filtering device 120 is placed in the accommodating chamber 111, the liquid in the swimming pool can continuously enter the filtering device 120 through the movement of the water surface cleaning robot 1, and the garbage will be stored in the filtering device 120. The liquid will then flow back from the filtering device 120 to the swimming pool, thereby achieving the cleaning of the swimming pool.

[0178] In addition, the limiting component 500 can be switched between a limiting state and a separation state. When the limiting component 500 is in the limiting state, it abuts against the filter device 120 to fix the relative position of the shell 100 and the filter device 120. When the limiting component 500 is in the separation state, it is separated from the filter device 120, and the filter device 120 is movable relative to the shell 100.

[0179] That is to say, when the limiting component 500 is in the limiting state, the relative position between the filter device 120 and the shell 100 can be fixed. At this time, the filter device 120 cannot be pulled out from the shell 100. During the movement of the water surface cleaning robot 1, the filter device 120 will not accidentally detach from the shell 100, and the water surface cleaning robot 1 has high reliability.

[0180] When the water surface cleaning robot 1 finishes cleaning the swimming pool, or when the garbage in the filter device 120 reaches a preset capacity, the state of the limiting component 500 can be switched to drive the limiting component 500 to switch from the limiting state to the separation state, so that the limiting component 500 is separated from the filter device 120. At this time, the filter device 120 can be pulled out from the shell 100, and the filter device 120 is separated from the shell 100. The garbage in the filter device 120 can be cleared, which facilitates the reuse of the filter device 120.

[0181] As such, the water surface cleaning robot 1 according to the embodiment has the advantages of being stable in structure and easy to pull out.

[0182] As shown in Figures 6 to 8, the water surface cleaning robot 1 further includes an elastic member 600. The elastic member 600 is provided on the housing 100, the filter device 120 is provided with a first positioning structure 125, and the limiting component 500 is provided with a second positioning structure 310. When the limiting component 500 is in the limiting state, the second positioning structure 310 cooperates with the first positioning structure 125, the relative positions of the filter device 120 and the housing 100 are fixed, and the elastic member 600 is compressed by the filter device 120 and has an elastic force to drive the filter device 120 to move; when the limiting component 500 is in the separated state, the second positioning structure 310 is separated from the first positioning structure 125, and the filter device 120 moves out of the accommodating cavity 111 under the drive of the elastic member 600.

[0183] That is to say, when the limiting component 500 is in the limiting state, the first positioning structure 125 and the second positioning structure 310 cooperate to fix the relative position between the filter device 120 and the shell 100. At this time, the filter device 120 cannot be pulled out from the shell 100. During the movement of the water surface cleaning robot 1, the filter device 120 will not accidentally detach from the shell 100, and the water surface cleaning robot 1 has high reliability.

[0184] When the water surface cleaning robot 1 finishes cleaning the swimming pool, or when the garbage in the filter device 120 reaches a preset capacity, the limiting component 500 can be pressed to drive the limiting component 500 to move from the limiting state to the separation state, so that the second positioning structure 310 is separated from the first positioning structure 125. At this time, the filter device 120 can be pulled out from the shell 100, and the filter device 120 is separated from the shell 100. The garbage in the filter device 120 can be cleared, which facilitates the reuse of the filter device 120.

[0185] In addition, when the limiting component 500 is in the limiting state, the elastic component 600 is compressed between the filter device 120 and the cavity wall of the accommodating cavity 111. When the limiting component 500 moves from the limiting state to the separation state, the elastic force of the elastic component 600 drives the filter device 120 to move out of the accommodating cavity 111, so that the filter device 120 protrudes from the outer surface of the shell 100, making it easier for the user to apply pulling force to the filter device 120, so as to make it more convenient to separate the filter device 120 and the shell 100.

[0186] As shown in Figures 7 and 8, the opening of the above-mentioned accommodating chamber 111 is located on one side of the housing 100 in the horizontal direction. The filter device 120 moves in the horizontal direction. The opening of the accommodating chamber 111 can be a liquid inlet 121 or a liquid outlet. The water surface cleaning robot 1 also includes a first guide wheel 700. The first guide wheel 700 is rollably provided with one of the lower side surface of the filter device 120 and the lower wall surface of the accommodating chamber 111. The first guide wheel 700 stops at the other of the lower side surface of the filter device 120 and the lower wall surface of the accommodating chamber 111. When the filter device 120 moves relative to the housing 100, the first guide wheel 700 rolls relative to the housing 100.

[0187] Since the filter device 120 moves in the horizontal direction, the filter device 120 is affected by gravity during the movement, and contact will occur between the lower side of the filter device 120 and the lower wall of the accommodating chamber 111. Therefore, there is friction between the lower side of the filter device 120 and the lower wall of the accommodating chamber 111, which affects the smoothness of movement of the filter device 120. By setting the first guide wheel 700, direct contact between the lower side of the filter device 120 and the lower wall of the accommodating chamber 111 can be avoided. When the filter device 120 moves relative to the shell 100, the first guide wheel 700 will roll relative to the shell 100 and the filter device 120, which is beneficial to reduce friction, improve the smoothness of movement of the filter device 120, and make pulling and pulling smoother.

[0188] As shown in Figures 7 and 8, the water surface cleaning robot 1 further includes a second guide wheel 800. The second guide wheel 800 is rollably mounted on one of the upper side surface of the filter device 120 and the upper wall surface of the accommodating chamber 111. The second guide wheel 800 abuts against the other of the upper side surface of the filter device 120 and the upper wall surface of the accommodating chamber 111. When the filter device 120 moves relative to the housing 100, the second guide wheel 800 rolls relative to the housing 100.

[0189] The lower side surface of the filter device 120 and the lower wall surface of the accommodating chamber 111 are stopped by the first guide wheel 700. By setting the second guide wheel 800, the upper side surface of the filter device 120 and the upper wall surface of the accommodating chamber 111 are stopped, which can prevent the filter device 120 from shaking in the vertical direction. When the filter device 120 moves relative to the shell 100, the second guide wheel 800 will roll relative to the shell 100 and the filter device 120, which is beneficial to reduce friction, improve the smoothness of the movement of the filter device 120, and make pulling and pulling smoother.

[0190] As shown in Figures 7 and 8, there are multiple first guide wheels 700, which are arranged at intervals along the moving direction of the filter device 120. The filter device 120 is supported by the multiple first guide wheels 700. The filter device 120 is not prone to tipping over in its moving direction, and the filter device 120 moves more smoothly relative to the shell 100.

[0191] There are multiple first guide wheels 700, which are arranged at intervals along a direction perpendicular to the movement direction of the filter device 120 (not shown in the figure). The filter device 120 is supported by the multiple first guide wheels 700. The filter device 120 is not prone to tipping over in a direction perpendicular to its movement direction, and the filter device 120 moves more smoothly relative to the shell 100.

[0192] Those skilled in the art will appreciate that the plurality of first guide wheels 700 may also be arranged in multiple rows and columns along the moving direction of the filter device 120 and in a direction perpendicular to the moving direction of the filter device 120 .

