Main body of cleaning robot and cleaning robot

Abstract

The present application relates to the field of robots, and in particular to a main body of a cleaning robot and a cleaning robot. The main body of the cleaning robot comprises a body housing and a mode recognition assembly. The body housing comprises a sealed housing part and an accommodating housing part; the accommodating housing part is used for accommodating a water surface cleaning garbage basket or an underwater cleaning garbage basket. The mode recognition assembly is arranged at a position located in the sealed housing part and close to the accommodating housing part; the mode recognition assembly comprises a first sensor and a second sensor which are spaced apart from each other; the first sensor is configured to: when the underwater cleaning garbage basket is mounted on the accommodating housing part, output a first signal used for indicating an underwater cleaning mode; and the second sensor is configured to: when the water surface cleaning garbage basket is mounted on the accommodating housing part, output a second signal used for indicating a water surface cleaning mode. The main body of the cleaning robot provided in the present application can automatically recognize the water surface cleaning mode and the underwater cleaning mode.

Description

Cleaning robot body and cleaning robot

[0001] This application claims priority to the Chinese patent application filed with the China Patent Office on March 25, 2024, with application number 202420595908.0, and invention name “Body of cleaning robot and cleaning robot”, all contents of which are incorporated by reference into this application. Technical Field

[0002] The present application relates to the field of robotics technology, and in particular to a body of a cleaning robot and a cleaning robot. Background Art

[0003] After prolonged use, various debris and garbage float on the surface of pools, swimming pools, and lakes. Furthermore, debris and garbage accumulate at the bottom of the pool, seriously polluting the water quality and affecting its aesthetics. Therefore, both surface and underwater cleaning are essential. Designing a dual-purpose cleaning robot that can automatically distinguish between surface and underwater cleaning modes has become a technical challenge. Summary of the Invention

[0004] The present application provides a body of a cleaning robot and a cleaning robot that can automatically identify a surface cleaning mode and an underwater cleaning mode.

[0005] In the first aspect, the present application provides a body of a cleaning robot, comprising: a body shell, the body shell comprising a sealed shell portion and a storage shell portion, the storage shell portion being used to store a surface cleaning trash basket or an underwater cleaning trash basket; and a pattern recognition component, the pattern recognition component being arranged in the sealed shell portion and close to the surface cleaning trash basket or the underwater cleaning trash basket, the pattern recognition component comprising a first sensor and a second sensor arranged at intervals, the first sensor being configured to output a first signal for indicating an underwater cleaning mode when the underwater cleaning trash basket is installed in the storage shell portion; the second sensor being configured to output a second signal for indicating a surface cleaning mode when the surface cleaning trash basket is installed in the storage shell portion.

[0006] The fuselage main body provided in the present application includes a sealed shell portion and a storage shell portion through the design of the fuselage shell, and the storage shell portion is used to store a surface cleaning trash basket or an underwater cleaning trash basket; the pattern recognition component is arranged in the sealed shell portion and close to the storage shell portion, and the pattern recognition component includes a first sensor and a second sensor arranged at intervals, and the first sensor is configured to output a first signal for indicating an underwater cleaning mode when the underwater cleaning trash basket is installed in the storage shell portion; the second sensor is configured to output a second signal for indicating a surface cleaning mode when the surface cleaning trash basket is installed in the storage shell portion. The design of the fuselage main body creates recognition conditions for identifying the surface cleaning mode and the underwater cleaning mode, so that the fuselage main body can automatically identify the surface cleaning mode and the underwater cleaning mode when applied to a cleaning robot.

[0007] Optionally, the first sensor includes a first Hall sensor, the second sensor includes a second Hall sensor, and the first Hall sensor and the second Hall sensor are arranged at intervals; when the underwater cleaning trash basket is installed in the storage shell part, the first Hall sensor is adjacent to the first magnet on the underwater cleaning trash basket to output the first signal; when the surface cleaning trash basket is installed in the storage shell part, the second Hall sensor is arranged adjacent to the second magnet on the surface cleaning trash basket to output the second signal.

[0008] Optionally, the first Hall sensor and the second Hall sensor are spaced apart in a height direction of the fuselage body.

[0009] Optionally, the main body of the cleaning robot also includes a feedback component, which is electrically connected to the pattern recognition component, and the feedback component is configured to feed back a first feedback signal based on the first signal output by the first sensor, and the first feedback signal includes at least one of a voice signal, a light signal, an image signal, and a text signal; the feedback component is configured to feed back a second feedback signal based on the second signal output by the second sensor, and the second feedback signal includes at least one of a voice signal, a light signal, an image signal, and a text signal.

[0010] Optionally, the main body of the body also includes a reminder component, which is electrically connected to the pattern recognition component. The reminder component is configured to output a reminder signal when the cleaning robot is turned on based on the first sensor not outputting the first signal and the second sensor not outputting the second signal. The reminder signal includes a sound signal emitted by the cleaning robot, a light signal emitted by the cleaning robot, and a display signal displayed on the user terminal.

[0011] In the second aspect, the present application provides a cleaning robot for underwater cleaning, comprising the above-mentioned body and an underwater cleaning trash basket, wherein the underwater cleaning trash basket is arranged in the storage shell portion, and the underwater cleaning trash basket comprises a first magnet, which is located within the sensing range of the first sensor.

