CN111561043A

CN111561043A - Robot for automatically cleaning and purifying pool

Info

Publication number: CN111561043A
Application number: CN202010473104.XA
Authority: CN
Inventors: 张博宇; 田浩然; 方明
Original assignee: Changchun University of Science and Technology
Current assignee: Changchun University of Science and Technology
Priority date: 2020-05-29
Filing date: 2020-05-29
Publication date: 2020-08-21
Anticipated expiration: 2040-05-29
Also published as: CN111561043B

Abstract

The invention provides a robot for automatically cleaning and purifying a pool, which comprises a remote controller and a car body, wherein the car body is provided with wheels, and the car body is also provided with a central control module, a power supply and power module, a longitudinal transportation module, a transverse transportation module, a brushing module, a sensor and a sensing module. The invention has the beneficial effects that: 1. greatly reducing the waste of water resources; 2. a non-cyclic path memory algorithm based on UWB positioning is provided, and the minimization of time consumption and energy consumption is realized; 3. the system can run fully automatically after the route is memorized, so that the human resource consumption is reduced; 4. can simultaneously clean the bottom of the pool and pebbles, and overcomes the defects of the prior device.

Description

Robot for automatically cleaning and purifying pool

Technical Field

The invention relates to the technical field of robots, in particular to a robot for automatically cleaning and purifying a pool.

Background

With the acceleration of the urbanization construction process of China, the number of parks and building squares in a city is gradually increased, and pool landscapes are common contents in the parks and the squares. In order to make the water pool rich in layers, people sometimes choose to lay a layer of cobblestones on the bottom of the water pool and then inject water.

However, after water is injected, because dust in the atmosphere is precipitated and algae and microorganisms are bred, the water quality can be obviously changed after a period of time (about one week in summer), for example, the color begins to become dark green, and a layer of scale-like particles begins to precipitate at the bottom of the pool. After a long time, a layer of thick microorganisms of green algae begin to be attached to the stones and the cobblestones, which seriously affects the landscape and even gives off peculiar smell. For this reason, the regulatory agencies have to perform manual cleaning regularly.

For a flat pool bottom, the general flow is that after drainage, a long-handle brush is directly used for cleaning, stubborn dirt is brushed up, a high-pressure water gun is used for washing, sewage is drained, and the pool bottom is washed again until the pool bottom is clean. Under the condition that cobblestones exist, the work becomes more complicated, the cobblestones need to be stirred continuously during flushing, each angle of the surfaces of the cobblestones can be ensured to be flushed, the cobblestones are pushed open to flush the bottom of the pool, and water can be injected again until the surfaces of the bottom of the pool and the cobblestones are flushed clean. The method has two major disadvantages, namely time and labor consumption and water waste. The general pond cleaning needs 2-3 people to cooperate, and the clearance is slow, and manpower cost increases greatly nowadays, is a little spending to management mechanism. In the cleaning process, the whole pool bottom and cobblestones need to be repeatedly washed by water, and the washed water cannot be recycled, so that a large amount of water resource waste is caused. Not only landscape pools, but swimming pools and other hardened flat-bottomed pools have similar problems. Under the condition that water consumption in China is increasingly tense, the phenomenon needs to be gradually optimized and avoided as much as possible.

According to the current practical situation, the cleaning method comprises the following steps:

1. manual cleaning: the manual scrubbing and washing are carried out, and when the cobbles are paved, a spade, a long-handle brush and a high-pressure water gun are required to be arranged.

2. Mechanical or robotic cleaning: currently, an underwater dust collector or an underwater dirt suction machine is available on the market, and can be cleaned under the condition of no water drainage, and most of the underwater dust collectors or the underwater dirt suction machines are operated by remote control.

The two methods have the following defects:

1. manual cleaning is the most primitive method, labor-consuming, inefficient, and water-consuming.

2. The current underwater dust collector or underwater dirt suction machine cannot be applied to the surface of a pool for laying cobblestones, does not have related cleaning function, and does not have the function of autonomous intelligent line-inspection automatic cleaning. Meanwhile, most products do not have the functions of monitoring the cleanliness of pool water and automatically notifying after the filter screen is blocked.