[0193] As shown in Figures 7 and 8 , there are multiple second guide wheels 800 , which are spaced apart along the direction of movement of the filter device 120. Thus, the upper side of the filter device 120 is supported by the multiple second guide wheels 800 in the direction of movement of the filter device 120 . This allows the filter device 120 to be more evenly stressed in the direction of movement, preventing the filter device 120 from tipping over in the direction of movement. Furthermore, the filter device 120 can move more smoothly relative to the housing 100 .

[0194] There are multiple second guide wheels 800, which are spaced apart and arranged perpendicular to the direction of movement of the filter device 120 (not shown in the figure). Thus, the upper side of the filter device 120 is supported by the multiple second guide wheels 800 in the direction of movement of the filter device 120. This allows the filter device 120 to be more evenly stressed in a direction perpendicular to the direction of movement, preventing the filter device 120 from tipping over in the direction perpendicular to the direction of movement. Furthermore, the filter device 120 moves more smoothly relative to the housing 100.

[0195] Those skilled in the art will appreciate that the plurality of second guide wheels 800 may also be arranged in multiple rows and columns along the moving direction of the filter device 120 and in a direction perpendicular to the moving direction of the filter device 120 .

[0196] As shown in FIG. 7 to FIG. 9 , the filtering device 120 includes a box body 220 , a third filter screen, and a fourth filter screen.

[0197] Through holes 221 are provided on the upper and lower sides of the box body 220. The fourth filter is connected to the upper side of the box body 220 to block the through holes 221 on the upper side of the box body 220. The third filter assembly is connected to the lower side of the box body 220 to block the through holes 221 on the lower side of the box body 220. The lower side of the box body 220 abuts against the first guide wheel 700, which clears the third filter. The upper side of the box body 220 abuts against the second guide wheel 800, which clears the fourth filter.

[0198] Specifically, the box body 220 may also be provided with through holes 221 on two opposite side surfaces in the moving direction of the water surface cleaning robot 1. The filtering device 120 includes a third filter screen and a fourth filter screen. The third filter screen is connected to the side of the opening of the box body 220 facing away from the accommodating chamber 111. The third filter screen is used to block the through holes 221 on the side of the opening of the box body 220 facing away from the accommodating chamber 111. The fourth filter screen is rotatably connected to the side of the opening of the box body 220 facing the accommodating chamber 111. The fourth filter screen is used to block the through holes 221 on the side of the opening of the box body 220 facing the accommodating chamber 111.

[0199] By providing through holes 221 on the upper and lower sides of the box body 220, when the filter device 120 is pulled out of the shell 100, the liquid in the filter device 120 can flow out from the through holes 221 on the upper and lower sides of the box body 220, greatly increasing the speed at which the liquid in the filter device 120 flows out.

[0200] By using a filter to block the through holes 221 on the upper side and the through holes 221 on the lower side of the box body 220, garbage in the box body 220 can be prevented from moving out from the through holes 221 on the upper side and the through holes 221 on the lower side of the box body 220, and the filter device 120 has a better filtering effect on the liquid.

[0201] The lower side surface of the box body 220 is stopped against the first guide wheel 700, and the first guide wheel 700 avoids the third filter screen, which can prevent the third filter screen from being compressed by the first guide wheel 700 and damaged, thereby extending the service life of the third filter screen; the upper side surface of the box body 220 is stopped against the second guide wheel 800, and the second guide wheel 800 avoids the fourth filter screen, which can prevent the fourth filter screen from being compressed by the second guide wheel 800 and damaged, thereby extending the service life of the fourth filter screen.

[0202] As shown in Figures 7-8, one of the first positioning structure 125 and the second positioning structure 310 is a positioning groove and the other is a positioning protrusion. When the limiting component 500 is in the limiting state, the positioning protrusion is inserted into the positioning groove, wherein the notch direction of the positioning groove is perpendicular to the moving direction of the filter device 120.

[0203] In this way, the first positioning structure 125 and the second positioning structure 310 have simple structures and are easy to match. While effectively limiting the position of the filtering device 120, they are conducive to simplifying the structure of the water surface cleaning robot 1, making it easy to disassemble and assemble, and improving production efficiency.

[0204] The side of the filter device 120 that is away from the opening of the accommodating chamber 111 is spaced from the wall of the accommodating chamber 111. This provides ample space for the filter device 120 to continue moving into the accommodating chamber 111. When the limiting component 500 is pressed, the limiting component 500 drives the second positioning structure 310 to move relative to the first positioning structure 125. The first positioning structure 125 drives the filter device 120 to continue compressing the elastic member 600 and continue moving into the accommodating chamber 111, facilitating the separation of the positioning groove and the positioning protrusion, and preventing the positioning protrusion from becoming stuck between the groove wall and becoming unable to separate.

[0205] As shown in Figures 7 and 8, the opening of the above-mentioned accommodating chamber 111 is located on one side of the shell 100 in the horizontal direction, and the filter device 120 moves in the horizontal direction. The first positioning structure 125 is provided on the lower side of the filter device 120, and the second positioning structure 310 is provided on the upper side of the limiting component 500. In this way, the limiting component 500 is located below the filter device 120, that is, the filter device 120 can be located at the upper part of the shell 100, and the limiting component 500 can be located at the lower part of the shell 100, so that the accommodating chamber 111 can be provided at the upper part of the shell 100, which can increase the buoyancy center height of the shell 100 and improve the motion stability of the water surface cleaning robot 1 when moving, and the liquid in the filter device 120 can flow out downward, making the liquid movement more convenient and reducing energy consumption.

[0206] As shown in FIG7-8 , the second positioning structure 310 is a positioning protrusion, and the side of the positioning protrusion facing the opening of the accommodating cavity 111 is an inclined surface 320 , which is gradually inclined from bottom to top toward the direction away from the opening of the accommodating cavity 111 .

[0207] For example, the side surface of the positioning protrusion facing away from the opening of the accommodating cavity 111 is perpendicular to the horizontal plane, or the side surface of the positioning protrusion facing away from the opening of the accommodating cavity 111 is inclined (eg, inclined backward).

[0208] When the side surface of the positioning protrusion facing away from the opening of the accommodating cavity 111 is inclined, that is, the side surface is gradually inclined from bottom to top in a direction away from the opening of the accommodating cavity 111, the acute angle between the inclined surface 320 and the horizontal plane is smaller than the acute angle between the side surface of the positioning protrusion facing away from the opening of the accommodating cavity 111 and the horizontal plane. In this way, on the one hand, the volume of the second positioning structure 310 is reduced, reducing cost and weight. On the other hand, the cross-sectional area of ​​the second positioning structure 310 gradually decreases from bottom to top, so that the connection area between the second positioning structure 310 and the upper side surface of the limiting component 500 is larger, which is conducive to ensuring the connection strength.

[0209] By providing the inclined surface 320 , the inclined surface 320 can play a guiding role during the process of inserting the filter device 120 into the accommodating cavity 111 , and the movement of the filter device 120 is smoother.