[0012] The cleaning robot provided in the present application is used for underwater cleaning. The body shell is designed to include a sealed shell portion and a storage shell portion. The storage shell portion is used to store an underwater cleaning trash basket. The pattern recognition component is arranged in the sealed shell portion and close to the storage shell portion. The pattern recognition component includes a first sensor and a second sensor arranged at intervals. The underwater cleaning trash basket includes a first magnet, and the first magnet is located within the sensing range of the first sensor. The first sensor is configured to output a first signal for indicating an underwater cleaning mode after detecting the magnetic field of the first magnet when the underwater cleaning trash basket is installed in the storage shell portion, and automatically recognizes the underwater cleaning mode when the underwater cleaning trash basket is installed in the storage shell portion.

[0013] In the third aspect, the present application provides a cleaning robot, which is used for water surface cleaning, including the above-mentioned body body, buoyancy device and water surface cleaning trash basket, the water surface cleaning trash basket is arranged in the storage shell part, the water surface cleaning trash basket includes a second magnet, the second magnet is located within the sensing range of the second sensor, and the buoyancy device is detachably installed on the bottom of the body body.

[0014] The cleaning robot provided in the present application is used for water surface cleaning. The buoyancy device is designed to be detachably installed on the bottom of the fuselage body. The fuselage shell includes a sealed shell portion and a storage shell portion. The storage shell portion is used to store a water surface cleaning trash basket. The pattern recognition component is arranged in the sealed shell portion and close to the storage shell portion. The pattern recognition component includes a first sensor and a second sensor arranged at intervals. The water surface cleaning trash basket includes a second magnet. The second magnet is located within the sensing range of the second sensor. The second sensor is configured to output a second signal for indicating a water surface cleaning mode after detecting the magnetic field of the second magnet when the water surface cleaning trash basket is installed in the storage shell portion, and automatically recognizes the water surface cleaning mode when the water surface cleaning trash basket is installed in the storage shell portion.

[0015] Optionally, the fuselage body also includes a third sensor, which is arranged in the sealed shell part. The third sensor is spaced apart from the first sensor and the second sensor. The third sensor is configured to output an installation success signal when the buoyancy device is installed at the bottom of the fuselage body.

[0016] Optionally, the third sensor includes a third Hall sensor, the buoyancy device includes a third magnet, and the third Hall sensor is adjacent to the third magnet of the buoyancy device when the buoyancy device is installed on the bottom of the fuselage body to output the installation success signal.

[0017] In the fourth aspect, the present application provides a cleaning robot, comprising the above-mentioned body body, surface cleaning trash basket and underwater cleaning trash basket, wherein the surface cleaning trash basket and the underwater cleaning trash basket are replaceably installed on the storage shell part, and the underwater cleaning trash basket comprises a first magnet, which is located within the sensing range of the first sensor, and the surface cleaning trash basket comprises a second magnet, which is located within the sensing range of the second sensor.

[0018] The cleaning robot provided in the present application is designed to include a sealed shell part and a storage shell part through the design of a fuselage shell, and a water surface cleaning trash basket and an underwater cleaning trash basket are replaceably installed in the storage shell part, the underwater cleaning trash basket includes a first magnet, and the water surface cleaning trash basket includes a second magnet. The pattern recognition component is arranged in the sealed shell part and close to the storage shell part. The pattern recognition component includes a first sensor and a second sensor arranged at intervals, the first magnet is located within the sensing range of the first sensor, and the second magnet is located within the sensing range of the second sensor, the first sensor is configured to output a first signal for indicating an underwater cleaning mode when the underwater cleaning trash basket is installed in the storage shell part; the second sensor is configured to output a second signal for indicating a water surface cleaning mode when the water surface cleaning trash basket is installed in the storage shell part, automatically identifying the underwater cleaning mode when the underwater cleaning trash basket is installed in the storage shell part, and automatically identifying the water surface cleaning mode when the surface cleaning trash basket is installed in the storage shell part. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following briefly introduces the drawings required for use in the embodiments.

[0020] FIG1 is a schematic diagram of the exploded structure of an underwater cleaning robot provided in Example 1 of the present application;

[0021] FIG2 is a schematic diagram of the structure decomposition of a water surface cleaning robot provided in Example 2 of the present application;

[0022] FIG3 is a schematic diagram of the exploded structure of a fuselage body provided in an embodiment of the present application;

[0023] FIG4 is a cross-sectional schematic diagram of an underwater cleaning robot provided in Example 1 of the present application;

[0024] FIG5 is a cross-sectional schematic diagram of a water surface cleaning robot provided in Example 2 of the present application;

[0025] FIG6 is an enlarged schematic diagram of a partial cross-section of an underwater cleaning robot provided in Example 1 of the present application;

[0026] FIG7 is an enlarged partial cross-sectional view of a water surface cleaning robot provided in Example 2 of the present application;

[0027] FIG8 is a circuit block diagram of a feedback component, a controller, and a pattern recognition component provided in an embodiment of the present application;

[0028] FIG9 is a circuit block diagram of a reminder component, a controller, and a pattern recognition component provided in an embodiment of the present application;

[0029] FIG10 is a cross-sectional schematic diagram of a surface cleaning robot with a buoyancy device provided in Example 3 of the present application;

[0030] Figure 11 is a schematic diagram of the structural decomposition of the cleaning robot provided in Example 4 of the present application.