Disclosure of Invention

The invention provides a robot for automatically cleaning and purifying a pool, which comprises a remote controller and a car body, wherein the car body is provided with wheels, the car body is also provided with a central control module, a power supply and power module, a longitudinal transportation module, a transverse transportation module, a brushing module, a sensor and a sensing module,

the remote controller is characterized in that: the remote controller is used for displaying information, receiving vehicle body data from the sensor, the sensing module and the central control module and displaying the information, and is also used for sending manual instructions to the central control module;

the central control module: the remote controller is used for processing the manual instruction from the remote controller and distributing the manual instruction to each module of the vehicle body, and sending the current operation mode and the working progress to the remote controller (1); the central control module receives vehicle body operation data from the sensor and the sensing module in real time;

the power supply and power module comprises a power supply and a transmission system, the power supply is connected with the transmission system, the power supply is a storage battery and/or an external cable, and the transmission system has the functions of providing power for wheels and providing power for the longitudinal transportation module, the transverse transportation module and the brushing module;

the longitudinal transportation module is used for transporting the pebbles from the bottom of the pool to the transverse transportation module;

the transverse transport module: the device is used for turning over the pebbles and transversely transporting the pebbles;

the brushing module comprises a first brushing wheel which is positioned above the transverse transportation module and is used for brushing pebbles on the transverse transportation module;

the sensor and sensing module includes a UWB signal transmission source.

As a further improvement of the invention, the longitudinal transportation module comprises a bottom plate, and a first chain and a plurality of first baffles which are arranged on the bottom plate, the first chain is connected with the first baffles, the first chain drives the first baffles to rotate so as to transport the pebbles at the bottom of the pool to the transverse transportation module, and the bottom plate can be lifted.

As a further improvement of the invention, the transverse transportation module comprises a plurality of rollers, a plurality of second chains and a plurality of second baffles, the plurality of rollers are arranged longitudinally, the second chains are connected with the plurality of second baffles, the second chains drive the second baffles to rotate, a gap is arranged between every two adjacent second baffles, a gap is arranged between every two adjacent rollers, the pebbles are turned over in situ by the rotation of the plurality of rollers, and the pebbles between the two rollers are transported transversely backwards by the rotation of the second baffles.

As a further improvement of the invention, the brushing module comprises a first brushing wheel provided with hard bristles, the number of the first brushing wheels is at least two, the first brushing wheel is aligned with a gap between two adjacent rollers, the first brushing wheel is suspended above the rollers through springs, and the first brushing wheel brushes the pebbles through rotation.

As a further improvement of the present invention, the brushing module further includes a second brushing wheel, the second brushing wheel is located at the bottom of the vehicle body, and the second brushing wheel continuously rotates to brush the bottom of the pool.

As a further improvement of the invention, the robot further comprises a water body purification module, the brushing module further comprises a third baffle plate arranged around the second brushing wheel, the third baffle plate forms a space with an opening, the space is connected to the water body purification module, the water body purification module comprises a water pump and a water body filtration system, the water body filtration system comprises a filter screen, the water pump sucks sewage in the vehicle body and in the space where the second brushing wheel is located into the water body filtration system for filtration, the water body returns to the water pool after being filtered, and the filter screen is detachable.

As a further improvement of the invention, the sensor and perception module comprises a water quality detection sensor, a filter screen blockage sensor and a remote controller signal receiving and sending submodule, and the sensor and perception module obtains information of each part of the vehicle body and the outside, including electric quantity surplus, water quality values, filter screen using conditions, operation modes, work progress and vehicle body position information, and sends the information to the remote controller and the central control module.

As a further improvement of the invention, the water body filtering system also comprises a filter screen capacity sensor and a water quality sensor, the filter screen capacity sensor is used for monitoring the service condition of the filter screen, the water quality sensor is used for monitoring the water quality in real time, and the monitoring result is reflected on a remote controller; the automobile body is provided with a height-adjustable support, and the UWB signal emission source is installed on the support.

