CN211534252U - Cleaning robot - Google Patents
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- CN211534252U CN211534252U CN201922308316.8U CN201922308316U CN211534252U CN 211534252 U CN211534252 U CN 211534252U CN 201922308316 U CN201922308316 U CN 201922308316U CN 211534252 U CN211534252 U CN 211534252U
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Abstract
The utility model relates to a robot field discloses a cleaning robot, include: a main body; a driving wheel configured to drive the cleaning robot to move on the surface to be cleaned; a liquid storage tank configured to store liquid; and a liquid level detection device comprising: the probe assembly is arranged on the liquid storage tank; the detection circuit comprises a signal input port, the detection circuit is electrically connected with the probe assembly and used for responding to a driving signal input by the signal input port and outputting a detection signal according to the driving signal so as to determine the liquid storage state of the liquid storage tank, and the cleaning robot detects the liquid storage state of the liquid storage tank through the liquid level detection device so as to timely acquire the liquid storage state of the liquid storage tank.
Description
Technical Field
The utility model relates to a robot field especially relates to a cleaning robot.
Background
At present, with the improvement of living standards and the development of scientific technology of people, the requirements of people on intelligent household appliances and intelligent life are higher and higher, and therefore more and more intelligent household appliances can be rapidly developed and popularized, for example, an intelligent air conditioner, an intelligent washing machine, an intelligent cooking machine, a cleaning robot and the like are used for daily life of people, great convenience is brought to the life of people, for example, the cleaning robot greatly liberates the hands of people, the automatic cleaning of the family environment is realized, and a great amount of precious time of a user is saved.
Under conventional conditions, the cleaning robot is provided with a water tank which comprises a clean water tank and a sewage tank, when the cleaning robot cleans the ground, clean water in the clean water tank is sprayed onto the roller through a water pump to clean the ground, and sewage is recovered to the sewage tank through the suction action of a fan.
SUMMERY OF THE UTILITY MODEL
An object of the embodiment of the utility model is to provide a cleaning robot, it can in time acquire the stock solution state of liquid reserve tank.
In a first aspect, an embodiment of the present invention provides a cleaning robot, including:
a main body;
a driving wheel configured to drive the cleaning robot to move on a surface to be cleaned;
a liquid storage tank configured to store liquid; and
liquid level detection apparatus comprising:
the probe assembly is arranged on the liquid storage tank;
the detection circuit comprises a signal input port, is electrically connected with the probe assembly and is used for responding to a driving signal input by the signal input port and determining the liquid storage state of the liquid storage tank according to a detection signal output by the detection circuit.
Optionally, the detection signal includes a first output signal and a second output signal, the first output signal is indicative of a signal output by the detection circuit when the probe assembly is not in contact with the liquid, and the second output signal is indicative of a signal output by the detection circuit when the probe assembly is in contact with the liquid.
Optionally, the probe assembly comprises a first probe and a second probe;
the detection circuit includes:
a switch circuit electrically connected to the signal input port and also electrically connected to the first probe, the switch circuit inverting the driving signal to generate a voltage drop signal when the liquid in the liquid storage tank contacts the probe assembly; when the liquid in the liquid storage tank is not in contact with the probe assembly, the switch circuit is in an open state;
the signal output circuit is electrically connected with the signal input port and the second probe, and when liquid in the liquid storage tank is contacted with the probe assembly, the signal output circuit superposes the driving signal and the voltage drop signal to obtain a second output signal; the signal output circuit outputs the first output signal when the liquid in the liquid storage tank is not in contact with the probe assembly.
Optionally, the detection circuit further comprises:
a first voltage regulation protection circuit electrically connected between the switching circuit and the first probe;
and the second voltage stabilization protection circuit is electrically connected between the signal output circuit and the second probe.
Optionally, the switching circuit includes a switching tube, a first resistor, a second resistor, and a third resistor;
the first end of the switch tube is connected with the power supply through the first resistor, the first end of the switch tube is connected with the first probe through the second resistor, the second end of the switch tube is connected with the signal input port through the third resistor, and the third end of the switch tube is grounded.
Optionally, the signal output circuit includes a fifth resistor, a sixth resistor, and a capacitor;
the sixth resistor and the capacitor form an RC filter circuit, and the fifth resistor is connected with the RC filter circuit in series.