[0031] Explanation of the accompanying figures: Cleaning robot 100; body 10; cleaning trash basket 20; underwater cleaning trash basket 20a; surface cleaning trash basket 20b; body shell 11; pattern recognition component 12; sealing shell part 111; storage shell part 112; sealing ring 113; first sub-shell 111a; second sub-shell 111b; feedback component 13; reminder component 14; first sensor 121; second sensor 122; circuit board 124; first Hall sensor 121a; second Hall sensor 122a; third sensor 123; third Hall sensor 123a; first magnet 31; second magnet 32; third magnet 33; buoyancy device 40. DETAILED DESCRIPTION

[0032] The technical solution of this application will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the embodiments described in this application are only some embodiments, not all embodiments. Based on the embodiments provided in this application, all other embodiments obtained by ordinary technicians in this field without making any creative efforts are within the scope of protection of this application.

[0033] References to "embodiments" in this application mean that a particular feature, structure, or characteristic described in connection with the embodiment may be included in at least one embodiment of the application. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor does it necessarily refer to mutually exclusive, independent, or alternative embodiments to other embodiments. It is understood, both explicitly and implicitly, by those skilled in the art that the embodiments described in this application may be combined with other embodiments.

[0034] The terms "first," "second," and so on, in the specification and claims of this application and the accompanying drawings are used to distinguish between different objects, not to describe a specific order. Furthermore, the terms "including," "having," and any variations thereof, are intended to cover non-exclusive inclusions. For example, a component or device comprising one or more parts is not limited to the one or more parts listed, but may optionally include one or more parts that are not listed but are inherent to the illustrated product, or one or more parts that should be present based on the described functionality.

[0035] Please refer to FIG. 1 , which shows a cleaning robot 100 according to an embodiment of the present application.

[0036] The cleaning robot 100 includes a main body 10 and a cleaning trash basket 20 .

[0037] Referring to Figures 1 and 2 , the cleaning waste basket 20 includes, but is not limited to, an underwater cleaning waste basket 20a for underwater cleaning scenarios and a surface cleaning waste basket 20b for surface cleaning scenarios. It will be appreciated that the underwater cleaning waste basket 20a and the surface cleaning waste basket 20b have different structures, adapted for use in underwater and surface cleaning scenarios, respectively.

[0038] In an optional embodiment, referring to FIG1 , an underwater cleaning trash basket 20 a is mounted on the main body 10 , the main body 10 operates in an underwater cleaning mode, and the cleaning robot 100 is an underwater cleaning robot 100 a .

[0039] In a second optional embodiment, referring to FIG. 2 , a water surface cleaning trash basket 20 b is mounted on the main body 10 , the main body 10 operates in a water surface cleaning mode, and the cleaning robot 100 is a water surface cleaning robot 100 b .

[0040] Please refer to FIG. 3 , which shows a main body 10 of a cleaning robot 100 according to an embodiment of the present application.

[0041] Please refer to FIG. 4 and FIG. 5 . The main body 10 includes a body shell 11 and a pattern recognition component 12 .

[0042] Please refer to Figures 4 and 5. The body shell 11 includes a sealing shell portion 111 and a storage shell portion 112. Optionally, the sealing shell portion 111 and the storage shell portion 112 are independent of each other. Further optionally, the sealing shell portion 111 is fixedly arranged in the storage shell portion 112. The storage shell portion 112 is used to store a surface cleaning trash basket 20b or an underwater cleaning trash basket 20a. Optionally, a storage opening is provided at the top or bottom of the storage shell portion 112, and the storage opening is used to store a surface cleaning trash basket 20b or an underwater cleaning trash basket 20a. Wherein, the height direction Z direction is the direction from the bottom to the top.

[0043] The pattern recognition component 12 is disposed in the sealed housing portion 111 and is close to the clean waste basket 20 (the surface clean waste basket 20 b or the underwater clean waste basket 20 a ).

[0044] 6 and 7 , the pattern recognition component 12 includes a first sensor 121 and a second sensor 122 spaced apart from each other. Optionally, the pattern recognition component 12 further includes a circuit board 124 and a controller (not shown). The first sensor 121 and the second sensor 122 are both disposed on the circuit board 124 .

[0045] Please refer to Figure 6. The first sensor 121 is configured to output a first signal indicating the underwater cleaning mode when the underwater cleaning trash basket 20a is installed in the storage housing portion 112. In other words, the first sensor 121 is used to detect whether the underwater cleaning trash basket 20a is installed in the storage housing portion 112. If the underwater cleaning trash basket 20a is installed in the storage housing portion 112, the first sensor 121 outputs a first signal to the controller. The controller determines based on the first signal that there is an underwater cleaning trash basket 20a in the storage housing portion 112 at this time, and determines that the working mode of the cleaning robot 100 is the underwater cleaning mode, so that the cleaning robot 100 can clean garbage underwater (in water or underwater). Specifically, the underwater cleaning mode includes but is not limited to: starting the water pump. Optionally, the first signal includes but is not limited to: voltage signal, etc.