[0210] As shown in FIG. 7-FIG . 8 , the limiting component 500 includes an elastic arm 330 and a first supporting arm 340 .

[0211] The lower end of the elastic arm 330 is connected to the housing 100 and extends upward. The elastic arm 330 and the opening of the accommodating chamber 111 are located on the same side of the housing 100. The first support arm 340 is connected to the upper end of the elastic arm 330. The first support arm 340 extends in the direction of movement of the filter device 120 away from the opening of the accommodating chamber 111. The second positioning structure 310 is provided on the upper side of the first support arm 340.

[0212] It should be noted that the elastic arm 330 and the shell 100 can be directly connected as one, and the elastic arm 330 is elastic after being deformed by pressure. After the pressing force disappears, the elastic arm 330 is reset under the driving force of its own elastic force; or, the elastic arm 330 and the shell 100 can be set separately, and the water surface cleaning robot 1 is additionally provided with other reset structures, which are respectively connected to the elastic arm 330 and the shell 100. When the elastic arm 330 is not subjected to pressing force, the reset structure drives the limiting component 500 through the elastic arm 330 to remain in the limited state.

[0213] When the user presses the elastic arm 330 into the accommodating cavity 111, the upper end of the elastic arm 330 will rotate around the lower end of the elastic arm 330, thereby driving the first support arm 340 to rotate around the lower end of the elastic arm 330, causing the second positioning structure 310 to rotate around the lower end of the elastic arm 330, and the second positioning structure 310 gradually separates from the first positioning structure 125, so that the filter device 120 can move relative to the shell 100.

[0214] By extending the elastic arm 330 in the vertical direction and the first support arm 340 in the horizontal direction, an "L" shape is formed between the elastic arm 330 and the first support arm 340, and the elastic arm 330 and the first support arm 340 have more room to move. In addition, the elastic arm 330 and the second positioning structure 310 can be located at both ends of the first support arm 340 respectively. When the elastic arm 330 is pressed, the moving length of the second positioning structure 310 is greater, which is conducive to ensuring complete separation between the second positioning structure 310 and the first positioning structure 125.

[0215] As shown in Figures 7 and 8, the outer surface of the limiting component 500 is flush with the outer surface of the housing 100. In this way, the appearance of the water surface cleaning robot 1 is neat, and the transition between the limiting component 500 and the housing 100 is smooth. The transition between the limiting component 500 and the housing 100 is not easy to accumulate dust, which is easy to clean and has high space utilization.

[0216] In some embodiments, as shown in Figures 10-13, the water surface cleaning robot 1 also includes a locking piece 900, the shell 100 is provided with a accommodating chamber 111, the accommodating chamber 111 is connected to the liquid inlet 121, and a stop portion 1012 is provided inside the accommodating chamber 111. The filter device 120 is arranged in the accommodating chamber 111 in a pull-out manner, and the liquid inlet 121 is also used to allow the filter device 120 to enter and exit the accommodating chamber 111. The filter device 120 includes a first box wall 126, and the first box wall 126 is deformable. A limiting protrusion 1261 is provided on the outer surface of the first box wall 126. When the filter device 120 is located in the accommodating chamber 111, the limiting protrusion 1261 abuts against the stop portion 1012. The locking piece 900 is movably connected to the filter device 120, and the locking piece 900 has a locked state and an unlocked state. When the locking piece 900 is in the locked state, it abuts against the inner surface of the first box wall 126 and forms a supporting force on the first box wall 126, so that the limiting protrusion 1261 maintains an abutting relationship with the stop portion 1012, thereby keeping the filter device 120 fixed relative to the shell 100; when the locking piece 900 is in the unlocked state, it is separated from the first box wall 126.

[0217] The pool cleaning robot in the embodiment of the present application is provided with a accommodating cavity 111 on the body 100, and the filtering device 120 is provided in the accommodating cavity 111. Therefore, as the pool cleaning robot moves in the pool, the liquid in the pool can continuously enter the filtering device 120, and then flow back into the pool after being filtered by the filtering device 120, thereby achieving the cleaning of the pool.

[0218] In the surface cleaning robot 1 of this embodiment, a liquid inlet 121 is provided on the housing 100 and is in communication with the accommodating chamber 111. The filter device 120 can enter and exit the accommodating chamber 111 through the liquid inlet 121, so as to facilitate the installation and removal of the filter device 120. When installing the filter device 120, the filter device 120 can be first pushed into the accommodating chamber 111 through the liquid inlet 121. After the filter device 120 moves to a preset position, the limiting protrusion 1261 on the first box wall 126 will abut against the stopper 1012 in the accommodating chamber 111. However, since the first box wall 126 is deformable, the abutting relationship between the limiting protrusion 1261 and the stopper 1012 is not secure. Therefore, after the filter device 120 is moved to the preset position, the locking member 900 on the filter device 120 needs to be adjusted to a locked state, so that the locking member 900 abuts against the inner surface of the first box wall 126 of the filter device 120 and generates a supporting force on the first box wall 126. Under the action of this supporting force, the limiting protrusion 1261 can maintain the abutting relationship with the stopper 1012, thereby keeping the filter device 120 fixed relative to the housing 100. In this way, the filter device 120 can be firmly installed on the housing 100.

[0219] When the water surface cleaning robot 1 completes its cleaning work and needs to clean the filter device 120, the locking member 900 can be adjusted to the unlocked state to separate the locking member 900 from the first box wall 126, thereby releasing the supporting force on the first box wall 126. At this time, the filter device 120 can be pulled outward and pulled out of the accommodating cavity 111 by external force. During this process, the deformability of the first box wall 126 can be used to release the limiting protrusion 1261 on the first box wall 126 from the abutment relationship with the stopper 1012, which will not affect the removal process of the filter device 120.

[0220] In summary, in the water surface cleaning robot of this embodiment, the filter device 120 can be installed in the accommodating cavity 111 of the shell 100 in a pull-out manner. By adjusting the state of the locking piece 900, the filter device 120 can be kept in the accommodating cavity 111, and the filter device 120 can also be easily removed. Thus, the convenience of cleaning the filter box can be improved, thereby improving the user experience.

[0221] As shown in FIG12 , in some embodiments, the limiting protrusion 1261 is a hemispherical structure. Thus, when the filter device 120 is pulled out of the accommodating cavity 111 , the spherical surface of the limiting protrusion 1261 can more easily release the limiting protrusion 1261 from the abutment relationship with the stopper 1012 , thereby reducing the difficulty of removing the filter device 120 .

[0222] FIG13 is a schematic diagram of the structure of a filter device provided in one embodiment of the present application. As shown in FIG13 , in some embodiments, a locking member 900 includes a second support arm 910 and a connecting arm 920. One end of the connecting arm 920 is connected to the second support arm 910, and the other end of the connecting arm 920 is rotatably connected to the filter device 120. When the locking member 900 is in a locked state, the second support arm 910 abuts against the first box wall 126 and exerts a supporting force on the first box wall 126. When the locking member 900 is in an unlocked state, the second support arm 910 is separated from the first box wall 126.