As a further improvement of the invention, the remote controller receives vehicle body data including electric quantity residual, water quality value and filter screen using condition, current running mode and working progress from the sensor, the sensing module and the central control module, and displays the information, the remote controller has a sound alarm function when the electric quantity is low and the filter screen residual capacity is too low, and the remote controller is also used for sending manual instructions including startup and shutdown, switching to a manual mode, manually controlling the traveling direction, starting a memory mode and resetting to the central control module;

the central control module receives vehicle body operation data including electric quantity residual, filter screen service conditions and vehicle body position information from the sensor and the sensing module in real time.

As a further improvement of the invention, the robot also comprises a non-cyclic path memory algorithm based on UWB positioning, the positioning is realized by a UWB positioning technology, a plurality of anchor nodes are arranged on the bank to respectively position two UWB signal emission sources with independent numbers of the vehicle body, and the position and the orientation of the vehicle body are calculated by combining the positions of the two UWB signal emission sources;

the positioning and advancing threads of the path initialization and automatic cleaning work use a loop-free path memory algorithm; during initialization, positioning two UWB signal emission sources respectively by means of anchor nodes arranged on a pool bank, and taking the middle point of a connecting line of the two UWB signal emission sources as the position of a vehicle body at the moment; then, continuously detecting and calculating the position of the vehicle body in the whole process, and sampling the position into a plurality of coordinate sequences stored in sequence, wherein the coordinate sequences form a running track during automatic cleaning work; during automatic cleaning, the real-time subtask of the vehicle body is to move the position of the vehicle body to the next sampled target point along the stored motion track; after the vehicle body is adjusted to face the target point, the vehicle body automatically advances, and stops when the position of the vehicle body is coincident with the target point; and adjusting the orientation again, and repeating the operation until all the target points are passed.

The invention has the beneficial effects that: 1. greatly reducing the waste of water resources; 2. a non-cyclic path memory algorithm based on UWB positioning is provided, and the minimization of time consumption and energy consumption is realized; 3. the system can run fully automatically after the route is memorized, so that the human resource consumption is reduced; 4. can simultaneously clean the bottom of the pool and pebbles, and overcomes the defects of the prior device.

Drawings

FIG. 1 is a schematic diagram of the logic functions and modules of the present invention;

FIG. 2 is a schematic diagram of the distribution and operation of the sensors of the present invention;

FIG. 3 is a plan side view of the robot of the present invention;

FIG. 4 is a 3D side view of the robot of the present invention;

FIG. 5 is a 3D top view of the robot of the present invention;

fig. 6 is a diagram of a remote control interface of the present invention.

Detailed Description

As shown in fig. 1, the present invention discloses a robot for automatically cleaning and purifying a pool, comprising:

remote controller 1: the remote controller independent of the vehicle body has no information display function, and all information is displayed to people by the remote controller 1. And receiving various vehicle body data from the sensor and sensing module 8 and the central control module 2, including the electric quantity residual, the water quality value, the filter screen using condition, the current operation mode and the working progress, and displaying the information. The sound alarm function is provided when the low power and the residual capacity of the filter screen are too low. The remote controller 1 can send manual instructions to the central control module 2, including turning on and off, switching to a manual mode, manually controlling the traveling direction, starting a memory mode, and resetting.

The central control module 2: namely a microcomputer, stores data and controls operation. And processing the manual instruction from the remote controller 1, distributing the manual instruction to each module of the vehicle body, and sending the current operation mode and the working progress to the remote controller 1. And key vehicle body operation data such as residual electric quantity, filter screen use condition, vehicle body position information and the like from the sensor and sensing module 8 are received in real time, and the vehicle body operation data do not automatically react through manual intervention.