[0046] Please refer to Figure 7. The second sensor 122 is configured to output a second signal indicating the water surface cleaning mode when the water surface cleaning trash basket 20b is installed in the storage shell part 112. In other words, the second sensor 122 is used to detect whether the water surface cleaning trash basket 20b is installed in the storage shell part 112. If the water surface cleaning trash basket 20b is installed in the storage shell part 112, the second sensor 122 outputs a second signal to the controller. The controller determines that there is a water surface cleaning trash basket 20b in the storage shell part 112 based on the second signal, and determines that the working mode of the cleaning robot 100 is the water surface cleaning mode, so that the cleaning robot 100 can clean garbage on the water surface. Specifically, the water surface cleaning mode includes but is not limited to: starting the driving paddle at the rear end of the cleaning robot 100. Optionally, the second signal includes but is not limited to: a voltage signal.

[0047] The body 10 of the cleaning robot 100 provided in the present application is designed to include a sealed shell portion 111 and a storage shell portion 112. The storage shell portion 112 is used to store a surface cleaning trash basket 20b or an underwater cleaning trash basket 20a. The pattern recognition component 12 is arranged in the sealed shell portion 111 and close to the storage shell portion 112. The pattern recognition component 12 includes a first sensor 121 and a second sensor 122 arranged at intervals. The first sensor 121 is configured to be located in the underwater cleaning trash basket 20a. When installed in the storage shell part 112, it outputs a first signal for indicating the underwater cleaning mode. The second sensor 122 is configured to output a second signal for indicating the water surface cleaning mode when the water surface cleaning trash basket 20b is installed in the storage shell part 112. The design of the fuselage main body 10 creates recognition conditions for identifying the water surface cleaning mode and the underwater cleaning mode, so that the fuselage main body 10 can automatically identify the water surface cleaning mode and the underwater cleaning mode when applied to the cleaning robot 100, which is convenient for users to use and improves the user experience.

[0048] This application does not specifically limit the first sensor 121 and the second sensor 122. The first sensor 121 includes, but is not limited to, sensors that detect light signals, pressure signals, magnetic fields, etc., such as infrared sensors, visible light sensors, pressure sensors, and Hall sensors. The second sensor 122 includes, but is not limited to, sensors that detect light signals, pressure signals, magnetic fields, etc., such as infrared sensors, visible light sensors, pressure sensors, and Hall sensors. The first sensor 121 and the second sensor 122 can be of the same or different types.

[0049] For example, referring to Figure 6, the first sensor 121 includes a first Hall effect sensor 121a. Referring to Figure 7, the second sensor 122 includes a second Hall effect sensor 122a. Optionally, both the first sensor 121 and the second sensor 122 are Hall effect sensors. A Hall effect sensor is a magnetic induction sensor based on the Hall effect. A Hall effect sensor includes a sensitive chip, a magnetic circuit system, a measurement circuit, and a housing. The sensitive chip is the core component of the Hall effect sensor and includes a Hall element and related circuitry. The sensitive chip is capable of converting magnetic field strength into an electrical signal. The magnetic circuit system is used to generate a magnetic field and typically includes permanent magnets and soft magnets. Specifically, the Hall element is made of semiconductor material. When current passes through the Hall effect element, the external magnetic field exerts a force on the current, causing the output voltage of the Hall effect element to change. In other words, when the current in a conductor in the magnetic field generated by the magnetic circuit system (affected by the external magnetic field) changes, a potential difference is generated. This potential difference is called the Hall effect voltage. The Hall effect sensor uses this Hall effect voltage to measure the strength of the external magnetic field. The measurement circuit is used to measure and amplify the electrical signal output by the Hall effect element for subsequent processing and control. The housing is used to protect and fix the various parts inside the sensor.

[0050] Referring to Figure 6 , the first Hall effect sensor 121a and the second Hall effect sensor 122a are spaced apart to reduce mutual interference. When the underwater cleaning waste basket 20a is installed in the storage housing 112, the first Hall effect sensor 121a is adjacent to the first magnet 31 on the underwater cleaning waste basket 20a, thereby outputting the first signal. Thus, the main body 10 detects that the underwater cleaning waste basket 20a is installed in the storage housing 112 via the first Hall effect sensor 121a.

[0051] Referring to FIG. 7 , the second Hall effect sensor 122a is positioned adjacent to the second magnet 32 ​​on the water surface cleaning waste basket 20b when the water surface cleaning waste basket 20b is installed in the housing 112 to output the second signal. Thus, the main body 10 detects that the water surface cleaning waste basket 20b is installed in the housing 112 via the second Hall effect sensor 122a.

[0052] The present application does not make any specific limitation on the direction in which the first Hall sensor 121a and the second Hall sensor 122a are spaced apart. When the first Hall sensor 121a and the second Hall sensor 122a are spaced apart, the signals detected by the first Hall sensor 121a and the second Hall sensor 122a can be different, thereby distinguishing between the underwater cleaning trash basket 20a and the surface cleaning trash basket 20b.