[0223] The locking member 900 is adjusted by rotating the connecting arm 920 relative to the filter device 120 so that the second support arm 910 moves into contact with the first box wall 126. At this point, the locking member 900 is adjusted to the locked state. To unlock, the connecting arm 920 is rotated relative to the filter device 120 to separate the second support arm 910 from the first box wall 126. At this point, the locking member 900 is adjusted to the unlocked state. Thus, the locking member 900 includes a second support arm 910 and a connecting arm 920 that are interconnected, and the connecting arm 920 is rotatably connected to the filter device 120. This makes the locking member 900's adjustment process relatively simple and easy to operate.

[0224] Furthermore, there are two connecting arms 920, which are located at both ends of the second support arm 910. The two connecting arms 920 are respectively connected to the two opposite box walls of the filter device 120. When the filter device 120 is installed in the accommodating cavity 111, the locking piece 900 is located at one end of the filter device 120 close to the liquid inlet 121.

[0225] The locking member 900 has a second support arm 910 and two connecting arms 920, with the two connecting arms 920 located at either end of the second support arm 910, giving the locking member 900 an overall U-shape. This allows the locking member 900 to also function as a handle. To remove the filter device 120 from the accommodating cavity 111, the locking member 900 can be first unlocked. Then, gripping the locking member 900, which serves as a handle, pulls the filter device 120 outward, making removal of the filter device 120 much easier.

[0226] Furthermore, when the filter device 120 is installed in the accommodating chamber 111, the locking member 900 is located at the end of the filter device 120 near the liquid inlet 121. This allows the locking member 900 to be positioned at the liquid inlet 121 of the accommodating chamber 111, making it easier to adjust the state of the locking member 900. Furthermore, this also makes the locking member 900 easier to grasp when used as a handle.

[0227] In one embodiment, the second support arm 910 has a support surface that, when the locking member 900 is in the locked state, contacts the first box wall 126. The second support arm 910 has a support surface, which ensures that when the locking member 900 is in the locked state, the second support arm 910 and the first box wall 126 are in surface contact. This disperses the support force applied to the first box wall 126, helping to prevent the first box wall 126 from being easily damaged due to excessively concentrated force.

[0228] In some embodiments, along the moving direction of the filter device 120 , the distance from the connection point between the locking member 900 and the filter device 120 to the limiting protrusion 1261 is less than or equal to 1 / 5 of the size of the filter device 120 along its own moving direction.

[0229] If the distance between the installation position of the locking member 900 and the position of the limiting protrusion 1261 is too large, the supporting effect provided by the limiting protrusion 1261 will be relatively small, making it difficult for the limiting protrusion 1261 to maintain abutment with the stop portion 1012. Therefore, the distance between the installation position of the locking member 900 and the position of the limiting protrusion 1261 should not be too large. In this embodiment, along the movement direction of the filter device 120, the distance between the connection point between the locking member 900 and the filter device 120 and the limiting protrusion 1261 is less than or equal to 1 / 5 of the size of the filter device 120 along its own movement direction. This configuration helps ensure that the locking member 900 can provide sufficient support for the limiting protrusion 1261, thereby ensuring that the limiting protrusion 1261 can maintain a relatively stable abutment relationship with the stop portion 1012 in the locked state.

[0230] In some embodiments, the liquid inlet 121 is located on one side of the housing 100 in the horizontal direction, and the filter device 120 moves in and out of the accommodating cavity 111 in a horizontally movable manner. The first box wall 126 is the lower box wall of the filter device 120 .

[0231] The liquid inlet 121 is located on one side of the housing 100 in the horizontal direction, so that the filter device 120 can move in and out of the accommodating chamber 111 in a manner of moving in the horizontal direction.

[0232] Furthermore, if the limiting protrusion 1261 is disposed on a side wall (e.g., the left or right wall) of the filter device 120, then when the locking member 900 is in the locked state, the locking member 900 will abut against the left or right wall of the filter device 120. This can easily cause the center of gravity of the water surface cleaning robot to shift left or right, which is detrimental to the balance of the water surface cleaning robot when operating in water. In this embodiment, the first wall 126 is the lower wall of the filter device 120, that is, the limiting protrusion 1261 is located on the outer surface of the lower wall of the filter device 120. Thus, when the locking member 900 is in the locked state, it abuts against the lower wall of the filter device 120, preventing the center of gravity of the water surface cleaning robot from shifting left or right, thereby facilitating the surface cleaning robot's balance when operating in water.

[0233] Furthermore, when the locking member 900 is in the locked state, it abuts against the lower box wall of the filter device 120. Compared with the case where the locking member 900 abuts against the upper box wall of the filter device 120, the abutting position of the locking member 900 can be more easily observed by the operator. In this way, the operator can more easily determine whether the locking member 900 abuts against the box wall.

[0234] FIG14 is a schematic diagram of the structure of the second portion of the filter device provided in one embodiment of the present application, and FIG15 is a schematic diagram of the structure of the first portion of the filter device adopted in one embodiment of the present application. As shown in FIG13, FIG14, and FIG15, in some embodiments, the filter device 120 includes a first portion 127 and a second portion 128. The first portion 127 includes a cylindrical main body 1271 and an end wall 1272 located at one end of the main body 1271. The cross-sectional shape of the main body 1271 is rectangular. The second portion 128 is a cylindrical structure with a rectangular cross-sectional shape. The second portion 128 is detachably connected to the end of the main body 1271 away from the end wall 1272. The locking member 900 is connected to the second portion 128.

[0235] Typically, a filter element, such as a filter screen, filter layer, or filter element, is installed within the filter device 120. Since the locking member 900 is connected to the inner wall of the filter device 120, it can hinder the installation of the filter element into the filter device 120. In this embodiment, the filter device 120 includes a first portion 127 and a second portion 128, which are detachably connected. The locking member 900 is connected to the second portion 128. This arrangement allows the first and second portions 127, 128 to be separated before the filter element is installed. This ensures that the filter element installation process is not hindered by the locking member 900. After the filter element is installed, the first and second portions 127, 128 are assembled to complete the filter device 120.

[0236] It can be understood that the first part 127 is the part of the filter device 120 that is mainly used for containing. Hollow areas can be set on multiple walls of the first part 127. The hollow areas can be used for water inlet and outlet. The hollow areas can also be installed with filters to perform the first filtration process on the water entering the filter device 120.

[0237] As shown in Figures 13, 14, and 15, in one embodiment, a buckle 1273 is provided on one of the second portion 128 and the main body 1271, and a slot 1281 is provided on the other of the second portion 128 and the main body 1271. The buckle 1273 is adapted to the slot 1281. Thus, the buckle 1273 and the slot 1281 cooperate with each other to achieve a detachable connection between the second portion 128 and the main body 1271. In addition, the use of the coupling connection between the buckle 1273 and the slot 1281 also facilitates the assembly and disassembly processes between the second portion 128 and the first portion 127, thereby improving assembly and disassembly efficiency.