Power supply and power module 3: the power supply is a storage battery and/or an external cable. The batteries are generally capable of maintaining at least one cleaning, but considering the presence of large pools, external cables may be selected. The functions of the transmission system include the power supply to the wheels 20 and the power supply to the longitudinal transport module 4, the transverse transport module 5 and the brushing module 6, and the components of the transmission system, which are not shown in the schematic drawing, are designed to be arranged in the side neutral position of the vehicle body (see fig. 4).

Longitudinal transport module 4: the pebble cleaning device is composed of a bottom plate 41, a first chain 42 and a plurality of first baffle plates 43, is structurally identical to a scraper conveyor, and has the function of conveying pebbles upwards from the bottom of a pool to a vehicle body cleaning workshop. When the car body starts to clean, the module starts to operate, the first chain 42 drives the first baffle 43 to rotate continuously counterclockwise (with the left side of the car body as the observation direction), the pebbles are horizontally pushed onto the bottom plate 41, and then are transported in a pushing mode along the bottom plate 41 in an inclined upward direction, and fall to the transverse transportation module 5 after reaching the top end. The longitudinal transport module 4 as a whole can be raised upwards to a position above the pebbles, and when the vehicle body is reset and the memory mode is started, the vehicle body passes directly over the pebbles without being cleaned, so that the time is saved.

The first chain 42 and the first flights 43 are similar in structure and function to the flight conveyor, chain power source and pivot point. The first chain 42 and the first shutter 43 rotate anticlockwise and function to transport the pebbles up the ramp in a pushing manner onto the roller 51, acting as a conveyor.

The transverse transport module 5: the pebble overturning machine comprises rollers 51, a second chain 52 and second baffles 53, wherein the second baffles 53 and the rollers 51 are arranged in a plurality of numbers, the rollers 51 are longitudinally arranged, the second chain 52 is connected with the second baffles 53, the second chain 52 drives the second baffles 53 to rotate, a space is reserved between every two adjacent second baffles 53, a gap is reserved between every two adjacent rollers 51, pebbles are overturned in situ through the rotation of the rollers 51 in a plurality of numbers, and the pebbles between the two rollers 51 are transversely transported backwards through the rotation of the second baffles 53. The rollers 51 are four, and the rollers 51 are rubber wheels made of a rubber material. The four rollers 51 are equally spaced and smaller than the minimum diameter of the pebble, and the second shutter 53 is spaced from the axis of the rollers 51 (set to x). When the pebble transporting device runs, the four rollers 51 all rotate continuously in the same direction, the pebble is turned over (the pebble is turned over in place by friction), the second chain 52 drives the second baffle plate 53 to rotate clockwise for a distance of x every 2 seconds, the pebble is pushed from one recess (the recess refers to a gap between the two rollers 51) to the next recess (the recess refers to a gap between the two rollers 51), and the function of transverse transportation is achieved.

The second chain 52 and second apron 53 are similar in construction and function to a flight conveyor, chain power source and pivot point. The second chain 52 and the second apron 53 rotate clockwise and function to periodically push the pebbles to move towards the rear of the vehicle body, acting as a conveyor belt.

The brushing module 6: including a first brushing wheel 61 and a second brushing wheel 62. The first brushing wheel 61 is located above the roller 51, aligns the gap between two adjacent rollers 51, has a gap slightly smaller than the diameter of the pebble with the roller 51, is suspended by a spring in the vertical direction, generates a certain pressure on the pebble to facilitate cleaning and simultaneously prevents the pebble from being clamped, and the first brushing wheel 61 continuously and rapidly rotates to brush the pebble. The second brushing wheels 62 are positioned at the bottom of the vehicle body between the front and rear pairs of wheels 20, continuously rotate to brush the bottom of the pool, and third baffles 63 are arranged around the second brushing wheels to form a relatively closed space connected to the water purification module 7, so that brushed dirt is prevented from secondarily polluting the water.

The water body purification module 7: is positioned below the vehicle body and consists of a water pump and a water body filtering system. The water pump sucks the sewage in the space where the second brushing wheels 62 are positioned in and below the vehicle body into the water body filtering system for filtering, and the water body is returned to the water tank after being filtered, so that the purpose of saving water is achieved. The filter screen is detachable.