[0053] When the underwater cleaning waste basket 20a or the surface cleaning waste basket 20b is mounted in the housing portion 112 approximately parallel to the height direction Z, the first Hall sensor 121a and the second Hall sensor 122a can be spaced apart on a plane formed by the height direction Z and the width direction X. Furthermore, the first Hall sensor 121a and the second Hall sensor 122a are positioned in close contact with the wall of the sealed housing portion 111 facing the cleaning waste basket 20, minimizing the distance between the Hall sensors and the magnet. By placing the first Hall sensor 121a and the second Hall sensor 122a in different positions, it is possible to distinguish whether the cleaning waste basket is the underwater cleaning waste basket 20a or the surface cleaning waste basket 20b.

[0054] Optionally, the first Hall sensor 121a and the second Hall sensor 122a are spaced apart in the height direction Z direction of the main body 10 so as to correspond to the positions of magnets at different heights set in different cleaning waste baskets 20, thereby detecting the underwater cleaning waste basket 20a or the surface cleaning waste basket 20b.

[0055] The first Hall sensor 121a and the second Hall sensor 122a are arranged in sequence along the direction from the top to the bottom of the main body 10. In other words, the height of the first Hall sensor 121a is higher than that of the second Hall sensor 122a. Since the fastener of the underwater cleaning waste basket 20a is located at the bottom of the underwater cleaning waste basket 20a, the first magnet 31 avoids the fastener at the bottom of the underwater cleaning waste basket 20a and is arranged above the fastener of the underwater cleaning waste basket 20a. The position of the first Hall sensor 121a corresponds to the position of the first magnet 31, so the height of the first Hall sensor 121a is relatively high. And because the circuit board 124 needs to avoid, for example, the water pump, it is arranged at a position closer to the bottom of the cleaning robot 100. Therefore, the position of the second Hall sensor 122a is set on the side (below) of the first Hall sensor 121a close to the bottom.

[0056] In addition, since it is necessary to set a third Hall sensor at the bottom of the cleaning robot 100, the third Hall sensor can be set on the circuit board 124 and electrically connected to the controller. Therefore, the circuit board 124 is set at the bottom of the cleaning robot 100, and the second Hall sensor 122a is set on the side close to the bottom of the first Hall sensor 121a. Therefore, by designing the first Hall sensor 121a, the second Hall sensor 122a and the third Hall sensor from high to low, the size of the circuit board 124 can be made relatively small, thereby reducing the size waste of the circuit board 124, and then reducing the size of the cleaning robot 100.

[0057] Optionally, please refer to Figures 6 and 7. The sealed shell part 111 includes a first sub-shell 111a and a second sub-shell 111b. The first sub-shell 111a, the circuit board 124 and the second sub-shell 111b are arranged in sequence along the travel direction Y of the cleaning robot 100. The first sub-shell 111a and the second sub-shell 111b are nested and sealed with each other in the travel direction Y. In addition, the nesting between the first sub-shell 111a and the second sub-shell 111b also includes a sealing ring 113, which is sealed between the first sub-shell 111a and the second sub-shell 111b to form a waterproof sealed shell part 111.

[0058] Optionally, referring to FIG8 , the main body 10 of the cleaning robot 100 further includes a feedback component 13 . The feedback component 13 is electrically connected to the pattern recognition component 12 .

[0059] The feedback component 13 is configured to feed back a first feedback signal according to the first signal output by the first sensor 121. The first feedback signal includes at least one of a voice signal, a light signal, an image signal, and a text signal.

[0060] The feedback component 13 is configured to feed back a second feedback signal according to the second signal output by the second sensor 122. The second feedback signal includes at least one of a voice signal, a light signal, an image signal, and a text signal.

[0061] The feedback component 13 is used to detect whether the underwater or surface cleaning trash basket 20b is installed in place.

[0062] Optionally, the feedback component 13 includes but is not limited to a voice module, a lighting module, or a display module. The feedback component 13 is electrically connected to the controller 15. For example, the feedback component 13 is a voice module. The controller 15 receives the first signal output by the first sensor 121 and controls the feedback component 13 to output a first feedback signal, such as a voice prompt, "Underwater cleaning storage basket installed successfully" or "Entering underwater cleaning mode." The controller 15 receives the second signal output by the second sensor 122 and controls the feedback component 13 to output a second feedback signal, such as a voice prompt, "Surface cleaning trash basket 20b installed successfully" or "Entering surface cleaning mode."

[0063] 9 , the main body 10 of the cleaning robot 100 further includes a reminder component 14. The reminder component 14 is electrically connected to the pattern recognition component 12. The reminder component 14 is used to detect whether the underwater or surface cleaning trash basket 20b is not installed or is installed incorrectly when the cleaning robot 100 is turned on.

[0064] The reminder component 14 is configured to output a reminder signal when the cleaning robot 100 is turned on, based on the first sensor 121 not outputting the first signal and the second sensor 122 not outputting the second signal. Optionally, the reminder component 14 includes but is not limited to: a sound module, a lighting module, or a communication module. The reminder signal includes a sound signal emitted by the cleaning robot 100, a light signal emitted by the cleaning robot 100, and a display signal displayed on the user terminal.