Optionally, the liquid storage state of the liquid storage tank comprises whether liquid in the liquid storage tank is present and/or whether liquid in the liquid storage tank is full.
Optionally, the liquid storage tank includes a first liquid storage tank and a second liquid storage tank, the probe assembly includes a first probe assembly mounted on the liquid storage tank and a second probe assembly mounted on the second liquid storage tank, the detection circuit includes a first detection circuit and a second detection circuit, the first detection circuit is electrically connected to the first probe assembly and configured to determine a liquid storage state of the first liquid storage tank according to a first detection signal output by the first detection circuit, and the second detection circuit is electrically connected to the second probe assembly and configured to determine a liquid storage state of the second liquid storage tank according to a second detection signal output by the second detection circuit.
Optionally, the first reservoir is a clean water tank, the first probe assembly being configured to be mounted proximate a bottom of the clean water tank;
the second reservoir is a waste tank and the second probe assembly is configured to be mounted proximate a top of the waste tank.
Optionally, the cleaning robot further includes a controller, and the controller is electrically connected to the first detection circuit and the second detection circuit, respectively, and is configured to apply the driving signal to the signal input port, determine a liquid storage state of the clean water tank according to the first detection signal and a preset reference signal, and determine a liquid storage state of the sewage tank according to the second detection signal and the preset reference signal.
Optionally, the detection signal includes a first output signal and a second output signal, the first output signal indicates a signal output by the detection circuit when the probe assembly is not in contact with the liquid, the second output signal indicates a signal output by the detection circuit when the probe assembly is in contact with the liquid, the first detection circuit generates the second output signal when the clean water tank contains the liquid, and the first detection circuit generates the first output signal when the clean water tank does not contain the liquid; the second detection circuit generates a second output signal when the wastewater tank is full of wastewater, and generates a first output signal when the wastewater tank is not full of liquid.
Optionally, the preset reference signal is a signal output by the detection circuit when the probe assembly is not in contact with the liquid.
The embodiment of the utility model provides a beneficial effect is: different from the prior art, the cleaning robot provided by the embodiment of the utility model comprises a main body; a driving wheel configured to drive the cleaning robot to move on a surface to be cleaned; a liquid storage tank configured to store liquid; and a liquid level detection device comprising: the probe assembly is arranged on the liquid storage tank; the detection circuit comprises a signal input port, is electrically connected with the probe assembly and is used for responding to a driving signal input by the signal input port and determining the liquid storage state of the liquid storage tank according to a detection signal output by the detection circuit. The cleaning robot detects the liquid storage state of the liquid storage tank through the liquid level detection device, so that the liquid storage state of the liquid storage tank can be acquired in time.
Drawings
One or more embodiments are illustrated by way of example in the accompanying drawings, which correspond to the figures in which like reference numerals refer to similar elements and which are not to scale unless otherwise specified.
Fig. 1 is a schematic view of a cleaning robot provided by the present invention;
fig. 2 is a schematic structural diagram of a liquid level detection device provided by the present invention;
fig. 3 is a schematic structural diagram of a liquid level detection device provided by the present invention;
fig. 4 is a schematic structural diagram of a liquid level detection device provided by the present invention;
fig. 5 is a schematic structural view of a liquid level detecting device provided by the present invention;
fig. 6 is a schematic diagram of a circuit connection of the liquid level detecting device according to the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.
It should be noted that, if there is no conflict, various features in the embodiments of the present invention may be combined with each other, and all of them are within the scope of the present invention. Additionally, while functional block divisions are performed in apparatus schematics, with logical sequences shown in flowcharts, in some cases, steps shown or described may be performed in sequences other than block divisions in apparatus or flowcharts. Furthermore, the words "first", "second", "third", etc. used in the present invention do not limit the data and execution order, but only distinguish the same items or similar items having substantially the same function and action.
Before describing the present invention in detail, terms and expressions related to the embodiments of the present invention are explained, and the terms and expressions related to the embodiments of the present invention are applicable to the following explanations.