The water body filtering system further comprises a filter screen capacity sensor and a water quality sensor, water is sucked by a water pump arranged below the slope, sewage from the interior of the vehicle body and the bottom of the pool is filtered simultaneously, the service condition of the filter screen is monitored by the filter screen capacity sensor, the water quality is monitored by the water quality sensor in real time, the monitoring result of the sensor is reflected on the remote controller 1, and the filter screen can be detached.

Sensor and sensing module 8: the system consists of a plurality of sensors and related simple algorithms, and comprises a water quality detection sensor, a filter screen blockage sensor (differential pressure sensor), a remote controller signal receiving and sending submodule and a UWB signal emission source 81 (two in total, and the two are supported by a bracket with adjustable height). The sensors are used for obtaining information of each part of the vehicle body and the outside, including the above-mentioned electric quantity surplus, water quality value, filter screen service condition, operation mode, working progress and vehicle body position information, and sending the information to the remote controller 1 and the central control module 2. The vehicle body is provided with a height-adjustable bracket 82, and the UWB signal emission source 81 is arranged on the bracket 82.

The main central control module 2 is placed in a cavity 50 of the vehicle body.

The invention also comprises a no-circulation path memory algorithm based on UWB positioning, the positioning is realized by UWB positioning technology, a plurality of anchor nodes 60 are arranged on the bank to respectively position two UWB signal emission sources 81 with independent numbers of the vehicle body, and the position and the orientation of the vehicle body are calculated by combining the positions of the two UWB signal emission sources 81 (as shown in figure 2). The two UWB signal emission sources 81 are supported by a bracket 82 with adjustable height, are higher than the water surface and have equal height, so that the interference of the water body on the precision is reduced.

The "locate and go" threads of both path initialization and auto-purge work use a loop-free path memory algorithm. During initialization, the two UWB signal emission sources 81 are respectively positioned by the anchor nodes 60 arranged on the bank, and the middle point of the connecting line of the two UWB signal emission sources 81 is used as the position of the vehicle body at the moment. And then, continuously detecting and calculating the position of the vehicle body in the whole process, sampling the position into a plurality of coordinate sequences stored in sequence, and forming the running track during automatic cleaning work by the sequences. And during automatic cleaning, the real-time subtask of the vehicle body is to enable the position of the vehicle body to move to the next sampled target point along the stored motion track. After the vehicle body is adjusted to face the target point, the vehicle body automatically advances, and stops when the position of the vehicle body is coincident with the target point. And adjusting the orientation again, and repeating the operation until all the target points are passed.

The working process of the invention is as follows:

when in first use:

at this time, the vehicle body is in a factory mode. The user presses the start key of the remote controller 1 to start up after placing the vehicle body at the expected starting position of the pool, the sensor and sensing module 8 carries out self-checking, whether the arrangement of the power supply state, the filter screen state and the UWB system is finished or not is included, and the self-checking result is displayed on the display screen of the remote controller 1. After confirming that no error exists, a user presses a memory key on the remote controller 1 to send a memory mode starting command to the vehicle body, the longitudinal transportation module 4 is lifted, the vehicle body moves above the pebbles, all three modules including the longitudinal transportation module 4, the transverse transportation module 5 and the brushing module 6 do not operate, the direction key is used for manually controlling the vehicle body to move, the path covers the water pool, and the memory algorithm without the circular path based on UWB positioning is detailed. After the path is covered, the user presses the memory key again to stop the memory mode, and the vehicle body is powered off after the prompt is successful.

When in normal use:

the vehicle body is started after being placed at the initial position set in the memory mode, and when the vehicle body is started, the sensor and sensing module 8 performs self-checking including the power supply condition, the residual capacity (recorded as x1) of the filter screen, whether the UWB system can work normally and whether the vehicle body is located at the initial position set in the memory mode. After the self-checking is finished, the vehicle body is in an initial startup state, and automatic cleaning work is started if no operation is performed after 3 s. The thread of the automatic cleaning work is divided into two parts, namely 'cleaning' and 'positioning and traveling'.