[0065] Specifically, after the cleaning robot 100 is started, neither the first Hall sensor 121a nor the second Hall sensor 122a outputs a signal, detecting that the cleaning waste basket 20 is not installed or is installed incorrectly. A reminder is provided by the reminder component 14, which can be a sound module, a light module, or a communication module that sends a message to the user's mobile phone. The controller 15, the first Hall sensor 121a, and the second Hall sensor 122a are connected to the reminder component 14, and the controller 15 controls the reminder component 14 to issue a reminder signal. For example, the reminder component 14 is a voice module, and the reminder signal can be, for example, "The cleaning waste basket is not installed."

[0066] Optionally, the reminder component 14 and the feedback component 13 may be the same voice module, or the same light module, or the same voice module, or the same display module, or the same communication module, etc.

[0067] Please refer to FIG. 1 . The present application provides an underwater cleaning robot 100 a , which includes a body 10 and an underwater cleaning trash basket 20 a as described in any one of the above embodiments.

[0068] Please refer to Figures 4 and 6. The underwater cleaning trash basket 20a is arranged in the storage shell portion 112. The underwater cleaning trash basket 20a includes a first magnet 31. The first magnet 31 is located within the sensing range of the first sensor 121. Optionally, the first magnet 31 and the first sensor 121 are arranged adjacent to each other. Furthermore, the first magnet 31 and the first sensor 121 are at least partially arranged opposite to each other. In other words, the first sensor 121 is used to detect whether the first magnet 31 exists, and then detect whether the underwater cleaning trash basket 20a exists. Optionally, the first sensor 121 is a first Hall sensor 121a.

[0069] The distance between the first magnet 31 and the first sensor 121 is smaller than the distance between the first magnet 31 and the second sensor 122. The first magnet 31 mainly affects the output voltage signal of the first sensor 121, causing the first sensor 121 to output the first signal. Optionally, the second sensor 122 is a second Hall sensor 122a.

[0070] Optionally, the first magnet 31 is located outside the sensing range of the second sensor 122. In this manner, the magnetic field generated by the first magnet 31 does not affect the output voltage signal of the second sensor 122. When the underwater trash basket 20a is installed, the second sensor 122 does not output the second signal. Based on the first signal output from the first sensor 121 and the absence of the second signal output from the second sensor 122, the controller determines that the underwater trash basket 20a has been successfully installed and automatically identifies the underwater trash basket mode as being in place.

[0071] Alternatively, the first magnet 31 is located within the sensing range of the second sensor 122. Thus, the magnetic field generated by the first magnet 31 also affects the second sensor 122. However, because the first magnet 31 is closer to the first sensor 121, the strength of the first signal is greater than the strength of the second signal. The pattern recognition component 12 (the controller) is configured to determine that the underwater cleaning trash basket 20a has been successfully installed based on the signal strength of the first sensor 121 being greater than the signal strength of the second sensor 122, and automatically identify that the operating mode of the cleaning robot 100 is now the underwater cleaning mode.

[0072] The underwater cleaning robot 100a provided in the present application is designed to include a sealed shell portion 111 and a storage shell portion 112 through the design of a body shell 11. The storage shell portion 112 is used to store an underwater cleaning trash basket 20a. The pattern recognition component 12 is arranged in the sealed shell portion 111 and close to the storage shell portion 112. The pattern recognition component 12 includes a first sensor 121 and a second sensor 122 arranged at intervals. The underwater cleaning trash basket 20a includes a first magnet 31, and the first magnet 31 is located within the sensing range of the first sensor 121. The first sensor 121 is configured to output a first signal for indicating an underwater cleaning mode after detecting the magnetic field of the first magnet 31 when the underwater cleaning trash basket 20a is installed in the storage shell portion 112, and automatically recognizes the underwater cleaning mode when the underwater cleaning trash basket 20a is installed in the storage shell portion 112.

[0073] Referring to Figure 10 , the present application provides a surface cleaning robot 100b comprising a main body 10, a buoyancy device 40, and a surface cleaning trash basket 20b as described in any of the above embodiments. The buoyancy device 40 is detachably mounted on the bottom of the main body 10 of the cleaning robot 100, allowing the main body 10 to float on the water surface.

[0074] Please refer to Figures 5, 7 and 10. The water surface cleaning trash basket 20b is arranged in the storage shell portion 112. The water surface cleaning trash basket 20b includes a second magnet 32. The second magnet 32 ​​is located within the sensing range of the second sensor 122. Optionally, the second magnet 32 ​​and the second sensor 122 are arranged adjacent to each other. Furthermore, the second magnet 32 ​​and the second sensor 122 are at least partially arranged opposite to each other. In other words, the second sensor 122 is used to detect whether the second magnet 32 ​​exists, and then detect whether the water surface cleaning trash basket 20b exists. Optionally, the second sensor 122 is a second Hall sensor 122a.

[0075] The distance between the second magnet 32 ​​and the second sensor 122 is smaller than the distance between the second magnet 32 ​​and the first sensor 121. The second magnet 32 ​​mainly affects the output voltage signal of the second sensor 122, causing the second sensor 122 to output the second signal. Optionally, the first sensor 121 is a first Hall sensor 121a.