Referring to fig. 1 and 2 together, fig. 1 is a schematic view of a cleaning robot according to an embodiment of the present invention, the cleaning robot 100 includes a main body 10, a driving wheel (not shown), a liquid storage tank 20 and a liquid level detection device 30, wherein the driving wheel is mounted at the bottom of the main body 10 and configured to drive the cleaning robot 100 to move on a surface to be cleaned; a liquid storage tank 20 disposed in the main body 10 and configured to store liquid; and a liquid level detection device 30 for detecting a liquid level condition of the liquid in the liquid storage tank 20.
Specifically, referring to fig. 2, the liquid level detecting apparatus 30 includes a probe assembly 31 and a detecting circuit 32, the probe assembly 31 is mounted on the liquid storage tank 20, wherein the probe assembly 31 is made of a conductive material, preferably, the conductive material is a stainless steel material.
And the detection circuit 32 comprises a signal input port, and the detection circuit 32 is electrically connected with the probe assembly 31 and is used for responding to a driving signal input by the signal input port and outputting a detection signal according to the driving signal so as to determine the liquid storage state of the liquid storage tank 20. Specifically, the driving signal is used to drive the liquid level detection device 30 to detect the liquid level of the liquid in the liquid storage tank 20, and obtain a detection signal. In some embodiments, the driving signal is a PWM square wave signal of a certain low frequency, for example, a PWM square wave signal with a frequency f of 500 Hz.
In some embodiments, the detection signal includes a first output signal indicative of a signal output by the detection circuit when the probe assembly is not in contact with the liquid and a second output signal indicative of a signal output by the detection circuit when the probe assembly is in contact with the liquid.
Specifically, the probe assembly 31 is in a contact state or a non-contact state with the liquid in the liquid storage tank, when the probe assembly 31 is in contact with the liquid, the probe assembly 31 is in a conducting state, and forms a closed loop with the detection circuit 32, and the detection circuit 32 outputs a first output signal; when the probe assembly 31 is not in contact with the liquid, the probe assembly 31 is in an off state, and the detection circuit 32 outputs a second output signal.
In an embodiment of the present invention, the cleaning robot includes a main body; a driving wheel configured to drive the cleaning robot to move on a surface to be cleaned; a liquid storage tank configured to store liquid; and a liquid level detection device, the liquid level detection device comprising: the probe assembly is arranged on the liquid storage tank; the detection circuit comprises a signal input port, is electrically connected with the probe assembly and is used for responding to a driving signal input by the signal input port and outputting a detection signal according to the driving signal so as to determine the liquid storage state of the liquid storage tank. The cleaning robot detects the liquid storage state of the liquid storage tank through the liquid level detection device, so that the liquid storage state of the liquid storage tank can be acquired in time.
Referring to fig. 3, fig. 3 is a schematic structural diagram of a liquid level detecting device according to an embodiment of the present invention, wherein the probe assembly 31 includes a first probe TP1 and a second probe TP2, and the first probe TP1 and the second probe TP2 are both disposed in the liquid storage tank. Specifically, the liquid storage state of the liquid storage tank includes whether liquid in the liquid storage tank exists and/or whether the liquid in the liquid storage tank is full. When the first probe TP1 and the second probe TP2 are immersed in the liquid at the same time, the first probe TP1 and the second probe TP2 are in a conducting state according to the conducting property of the liquid. When either or both of the first probe TP1 and the second probe TP2 are not immersed in the liquid, the first probe TP1 and the second probe TP2 are in an off state.
The detection circuit 32 includes a switch circuit 321 and a signal output circuit 322.
A switch circuit 321 electrically connected to the signal input port and also electrically connected to the first probe TP1, wherein when the liquid in the liquid storage tank contacts the probe assembly 31, the switch circuit 321 reverses the driving signal to generate a voltage drop signal; when the liquid in the reservoir is not in contact with the probe assembly 31, the switch circuit 321 is in an open state.
The signal output circuit 322 is electrically connected to the signal input port and is also electrically connected to the second probe TP2, and when liquid in the liquid storage tank contacts the probe assembly 31, the signal output circuit superimposes the driving signal and the voltage drop signal to obtain the second output signal; the signal output circuit outputs the first output signal when the liquid in the liquid tank is not in contact with the probe assembly 31.