[0238] Furthermore, a limiting protrusion 250 is provided on one of the second portion 128 and the main body 1271, and a groove 260 is provided on the other of the second portion 128 and the main body 1271. The limiting protrusion 250 is adapted to fit within the groove 260. The cooperation between the limiting protrusion 250 and the groove 260 limits the position between the second portion 128 and the main body 1271. The provision of the limiting protrusion 250 and the groove 260 reduces the number of latches 1273 and slots 1281 required, thereby reducing the effort required to disassemble the second portion 128 from the first portion 127.

[0239] The control method of the water surface cleaning robot 1 of the present application is described below.

[0240] By controlling the water surface cleaning robot 1, garbage on the sides and / or corners is cleaned;

[0241] The water surface cleaning robot 1 is selected from at least one of the water surface cleaning robots 1 described above in this application.

[0242] Since the suction device of the water surface cleaning robot 1 mentioned above in the present application is located inside the shell 100, the suction device is not prone to collision with the pool wall, so the controller can control the water surface cleaning robot 1 to clean up garbage on the sides and / or corners.

[0243] The first side surface 101 has a first side edge 103 and a second side edge 104 that are oppositely arranged. The first side edge 103 and the second side edge 104 are both perpendicular to the liquid surface to be cleaned. The first sensor is close to the first side edge 103 and the second sensor is close to the second side edge 104.

[0244] The control method of the water surface cleaning robot 1 further includes:

[0245] Acquire a first distance fed back by the first sensor and a second distance fed back by the second sensor;

[0246] Determining whether the absolute value of the difference between the first distance and the second distance is less than a preset value;

[0247] If not, the power of at least one of the first pump body and the second pump body is adjusted based on the first distance and the second distance so that the first distance and the second distance are equal.

[0248] By providing at least two distance sensors, and disposing the two distance sensors separately on the first side edge 103 and the second side edge 104, the distance between the side edge of the first side surface 101 in the horizontal direction and the obstacle 400 can be detected, thereby effectively adjusting the movement direction and movement state of the water surface cleaning robot 1. For example, the movement direction includes straight forward, moving to the left front, moving to the right front, straight backward, moving to the left rear, and moving to the right rear, and the movement state includes forward, backward, and stationary.

[0249] A first distance from the first side edge 103 to the obstacle 400 is obtained based on the detection results of at least one distance sensor on the first side edge 103. A second distance from the second side edge 104 to the obstacle 400 is obtained based on the detection results of at least one distance sensor on the second side edge 104. If the first distance is not equal to the second distance, the controller controls the pump body corresponding to the first side edge 103 to operate and / or controls the pump body corresponding to the second side edge 104 to operate so that the first distance equals the second distance.

[0250] Specifically, there can be multiple pump bodies, and the first pump body among the multiple pump bodies corresponds to the position of the first side edge 103, and the first pump body can drive the movement of the first side edge 103, for example, driving the first side edge 103 forward or backward; the second pump body among the multiple pump bodies corresponds to the position of the second side edge 104, and the second pump body can control the movement of the second side edge 104, for example, driving the second side edge 104 forward or backward.

[0251] By comparing the size relationship between the first distance and the second distance, it is possible to determine whether the first side 101 is parallel to the obstacle 400. If the first side 101 is not parallel to the obstacle 400, the first distance between the first side edge 103 and the obstacle 400 is adjusted, or the second distance between the second side edge 104 and the obstacle 400 is adjusted, or the first distance between the first side edge 103 and the obstacle 400 and the second distance between the second side edge 104 and the obstacle 400 are adjusted at the same time by adjusting at least one of the power of the first pump body and the power of the second pump body.

[0252] In this way, the first side surface 101 can be ensured to be parallel to the obstacle 400 , so that each area of ​​the liquid inlet 121 has the same ability to guide the liquid to be cleaned, thereby more effectively cleaning the garbage near the obstacle 400 .

[0253] The control method of the water surface cleaning robot 1 further includes:

[0254] If the first distance is greater than the second distance, controlling the first pump body to reduce power and / or the second pump body to increase power;

[0255] If the first distance is smaller than the second distance, controlling the first pump to increase power and / or the second pump to reduce power;

[0256] If the first distance is equal to the second distance, the power of the first pump body is controlled to be equal to the power of the second pump body.

[0257] The control method of the water surface cleaning robot 1 further includes:

[0258] Determine whether both the first distance value and the second distance value are not less than a second preset value;

[0259] If so, controlling the first pump body and the second pump body to operate at a first preset power;

[0260] If not, the first pump body and the second pump body are controlled to operate at a second preset power, and the first preset power is greater than the second preset power.

[0261] If the distance between the obstacle 400 and the water surface cleaning robot 1 is greater than a preset value, the pump body operates at the first power;

[0262] If the distance between the obstacle 400 and the water surface cleaning robot 1 is not greater than a preset value, the pump body operates at a second power, which is greater than the first power.

[0263] Specifically, when the distance between the obstacle 400 and the water surface cleaning robot 1 is greater than a preset value, the distance between the obstacle 400 and the water surface cleaning robot 1 is farther, so the water surface cleaning robot 1 can continue to move toward the direction of the obstacle 400. At this time, the pump body operates at the first power, and the first power is relatively low, which can play a role in assisting in guiding the flow of the liquid to be cleaned. At this time, the energy consumption is low, ensuring the endurance of the water surface cleaning robot 1.

[0264] When the distance between the obstacle 400 and the water surface cleaning robot 1 is not greater than the preset value, the distance between the obstacle 400 and the water surface cleaning robot 1 is close, so the water surface cleaning robot 1 stops moving toward the obstacle 400, avoiding a collision between the shell 100 and the obstacle 400, and reducing the probability of damage to the water surface cleaning robot 1. At this time, the pump body operates at the second power, which is higher and can guide a large amount of liquid to be cleaned to flow into the filter chamber 122, thereby increasing the speed of filtering garbage.

[0265] Other structures and operations of the water surface cleaning robot 1 according to the embodiment of the present application are known to ordinary technicians in this field and will not be described in detail here.

[0266] The same or similar numbers in the drawings of this embodiment correspond to the same or similar parts; in the description of this application, it should be understood that if the terms "up", "down", "left", "right", etc. indicate directions or positional relationships, they are based on the directions or positional relationships shown in the drawings. This is only for the convenience of describing this application and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction. Therefore, the terms describing the positional relationship in the drawings are only used for illustrative purposes and cannot be understood as limiting this application. For ordinary technicians in this field, the specific meanings of the above terms can be understood according to specific circumstances.

[0267] The above are only preferred embodiments of the present application and are not intended to limit the present application. Any modifications, equivalent replacements, and improvements made within the spirit and principles of the present application should be included in the scope of protection of the present application.