The 'cleaning' thread is mainly realized by four modules, namely a longitudinal transportation module 4, a transverse transportation module 5, a brushing module 6 and a water body purification module 7. In the advancing process of the vehicle body, the longitudinal transportation module 4 transports the pebbles upwards, the pebbles are transported to the top end of the bottom plate and then fall into the gap between the first two rollers 51 in the vehicle body, the four rollers 51 continuously rotate in the same direction to turn over the pebbles, and the first brushing wheel 61 above the pebbles rapidly rotates to clean the surfaces of the pebbles. The transverse transportation module 5 pushes the pebbles to the next gap every 2 seconds until the pebbles are pushed out of the vehicle body, and the batch of pebbles is cleaned. The second brushing wheel 62 of the brushing module 6 continuously rotates under the vehicle body to brush the bottom of the pool, and the generated sewage is sucked into the water body purification module 7 and returns to the pool after being purified, so as to achieve the effect of water saving.

The "positioning and traveling" thread is mainly implemented by the sensor and sensing module 8. See the no-cyclic-path memory algorithm based on UWB positioning for details.

After cleaning is finished, the sensor and sensing module 8 detects the residual capacity (recorded as x2) of the filter screen, if x2< (x1-x2) (namely, the residual capacity is smaller than the used capacity and indicates that the next cleaning of the pool cannot be finished), a signal is sent to the remote controller 1, and a sound alarm prompts that the filter screen is replaced manually.

Or in the cleaning process, if the water quality monitoring sensors in the sensors and sensing module 8 monitor that the water quality reaches the standard, the remote controller 1 reminds the operator.

No cyclic path memory algorithm based on UWB positioning:

the positioning is realized by a UWB positioning technology, a plurality of anchor nodes are arranged on the bank to respectively position two UWB signal emission sources 81 with independent numbers of the vehicle body, and the position and the orientation of the vehicle body are calculated by combining the positions of the two UWB signal emission sources 81 (as shown in figure 2). The two UWB signal emission sources 81 are supported by adjustable supports, are higher than the water surface and have equal height, so that the interference of the water body on the precision is reduced.

The "locate and go" threads of both path initialization and auto-purge work use a loop-free path memory algorithm. During initialization, the two UWB signal emission sources 81 are respectively positioned by anchor nodes disposed on the bank, and the midpoint of the connection line of the two UWB signal emission sources 81 is used as the position of the vehicle body at the moment. And then, continuously detecting and calculating the position of the vehicle body in the whole process, sampling the position into a plurality of coordinate sequences stored in sequence, and forming the running track during automatic cleaning work by the sequences. And during automatic cleaning, the real-time subtask of the vehicle body is to enable the position of the vehicle body to move to the next sampled target point along the stored motion track. After the vehicle body is adjusted to face the target point, the vehicle body automatically advances, and stops when the position of the vehicle body is coincident with the target point. And adjusting the orientation again, and repeating the operation until all the target points are passed.

The functional design and interface of the remote control 1 is shown in fig. 6, and includes:

power key: power on/off/suspend operation. The power-on is pressed in the power-off state, the power-on is suspended/continued to work in the automatic mode, and the power-off is pressed in other cases.

Memory key: switching to a memory mode. When the memory module is used for the first time, the memory module is pressed down, the longitudinal transportation module 4 is lifted, the vehicle body is controlled by the direction key to set a route, and the memory module is detailed in a non-cyclic path memory algorithm based on UWB positioning.

Manual keys and direction keys: the manual mode controls the area. The manual mode is entered by pressing the manual key, and the direction key is moved and can only be used in the manual mode and the memory mode.

A reset key: stop working and automatically land/reset as a whole. And inquiring whether to confirm to stop working after short pressing, canceling resetting after no operation for 3s, lifting the longitudinal transportation module 4 if pressing again within 3s, and automatically returning the vehicle body to the starting position and to the state after starting. And inquiring whether to reset completely or not by continuously pressing 5s, canceling the reset after no operation is carried out for 3s, and completely resetting the vehicle body and deleting the memorized route if the vehicle body is pressed again within 3 s.