[0076] Furthermore, the second magnet 32 ​​is located outside the sensing range of the first sensor 121. Thus, the magnetic field generated by the second magnet 32 ​​does not affect the output voltage signal of the first sensor 121. When the water surface cleaning waste basket 20b is installed, the first sensor 121 does not output the first signal. Based on the second signal output from the second sensor 122 and the absence of the first signal output from the first sensor 121, the controller determines that the water surface cleaning waste basket 20b has been successfully installed and automatically identifies the water surface cleaning waste basket mode as being in place.

[0077] Alternatively, the second magnet 32 ​​is located within the sensing range of the first sensor 121. In this way, the magnetic field generated by the second magnet 32 ​​also affects the first sensor 121, but because the distance between the second magnet 32 ​​and the second sensor 122 is closer, the intensity of the second signal is greater than that of the first signal.

[0078] The pattern recognition component 12 (controller) is configured to determine that the water surface cleaning trash basket 20b is successfully installed based on the signal strength of the second sensor 122 being greater than the signal strength of the first sensor 121, and automatically recognize that the working mode of the cleaning robot 100 is the water surface cleaning mode.

[0079] When cleaning water surfaces, the cleaning robot 100 needs to be installed with a buoyancy device 40. The buoyancy device 40 has a built-in third magnet (i.e., third magnet 33) that magnetically attaches to the metal on the main body 10. A third Hall effect sensor 123a can be installed near the metal on the robot. When the buoyancy device 40 is installed, the third Hall effect sensor 123a outputs a third signal to the controller. When the controller enters water surface cleaning mode, it uses the third Hall effect sensor 123a to detect whether the buoyancy device 40 is installed. The reminder module then issues a reminder if the buoyancy device 40 is not installed.

[0080] The water surface cleaning robot 100b provided in the present application is designed so that the buoyancy device 40 can be detachably installed at the bottom of the main body 10 of the cleaning robot 100. The body shell 11 includes a sealed shell portion 111 and a storage shell portion 112. The storage shell portion 112 is used to store the water surface cleaning trash basket 20b. The pattern recognition component 12 is arranged in the sealed shell portion 111 and close to the storage shell portion 112. The pattern recognition component 12 includes a first sensor 121 and a second sensor 122 arranged at intervals. The water surface cleaning trash basket 20b includes a second magnet 32. The second magnet 32 ​​is located within the sensing range of the second sensor 122. The second sensor 122 is configured to output a second signal for indicating the water surface cleaning mode after detecting the magnetic field of the second magnet 32 ​​when the water surface cleaning trash basket 20b is installed in the storage shell portion 112, and automatically recognizes the water surface cleaning mode when the water surface cleaning trash basket 20b is installed in the storage shell portion 112.

[0081] Please refer to Figure 10. The main body 10 of the cleaning robot 100 also includes a third sensor 123. The third sensor 123 is arranged in the sealed shell part 111. Optionally, the third sensor 123 is arranged on the circuit board 124, and the third sensor 123 is spaced apart from the first sensor 121 and the second sensor 122. The third sensor 123 is arranged at the bottom of the sealed shell part 111, which is also the bottom of the main body 10 of the cleaning robot 100. The third sensor 123 is configured to output an installation success signal when the buoyancy device 40 is installed at the bottom of the main body 10 of the cleaning robot 100. The third sensor 123 is used to detect whether the buoyancy device 40 is installed at the bottom of the main body 10. The third sensor 123 includes but is not limited to sensors that detect light signals, pressure signals, magnetic fields, etc., for example, infrared light sensors, visible light sensors, pressure sensors, Hall sensors, etc.

[0082] For example, referring to FIG10 , the third sensor 123 includes a third Hall effect sensor 123a. The buoyancy device 40 includes a third magnet 33. When the buoyancy device 40 is installed on the bottom of the main body 10 of the cleaning robot 100, the third Hall effect sensor 123a is adjacent to the third magnet 33 of the buoyancy device 40 to output the installation success signal.

[0083] The third magnet 33 is located within the sensing range of the third sensor 123. Optionally, the third magnet 33 is disposed adjacent to the third sensor 123. Furthermore, the third magnet 33 and the third sensor 123 are disposed at least partially opposite each other. When the buoyancy device 40 is installed, the third sensor 123 outputs a third signal. The controller determines that the buoyancy device 40 has been successfully installed based on the output of the third signal from the third sensor 123. The controller determines that the buoyancy device 40 has not been successfully installed based on the absence of the third signal from the third sensor 123. The controller may also output a reminder signal indicating that the buoyancy device 40 has not been successfully installed via the reminder component 14.

[0084] Referring to Figure 11 , the present application further provides a cleaning robot 100c, comprising the main body 10 described in any of the aforementioned embodiments, a surface cleaning waste basket 20b, and an underwater cleaning waste basket 20a. The surface cleaning waste basket 20b and the underwater cleaning waste basket 20a are interchangeably mounted on the housing 112. This means that the main body 10 can be flexibly equipped with either the surface cleaning waste basket 20b or the underwater cleaning waste basket 20a, depending on actual usage needs.