Claims

1. A water surface cleaning robot, characterized in that: include: A shell, wherein the shell is provided with a liquid inlet and a liquid outlet; A filter device, wherein the filter device is disposed in the housing; A suction assembly is arranged in the shell and includes a pump body. Under the action of the suction assembly, the liquid to be cleaned enters the filtering device from the liquid inlet, and the filtered liquid is discharged from the shell from the liquid outlet.

2. The water surface cleaning robot according to claim 1, characterized in that: include: The shell has a first side surface and a second side surface that are arranged opposite to each other in the moving direction of the water surface cleaning robot. The first side surface is provided with a liquid inlet, and the first side surface and / or the second side surface are provided with a liquid outlet.

3. The water surface cleaning robot according to claim 2, characterized in that: The first side surface and / or the second side surface is provided with at least one distance sensor for detecting the positional relationship of the water surface cleaning robot; and / or The first side surface and / or the second side surface is provided with at least one anti-collision block.

4. The water surface cleaning robot according to claim 2, characterized in that: At least two distance sensors are disposed on the first side surface near two ends of the shell, respectively used to detect the distance between the corresponding end and an external object; And / or, at least two distance sensors are provided on the second side surface close to two ends of the shell, respectively used to detect the distance between the corresponding end and an external object.

5. The water surface cleaning robot according to claim 1, characterized in that: The shell has a first side surface and a second side surface that are arranged opposite to each other in the moving direction of the water surface cleaning robot, and the shell is provided with a filter cavity that is connected to the liquid inlet, and the liquid inlet is arranged on the first side surface; the water surface cleaning robot also includes a distance sensor and a controller, the distance sensor is arranged on the shell, and the distance sensor is used to detect whether there is an obstacle in the direction of the first side surface and / or the distance between the obstacle and the water surface cleaning robot; The controller is connected to the pump body and the distance sensor respectively, and controls the working state of the pump body according to the detection result of the distance sensor.

6. The water surface cleaning robot according to claim 5, characterized in that: When the distance sensor detects that there is an obstacle in the opening direction of the liquid inlet: If the distance between the obstacle and the water surface cleaning robot is greater than a preset value, the pump body operates at a first power; If the distance between the obstacle and the water surface cleaning robot is not greater than a preset value, the pump body operates at a second power, and the second power is greater than the first power.

7. The water surface cleaning robot according to claim 5, characterized in that: The first side surface has a first side edge and a second side edge that are oppositely arranged, and the first side edge and the second side edge are both perpendicular to the liquid surface of the liquid to be cleaned. There are multiple distance sensors, at least one of the multiple distance sensors is close to the first side edge, and another one of the multiple distance sensors is close to the second side edge.

8. The water surface cleaning robot according to claim 7, characterized in that: Obtaining a first distance from the first side edge to the obstacle according to a detection result of at least one distance sensor of the first side edge; Obtaining a second distance from the second side edge to the obstacle according to a detection result of at least one distance sensor of the second side edge; If the first distance is not equal to the second distance, the controller controls the first side edge to cause the corresponding pump body to move and / or the controller controls the second side edge to cause the corresponding pump body to move, so that the first distance is equal to the second distance.

9. The water surface cleaning robot according to claim 8, characterized in that: If the first distance is greater than the second distance, and the second distance is equal to zero, the controller controls the pump body corresponding to the first side edge to move so that the first distance and the second distance are both zero.

10. The water surface cleaning robot according to claim 5, characterized in that: The first side surface is provided with a front drain outlet, and the second side surface is provided with a rear drain outlet; The water surface cleaning robot has a forward mode and a backward mode, and the pump body includes an impeller. When the water surface cleaning robot is in the forward mode, the impeller rotates in a first direction to guide the liquid to be cleaned in the shell to flow toward the rear drain port. When the water surface cleaning robot is in the backward mode, the impeller rotates in a second direction opposite to the first direction to guide the liquid in the shell to flow toward the front drain port.

11. The water surface cleaning robot according to claim 5, characterized in that: The shell is provided with an anti-collision block, and the anti-collision block extends beyond the first side surface in a direction away from the second side surface.

12. The water surface cleaning robot according to claim 11, characterized in that: A portion of the liquid inlet is located above the liquid level of the liquid to be cleaned, and another portion of the liquid inlet is located below the liquid level; The distance sensor and / or the anti-collision block are located below the liquid inlet.

13. The water surface cleaning robot according to claim 1, characterized in that: A floating plate assembly is provided at the liquid inlet, and the floating plate assembly is rotatably arranged on the housing or the filtering device between an open position and a closed position. When the water surface cleaning robot is in a stationary state, the floating plate assembly is driven by the buoyancy of the liquid to be cleaned to remain in the closed position, and the floating plate assembly covers at least a portion of the liquid inlet when in the closed position; When the floating plate assembly is opened, at least part of the liquid inlet is in an open state, so that the liquid to be cleaned can enter.

14. The water surface cleaning robot according to claim 13, characterized in that: The rotation axis of the floating plate assembly is located below the liquid surface of the liquid to be cleaned.

15. The water surface cleaning robot according to claim 13, characterized in that: The filter device is provided with a filter chamber inside: The floating plate assembly has a first side edge and a second side edge, the first side edge and the second side edge are located at two opposite sides of the floating plate assembly, and the first side edge is rotatably connected to the housing or the side wall of the filter cavity or the filter device; Wherein, when the floating plate assembly switches from the open position to the closed position, the second side rotates upward around the rotation axis of the floating plate assembly.

16. The water surface cleaning robot according to claim 15, characterized in that: When the floating plate assembly is in the closed position, the first side edge is located below the second side edge.

17. The water surface cleaning robot according to claim 13, characterized in that: The floating plate assembly is made in at least one of the following ways, so that the density of the floating plate assembly is less than the density of the liquid to be cleaned: At least a portion of the floating plate assembly is made of a material with a density less than that of the liquid to be cleaned; The floating plate assembly is provided with a cavity; The floating plate assembly is provided with a floating block, and the density of the floating block is less than the density of the liquid to be cleaned.

18. The water surface cleaning robot according to claim 13, characterized in that: The shell is provided with a limit block. When the floating plate assembly is in the closed position, the floating plate assembly is stopped by the limit block to limit the rotation stroke of the floating plate assembly.

19. The water surface cleaning robot according to claim 13, characterized in that: The floating plate assembly comprises: A floating plate frame, wherein the floating plate frame is rotatably disposed on the shell; a first filter screen, the first filter screen being arranged on the floating plate frame, and when the floating plate assembly is in the closed position, the first filter screen covers at least a portion of the liquid inlet; Wherein, the floating plate skeleton is made by at least one of the following methods, so that the density of the floating plate skeleton is less than the density of the liquid to be cleaned: At least a portion of the floating plate skeleton is made of a material having a density less than that of the liquid to be cleaned; The floating plate frame is provided with a cavity; The floating plate skeleton is provided with a floating block, and the density of the floating block is less than the density of the liquid to be cleaned.