The display screen below: a status information display area. And displaying various vehicle body data including electric quantity, filter screen service conditions, current operation mode and working state, cleaning progress and real-time water quality cleanliness.

Built-in sound equipment: and sending out an alarm sound, and giving an alarm sound when the electric quantity is too low or the residual capacity of the filter screen is too low.

The simple use method comprises the following steps: after the computer is started for the first time, the memory key is pressed to start setting a route, and the memory is pressed again to finish the memory. The power key is pressed to wait for 3 seconds to start working at the initial position set by the memory mode.

In summary, the present invention has the following functions:

1. the comprehensive pebble cleaning function and the pool bottom cleaning function are realized by the cooperation of the roller 51 and the first brushing wheel 62.

2. The automatic obstacle avoidance and line inspection work is realized through a memory algorithm and triangular positioning, or the remote control function is accepted.

3. Aiming at the filtering and purifying function of the water body to a certain extent.

4. The automatic alarm function and the running information display function after the filter screen is full and blocked.

The foregoing is a more detailed description of the invention in connection with specific preferred embodiments and it is not intended that the invention be limited to these specific details. For those skilled in the art to which the invention pertains, several simple deductions or substitutions can be made without departing from the spirit of the invention, and all shall be considered as belonging to the protection scope of the invention.

Claims

1. A robot for automatically cleaning and purifying a pool is characterized by comprising a remote controller (1) and a car body, wherein wheels (20) are arranged on the car body, a central control module (2), a power supply and power module (3), a longitudinal transportation module (4), a transverse transportation module (5), a brushing module (6), a sensor and a sensing module (8) are further arranged on the car body,

the remote controller (1): the remote controller (1) is used for displaying information, receiving vehicle body data from the sensor and sensing module (8) and the central control module (2) and displaying the information, and the remote controller (1) is also used for sending manual instructions to the central control module (2);

the central control module (2): the remote control system is used for processing the manual instruction from the remote controller (1) and then distributing the manual instruction to each module of the vehicle body, and sending the current operation mode and the working progress to the remote controller (1); the central control module (2) receives vehicle body operation data from the sensor and sensing module (8) in real time;

the power supply and power module (3) comprises a power supply and a transmission system, the power supply is connected with the transmission system, the power supply is a storage battery and/or an external cable, and the transmission system has the functions of providing power for wheels (20) and providing power for the longitudinal transportation module (4), the transverse transportation module (5) and the brushing module (6);

the longitudinal transportation module (4) is used for transporting the pebbles from the bottom of the pool to the transverse transportation module (5);

the transverse transport module (5): the device is used for turning over the pebbles and transversely transporting the pebbles;

the brushing module (6) comprises a first brushing wheel (61), the first brushing wheel (61) is positioned above the transverse transportation module (5), and the first brushing wheel (61) is used for brushing pebbles on the transverse transportation module (5);

the sensor and sensing module (8) includes a UWB signal transmission source (81).

2. The robot according to claim 1, characterized in that the longitudinal transportation module (4) comprises a bottom plate (41), and a first chain (42) and a plurality of first baffles (43) which are installed on the bottom plate (41), the first chain (42) is connected with the first baffles (43), the first chain (42) drives the first baffles (43) to rotate so as to transport the pebbles at the bottom of the pool to the transverse transportation module (5), and the bottom plate (41) can be lifted.

3. The robot according to claim 1, wherein the transverse transportation module (5) comprises a plurality of rollers (51), a plurality of second chains (52) and a plurality of second baffles (53), the plurality of rollers (51) are arranged longitudinally, the second chains (52) are connected with the plurality of second baffles (53), the second chains (52) drive the second baffles (53) to rotate, a gap is formed between every two adjacent second baffles (53), a gap is formed between every two adjacent rollers (51), the pebbles are turned in place by the rotation of the plurality of rollers (51), and the pebbles between every two rollers (51) are transported backwards and transversely by the rotation of the second baffles (53).