[0085] Referring to Figures 4 to 7, the underwater cleaning trash basket 20a includes a first magnet 31. The first magnet 31 is located within the sensing range of the first sensor 121. The surface cleaning trash basket 20b includes a second magnet 32. The second magnet 32 ​​is located within the sensing range of the second sensor 122. Optionally, the first magnet 31 is arranged adjacent to the first sensor 121. Furthermore, the first magnet 31 and the first sensor 121 are at least partially arranged opposite to each other. In other words, the first sensor 121 is used to detect whether the first magnet 31 exists, and then detect whether the underwater cleaning trash basket 20a exists. Optionally, the first sensor 121 is a first Hall sensor 121a.

[0086] Optionally, the second magnet 32 ​​is positioned adjacent to the second sensor 122. Furthermore, the second magnet 32 ​​and the second sensor 122 are at least partially positioned opposite each other. In other words, the second sensor 122 is used to detect the presence of the second magnet 32, and thereby detect the presence of the water surface cleaning trash basket 20b. Optionally, the second sensor 122 is a second Hall effect sensor 122a.

[0087] The controller determines that the underwater garbage cleaning basket 20a is installed successfully based on the first sensor 121 outputting the first signal and the second sensor 122 not outputting the second signal, and automatically identifies that the underwater garbage cleaning mode is now.

[0088] The controller determines that the water surface cleaning garbage basket 20b is installed successfully based on the second signal output by the second sensor 122 and the absence of the first signal output by the first sensor 121, and automatically identifies that the water surface cleaning garbage mode is now.

[0089] The cleaning robot 100c has a surface cleaning mode and an underwater cleaning mode. In both modes, the main body 10 of the cleaning robot 100c is equipped with trash baskets of different shapes (surface cleaning trash basket 20b and underwater cleaning trash basket 20a). Two Hall sensors are set near the storage housing 112 on the cleaning body. When the surface cleaning trash basket 20b is installed in the storage housing 112, the second Hall sensor 122a is triggered to output a second signal. When the underwater cleaning trash basket 20a is installed in the storage housing 112, the first Hall sensor 121a is triggered to output a first signal. The controller identifies the current cleaning mode based on which Hall sensor signal is received and adopts the corresponding cleaning strategy to control the cleaning robot 100c to perform the cleaning task.

[0090] Please refer to Figures 4 to 7. The pattern recognition component 12 is installed in the sealed housing portion 111 and is located near the storage housing portion 112. The first Hall sensor 121a and the second Hall sensor 122a are installed in sequence from top to bottom in the vertical direction. The underwater cleaning trash basket 20a is provided with a first magnet (i.e., the first magnet 31). After installation, the first magnet corresponds to the position of the first Hall sensor 121a, triggering the first Hall sensor 121a to output a first signal. The surface cleaning trash basket 20b is provided with a second magnet (i.e., the second magnet 32). After installation, it corresponds to the position of the second Hall sensor 122a, triggering the second Hall sensor 122a to output a second signal. The first magnet is set on the side of the underwater cleaning trash basket 20a close to the controller. The second magnet is set on the side of the surface cleaning trash basket 20b close to the controller.

[0091] The cleaning robot 100c provided in the present application is designed to include a sealed housing portion 111 and a storage housing portion 112. The surface cleaning waste basket 20b and the underwater cleaning waste basket 20a are replaceably installed in the storage housing portion 112. The underwater cleaning waste basket 20a includes a first magnet 31, and the surface cleaning waste basket 20b includes a second magnet 32. The pattern recognition component 12 is arranged in the sealed housing portion 111 and close to the storage housing portion 112. The pattern recognition component 12 includes a first sensor 121 and a second sensor 122 arranged at intervals. The first magnet 31 is located at the first sensor 1 21, the second magnet 32 ​​is located within the sensing range of the second sensor 122, the first sensor 121 is configured to output a first signal for indicating the underwater cleaning mode when the underwater cleaning trash basket 20a is installed in the storage shell portion 112, and the second sensor 122 is configured to output a second signal for indicating the surface cleaning mode when the surface cleaning trash basket 20b is installed in the storage shell portion 112, and automatically identify the underwater cleaning mode when the underwater cleaning trash basket 20a is installed in the storage shell portion 112, and automatically identify the surface cleaning mode when the surface cleaning trash basket 20b is installed in the storage shell portion 112.

[0092] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present application, and these improvements and modifications are also considered to be within the scope of protection of the present application.

Claims

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

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

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

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

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

6. A cleaning robot used for underwater cleaning, wherein: The underwater cleaning trash basket comprises the body according to any one of claims 1 to 5, wherein the underwater cleaning trash basket is arranged in the storage shell portion, and the underwater cleaning trash basket comprises a first magnet, and the first magnet is located within the sensing range of the first sensor.

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

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

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

10. A cleaning robot, wherein: It includes a body according to any one of claims 1 to 5, a surface cleaning trash basket and an underwater cleaning trash basket, the surface cleaning trash basket and the underwater cleaning trash basket being replaceably installed on the storage shell portion, the underwater cleaning trash basket including a first magnet, the first magnet being located within the sensing range of the first sensor, the surface cleaning trash basket including a second magnet, the second magnet being located within the sensing range of the second sensor.

Images