20. The water surface cleaning robot according to claim 1, characterized in that: The filter device and / or the shell is provided with an inlet, and the shell is provided with a liquid channel, which is respectively connected to the inlet and the liquid outlet. After the liquid to be cleaned is filtered by the filter device, it enters the liquid channel through the inlet and is then discharged from the liquid outlet.

21. The water surface cleaning robot according to claim 20, characterized in that: There are at least two inlets, which are arranged on the inner wall of the shell; under the action of the suction component, the filtered liquid enters the liquid channel from the inlet and is discharged from the corresponding outlet, and the pump body is in the liquid channel.

22. The water surface cleaning robot according to claim 21, characterized in that: The shell has a first side surface and a second side surface that are arranged opposite to each other in the moving direction of the water surface cleaning robot, at least two different inlets correspond to different liquid channels, one of the liquid channels is close to the third side surface of the shell, and the other liquid channel is close to the fourth side surface of the shell, and the third side surface and the fourth side surface are arranged opposite to each other and are perpendicular to the first side surface and the second side surface; Different liquid channels correspond to different outlets; Under the action of the suction component, liquid enters different liquid channels from different inlets and is discharged from different outlets, thereby enabling the water surface cleaning robot to move forward, backward or turn.

23. The water surface cleaning robot according to claim 1, characterized in that: The shell is further provided with a filter chamber and a liquid channel, the liquid inlet, the filter chamber and the liquid channel are connected in sequence, the shell has a first side surface and a second side surface which are arranged opposite to each other in the moving direction of the water surface cleaning robot, the pump body is arranged in the liquid channel, the first side surface is further provided with a front drain port, the second side surface is provided with a rear drain port, and the liquid channel is respectively connected with the front drain port and the rear drain port; Among them, the water surface cleaning robot has a forward mode and a backward mode. When the water surface cleaning robot is in the forward mode, the pump body guides the liquid in the liquid channel to the rear drain port. When the water surface cleaning robot is in the backward mode, the pump body guides the liquid in the liquid channel to the front drain port.

24. The water surface cleaning robot according to claim 23, characterized in that: The pump body includes an impeller, and the rotation axis of the impeller extends along the moving direction of the water surface cleaning robot. When the water surface cleaning robot is in the forward mode, the impeller rotates in a first direction. When the water surface cleaning robot is in the backward mode, the impeller rotates in a second direction. The first direction is opposite to the second direction.

25. The water surface cleaning robot according to claim 24, characterized in that: The filter chamber and the liquid channel can be selectively connected through a front water inlet or a rear water inlet, the front water inlet and the rear water inlet are both connected to the liquid channel, the front water inlet is located between the impeller and the first side surface, and the rear water inlet is located between the impeller and the second side surface; Wherein, when the water surface cleaning robot is in the forward mode, the front water inlet is connected to the filter chamber, and the rear water inlet is disconnected from the filter chamber; When the water surface cleaning robot is in the backward mode, the front water inlet is disconnected from the filter chamber, and the rear water inlet is connected to the filter chamber.

26. The water surface cleaning robot according to claim 25, characterized in that: The distance between the front water inlet and the first side surface is greater than the distance between the front water inlet and the second side surface, and the distance between the rear water inlet and the first side surface is greater than the distance between the rear water inlet and the second side surface; and / or The side wall of the liquid channel facing the filter chamber in the horizontal direction has an inclined section, the inclined section is arranged obliquely relative to the rotating shaft of the impeller, and the rotating shaft of the impeller passes through the inclined section.

27. The water surface cleaning robot according to claim 25, characterized in that: A baffle is provided at the front water inlet and the rear water inlet, and the baffle is rotatably connected to the shell between an open position and a closed position; When the baffle is located at the open position, the liquid channel and the filter chamber are connected through the front water inlet or the rear water inlet corresponding to the baffle; When the baffle is in the closed position, the liquid channel and the filter chamber are prevented from communicating with each other through the front water inlet or the rear water inlet corresponding to the baffle.

28. The water surface cleaning robot according to claim 25, characterized in that: The shell is provided with a plurality of the liquid channels, the plurality of the liquid channels are arranged at intervals, and the arrangement direction of the plurality of the liquid channels, the moving direction of the shell and the vertical direction are perpendicular to each other; The plurality of liquid channels include a first liquid channel and a second liquid channel, and the first liquid channel and the second liquid channel are respectively arranged on opposite sides of the filter cavity.

29. The water surface cleaning robot according to claim 28, characterized in that: The water surface cleaning robot has a first steering mode and a second steering mode. When the water surface cleaning robot is in the first steering mode, the impeller in the first liquid channel rotates along the first direction, and the impeller in the second liquid channel rotates along the second direction. When the water surface cleaning robot is in the second steering mode, the impeller in the first liquid channel rotates along the second direction, and the impeller in the second liquid channel rotates along the first direction.

30. The water surface cleaning robot according to claim 29, characterized in that: The front water inlet includes a first front water inlet and a second front water inlet, the rear water inlet includes a first rear water inlet and a second rear water inlet, the first front water inlet and the first rear water inlet are both connected to the first liquid channel, and the second front water inlet and the second rear water inlet are both connected to the second liquid channel; Wherein, when the water surface cleaning robot is in the first steering mode, the first front water inlet is connected to the filter chamber, the first rear water inlet is disconnected from the filter chamber, the second front water inlet is disconnected from the filter chamber, and the second rear water inlet is connected to the filter chamber; When the water surface cleaning robot is in the second steering mode, the first front water inlet is disconnected from the filter chamber, the first rear water inlet is connected to the filter chamber, the second front water inlet is connected to the filter chamber, and the second rear water inlet is disconnected from the filter chamber.

31. The water surface cleaning robot according to claim 30, characterized in that: The first front water inlet, the second front water inlet, the first rear water inlet, and the second rear water inlet are located between the first liquid channel and the second liquid channel.

32. The water surface cleaning robot according to claim 1, characterized in that: The housing is provided with a receiving cavity, the filter device is movably arranged in the receiving cavity, and the filter device is provided with a first positioning structure; The water surface cleaning robot also includes: A limiting component, disposed on the housing, wherein the limiting component is provided with a second positioning structure; The limiting component can be switched between a limiting state and a separation state. When the limiting component is in the limiting state, it abuts against the filter device. The second positioning structure cooperates with the first positioning structure to fix the relative position of the filter device and the housing. When the limiting component is in the separated state, it is separated from the filter device, the second positioning structure is separated from the first positioning structure, and the filter device is movable relative to the housing.

33. The water surface cleaning robot according to claim 32, characterized in that: Also includes: an elastic member, wherein the elastic member is arranged on the housing; Wherein, when the limiting component is in the limiting state, the elastic member is compressed by the filter device and the housing and has elastic force; When the limiting component is in the separated state, the filter device moves out of the filter cavity under the driving force of the elastic member.