4. A robot according to claim 1, characterized in that the brushing module (6) comprises a first brushing wheel (61), the first brushing wheel (61) being provided with stiff bristles, the first brushing wheel (61) being at least two, the first brushing wheel (61) being aligned with a gap between two adjacent rollers (51), the first brushing wheel (61) being spring-suspended above the rollers (51), the first brushing wheel (61) brushing the pebbles by rotation.

5. The robot according to claim 1, characterized in that the brushing module (6) further comprises a second brushing wheel (62), the second brushing wheel (62) being located at the bottom of the car body, the second brushing wheel (62) continuously rotating to brush the pool bottom.

6. The robot of claim 5, further comprising a water purifying module (7), wherein the brushing module (6) further comprises a third baffle (63) arranged around the second brushing wheel (62), the third baffle (63) forms a space with an opening, the space is connected to the water purifying module (7), the water purifying module (7) comprises a water pump and a water filtering system, the water filtering system comprises a filter screen, the water pump sucks sewage in the vehicle body and in the space where the second brushing wheel (62) is located into the water filtering system for filtering, the water is filtered and then returns to the water pool, and the filter screen is detachable.

7. The robot as claimed in claim 6, wherein the sensor and sensing module (8) comprises a water quality detection sensor, a filter screen blockage sensor and a remote controller signal receiving and sending submodule, and the sensor and sensing module (8) obtains information of each part of the vehicle body and the outside, including electric quantity surplus, water quality values, filter screen use conditions, operation modes, work progress and vehicle body position information, and sends the information to the remote controller (1) and the central control module (2).

8. The robot of claim 7, wherein the water body filtering system further comprises a filter screen capacity sensor and a water quality sensor, the filter screen capacity sensor is used for monitoring the service condition of the filter screen, the water quality sensor is used for monitoring the water quality in real time, and the monitoring result is reflected on the remote controller (1); be equipped with height-adjustable's support (82) on the automobile body, UWB signal emission source (81) is installed on support (82).

9. The robot according to claim 1, characterized in that the remote controller (1) receives and displays the body data including the remaining power, the water quality value and the filter screen usage, the current operation mode and the work progress from the sensor and sensing module (8) and the central control module (2), the remote controller (1) has the sound alarm function when the remaining power of the low power and the filter screen is too low, the remote controller (1) is also used for sending manual instructions to the central control module (2) including turning on and off the machine, switching to the manual mode and manually controlling the traveling direction, starting the memory mode and resetting;

the central control module (2) receives vehicle body operation data including electric quantity residual, filter screen service conditions and vehicle body position information from the sensor and sensing module (8) in real time.

10. The robot of any one of claims 1 to 9, characterized in that the robot further comprises a non-circular path memory algorithm based on UWB positioning, the positioning is realized by UWB positioning technology, a plurality of anchor nodes (60) are arranged on the bank to position two UWB signal emission sources (81) with independent numbers of the vehicle body respectively, and the position and the orientation of the vehicle body are calculated by combining the positions of the two UWB signal emission sources (81);

the positioning and advancing threads of the path initialization and automatic cleaning work use a loop-free path memory algorithm; during initialization, the two UWB signal emission sources (81) are respectively positioned by means of anchor nodes (60) arranged on the bank, and the middle point of the connecting line of the two UWB signal emission sources (81) is used as the position of the vehicle body at the moment; then, continuously detecting and calculating the position of the vehicle body in the whole process, and sampling the position into a plurality of coordinate sequences stored in sequence, wherein the coordinate sequences form a running track during automatic cleaning work; during automatic cleaning, the real-time subtask of the vehicle body is to move the position of the vehicle body to the next sampled target point along the stored motion track; after the vehicle body is adjusted to face the target point, the vehicle body automatically advances, and stops when the position of the vehicle body is coincident with the target point; and adjusting the orientation again, and repeating the operation until all the target points are passed.