Specifically, when the liquid in the liquid storage tank contacts the probe assembly 31, the probe assembly 31 is in a conducting state, and the driving signal drives the switch circuit, the signal output circuit and the probe assembly to work, and then the signal output circuit outputs a second output signal. When the liquid in the liquid storage tank is not in contact with the probe assembly 31, the probe assembly 31 is in a disconnected state, and the driving signal drives the switch circuit and the signal output circuit to work, and then the signal output circuit outputs a first output signal.
In the embodiment of the present invention, the switch circuit and the signal output circuit are respectively connected to the signal output port, and receive the driving signal, and the liquid level detection device is driven by the driving signal to detect the liquid level condition of the liquid in the liquid storage tank, when the liquid in the liquid storage tank is not in contact with the probe assembly 31, the driving signal drives the liquid level detection device to detect and output a first output signal; when the liquid in the liquid storage tank contacts with the probe assembly 31, the driving signal drives the liquid level detection device to detect and output a second output signal, so that different output signals are obtained according to the condition of the liquid in the liquid storage tank, and the liquid level condition of the liquid in the liquid storage tank can be further judged according to the output signal.
In still other embodiments, referring to fig. 4 and 5, the liquid storage tank includes a first liquid storage tank and a second liquid storage tank, the probe assembly includes a first probe assembly 31 mounted on the liquid storage tank and a second probe assembly 33 mounted on the second liquid storage tank, the detection circuit includes a first detection circuit 32 and a second detection circuit 34, the first detection circuit 32 is electrically connected to the first probe assembly 31 and configured to determine a liquid storage state of the first liquid storage tank according to a first detection signal output by the first detection circuit, and the second detection circuit 34 is electrically connected to the second probe assembly 33 and configured to determine a liquid storage state of the second liquid storage tank according to a second detection signal output by the second detection circuit.
The detection signal comprises a first output signal and a second output signal, the first output signal represents a signal output by the detection circuit when the probe assembly is not in contact with the liquid, and the second output signal represents a signal output by the detection circuit when the probe assembly is in contact with the liquid. The first reservoir is a clean water tank, the first probe assembly 31 is configured to be mounted near the bottom of the clean water tank, the second reservoir is a dirty water tank, and the second probe assembly 33 is configured to be mounted near the top of the dirty water tank. When the clear water tank is filled with liquid, the first detection circuit generates a second output signal, and when the clear water tank is not filled with liquid, the first detection circuit generates a first output signal; the second detection circuit generates a second output signal when the wastewater tank is full of wastewater, and generates a first output signal when the wastewater tank is not full of liquid.
Specifically, please refer to the related description in the above embodiments for the specific connection relationship and the working manner of the first probe assembly 31 and the first detection circuit 32, which are not described in detail herein.
The probe assembly 33 includes a third probe TP3 and a fourth probe TP4, and the third probe TP3 and the fourth probe TP4 are disposed in the liquid storage tank. Specifically, the liquid storage state of the liquid storage tank includes whether liquid in the liquid storage tank exists and/or whether the liquid in the liquid storage tank is full. When the third probe TP3 and the fourth probe TP4 are immersed in the liquid at the same time, the third probe TP3 and the fourth probe TP4 are in a conductive state according to the conductive property of the liquid. When either or both of the third probe TP3 and the fourth probe TP4 are not immersed in the liquid, the third probe TP3 and the fourth probe TP4 are in an off state.
The second detection circuit 34 includes a switch circuit 341 and a signal output circuit 342.
A switch circuit 341 electrically connected to the signal input port and also electrically connected to the third probe TP3, wherein when the liquid in the liquid storage tank contacts the second probe assembly 33, the switch circuit 341 reverses the driving signal to generate a voltage drop signal; when the liquid in the reservoir tank is not in contact with the second probe assembly 33, the switch circuit 341 is in an open state.
The signal output circuit 342 is electrically connected to the signal input port and is also electrically connected to the fourth probe TP4, and when the liquid in the liquid storage tank contacts the second probe assembly 33, the signal output circuit 342 superimposes the driving signal and the voltage drop signal to obtain the second output signal; the signal output circuit 342 outputs the first output signal when the liquid in the reservoir tank is not in contact with the second probe assembly 33.