34. The water surface cleaning robot according to claim 33, characterized in that: One of the first positioning structure and the second positioning structure is a positioning groove and the other is a positioning protrusion, when the limiting component is in the limiting state, the positioning protrusion is inserted into the positioning groove, and a side of the filter device away from the opening of the filter cavity is spaced from the cavity wall of the filter cavity; Wherein, the notch direction of the positioning groove is perpendicular to the moving direction of the filtering device.

35. The water surface cleaning robot according to claim 34, wherein the opening of the filter cavity is located on one side of the housing in the horizontal direction, and the filter device moves in the horizontal direction; The first positioning structure is arranged on the lower side of the filtering device, and the second positioning structure is arranged on the upper side of the limiting component.

36. The water surface cleaning robot according to claim 35, characterized in that: The limiting component comprises: An elastic arm, the lower end of which is connected to the housing and extends upward, and the elastic arm and the opening of the filter cavity are located on the same side of the housing; The first support arm is connected to the upper end of the elastic arm, the first support arm extends along the moving direction of the filter cavity toward a direction away from the opening of the filter cavity, and the second positioning structure is arranged on the upper side of the first support arm.

37. The water surface cleaning robot according to any one of claims 32-34, characterized in that: The opening of the filter cavity is located on one side of the housing in the horizontal direction, and the filter device moves in the horizontal direction; The water surface cleaning robot also includes: a first guide wheel, wherein the first guide wheel is rollably provided with one of the lower side surface of the filter device and the lower wall surface of the filter chamber, and the first guide wheel abuts against the other of the lower side surface of the filter device and the lower wall surface of the filter chamber; Wherein, when the filtering device moves relative to the shell, the first guide wheel rolls relative to the shell.

38. The water surface cleaning robot according to claim 37, characterized in that: Also includes: a second guide wheel, the second guide wheel being rotatably provided with one of the upper side surface of the filter device and the upper wall surface of the filter chamber, the second guide wheel being stopped at the other of the upper side surface of the filter device and the upper wall surface of the filter chamber; Wherein, when the filtering device moves relative to the shell, the first guide wheel rolls relative to the shell.

39. The water surface cleaning robot according to claim 38, characterized in that: The filtering device comprises: A box body, wherein the upper side and the lower side of the box body are provided with through holes; a third filter screen, the third filter screen being connected to the lower side of the box body and covering the through hole on the lower side of the box body; a fourth filter screen connected to the upper side of the box body and covering the through hole on the upper side of the box body; The lower side surface of the box body abuts against the first guide wheel, and the first guide wheel avoids the third filter screen, and the upper side surface of the box body abuts against the second guide wheel, and the second guide wheel avoids the fourth filter screen.

40. The water surface cleaning robot according to claim 1, characterized in that: A receiving cavity is provided in the shell, the receiving cavity is communicated with the liquid inlet, and a stopper is provided inside the receiving cavity; The filter device is arranged in the accommodating chamber in a pullable manner, the liquid inlet is also used to allow the filter device to enter and exit the accommodating chamber, the filter device comprises a first box wall, the first box wall is deformable, and a limiting protrusion is arranged on the outer surface of the first box wall, when the filter device is located in the accommodating chamber, the limiting protrusion abuts against the stopper; The water surface cleaning robot also includes a locking piece, which is movably connected to the filtering device, and has a locked state and an unlocked state. When the locking piece is in the locked state, it abuts against the inner surface of the first box wall and forms a supporting force on the first box wall so that the limiting protrusion maintains an abutting relationship with the stop portion. When the locking piece is in the unlocked state, it is separated from the first box wall.

41. The water surface cleaning robot according to claim 40, characterized in that: The locking element comprises a second supporting arm and a connecting arm, one end of the connecting arm is connected to the second supporting arm, and the other end of the connecting arm is rotatably connected to the filtering device; When the locking element is in the locked state, the second support arm abuts against the first box wall and forms a supporting force on the first box wall. When the locking element is in the unlocked state, the second support arm is separated from the first box wall.

42. The water surface cleaning robot according to claim 41, characterized in that: There are two connecting arms, the two connecting arms are located at two ends of the second supporting arm, and the two connecting arms are respectively connected to two opposite box walls of the filtering device; When the filter device is installed in the filter chamber, the locking piece is located at one end of the filter device close to the liquid inlet; The support arm has a support surface, and when the locking element is in the locked state, the support surface is in contact with the first box wall; The first box wall is the lower box wall of the filtering device.

43. The water surface cleaning robot according to claim 40, characterized in that: Along the moving direction of the filter device, the distance from the connection point between the locking piece and the filter device and the limiting protrusion is less than or equal to 1 / 5 of the size of the filter device along its own moving direction.

44. The water surface cleaning robot according to claim 40, characterized in that: The filter device comprises a first part and a second part, the first part comprises a cylindrical main body and an end wall located at one end of the main body, and the cross-section of the main body is rectangular; The second part is a cylindrical structure, the cross-section of the second part is a rectangular shape, and the second part is detachably connected to an end of the main body away from the end wall; Wherein, the locking element is connected to the second part.

45. The water surface cleaning robot according to claim 44, characterized in that: A buckle is provided on one of the second part and the main body, and a slot is provided on the other of the second part and the main body, and the buckle is matched with the slot.

46. ​​The water surface cleaning robot according to claim 45, characterized in that: A limiting protrusion is arranged on one of the second part and the main body, and a groove is arranged on the other of the second part and the main body, and the limiting protrusion is matched with the groove.

47. The water surface cleaning robot according to claim 1, characterized in that: An energy storage device is provided on the shell, and the energy storage device includes a photovoltaic power generation device, and the photovoltaic power generation device supplies power to the water surface cleaning robot.

48. A control method for a water surface cleaning robot, characterized in that: By controlling the water surface cleaning robot, garbage is cleaned on the water surface and / or sides and / or corners; The water surface cleaning robot is selected from at least one of the water surface cleaning robots described in any one of claims 1 to 47.

49. The control method according to claim 48, characterized in that: The method comprises: Acquire a first distance fed back by the first sensor and a second distance fed back by the second sensor; Determine whether the absolute value of the difference between the first distance and the second distance is less than a preset value; If not, based on the first distance and the second distance, the power of at least one of the first pump body and the second pump body is adjusted to make the first distance and the second distance equal.

50. The control method according to claim 49, characterized in that: The step of adjusting the power of at least one of the first pump body and the second pump body based on the first distance and the second distance so that the first distance and the second distance are equal comprises: Determining whether the first distance value is greater than the second distance value; If yes, control the first pump to reduce power and / or the second pump to increase power; If not, determining whether the first distance value is less than the second distance value; If so, controlling the first pump to increase power and / or the second pump to reduce power; If not, the power of the first pump body is controlled to be equal to the power of the second pump body.

51. The control method according to claim 49, characterized in that: Before determining whether the absolute value of the difference between the first distance and the second distance is less than a preset value, the following steps are also included: Determine whether both the first distance value and the second distance value are not less than a second preset value; If yes, control the first pump body and the second pump body to operate at a first preset power; If not, the first pump body and the second pump body are controlled to operate at a second preset power, and the first preset power is greater than the second preset power.

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