Specifically, when the liquid in the liquid storage tank contacts the second probe assembly 33, the second probe assembly 33 is in a conducting state, and after the driving signal drives the switch circuit 341, the signal output circuit 342 and the second probe assembly 33 to work, the signal output circuit outputs a second output signal. When the liquid in the liquid storage tank is not in contact with the second probe assembly 33, the second probe assembly 33 is in an off state, and after the driving signal drives the switch circuit 341 and the signal output circuit 342 to work, the signal output circuit 342 outputs a first output signal.
Specifically, the first liquid storage tank is a clean water tank, and the first probe assembly is configured to be installed at a position close to the bottom of the clean water tank; the second reservoir is a waste tank and the second probe assembly is configured to be mounted proximate a top of the waste tank.
In an embodiment of the present invention, the liquid storage tank includes a first liquid storage tank and a second liquid storage tank, the probe assembly includes a first probe assembly installed in the liquid storage tank and a second probe assembly installed in the second liquid storage tank, the first probe assembly includes a first probe and a second probe, the second probe assembly includes a third probe and a fourth probe, the detection circuit includes a first detection circuit and a second detection circuit, the first detection circuit is electrically connected to the first probe assembly and configured to determine the liquid storage state of the first liquid storage tank according to a first detection signal output by the first detection circuit, the second detection circuit is electrically connected to the second probe assembly and configured to determine the liquid storage state of the second liquid storage tank according to a second detection signal output by the second detection circuit, that is, the same driving signal is input through the signal input port to drive the liquid level detection circuit to operate, the liquid level detection circuit generates a first output signal and a second output signal according to the driving signal, and compares the first output signal and the second output signal with a preset reference signal according to the first output signal and the second output signal, so that the liquid level conditions of the clean water tank and the sewage tank are obtained, the liquid level conditions of the two water tanks are detected simultaneously, and the detection cost is reduced. The preset reference signal is a signal output by the detection circuit when the probe assembly is not in contact with the liquid.
In other embodiments, with continuing reference to fig. 4 and 5, the cleaning robot further includes a controller 40 electrically connected to the first detection circuit 32 and the second detection circuit 34, respectively, for applying the driving signal to the signal input port, determining a liquid storage state of the clean water tank according to the first detection signal and a preset reference signal, and determining a liquid storage state of the waste water tank according to the second detection signal and the preset reference signal.
Specifically, the controller 40 is provided with a preset reference signal, and the preset reference signal is used for judging the liquid level condition of the liquid in the water storage tank according to the first output signal or the second output signal. The first output signal and the second output signal are both output signals generated by the liquid level detection device 30 according to the liquid level condition of the liquid in the water storage tank.
Comparing the first output signal or the second output signal with the preset reference signal, if the first output signal or the second output signal is smaller than the preset reference signal, indicating that the probe assembly is submerged by the liquid, and further, if the probe assembly is positioned in the clean water tank, the clean water is stored in the clean water tank; if the probe assembly is located in the sewage tank, the sewage in the sewage tank is full, and the controller 40 sends out a prompt message that the sewage is full to inform related operators to clean the sewage tank. If the first output signal or the second output signal is greater than or equal to a preset reference signal, it indicates that the probe assembly is not in contact with the liquid, and further, if the probe assembly is located in the clean water tank, the clean water in the clean water tank is used up, the controller 40 sends out a prompt message that the clean water is used up to inform related operators to add clean water to the clean water tank; if the probe assembly is located when the sewage tank, sewage in the sewage tank is not full, the prompt information can be voice broadcast, signal lamp flickering or brightening, and the prompt information can also be transmitted to a mobile terminal through wireless signals to remind a user.
In some embodiments, the predetermined reference signal is a signal output by the detection circuit when the probe assembly is not in contact with the liquid. It can be understood that, when the sewage tank is not full of sewage or the clean water tank is not full of clean water, the first probe assembly and the second probe assembly are in an off state, and the first output signals generated by the first detection circuit or the second detection circuit are both driving signals. When the sewage in the sewage tank is full or the clear water in the clear water tank is stored, the first probe assembly and the second probe assembly are in a conducting state, and at the moment, the first detection circuit or the second detection circuit generates a second output signal.
In other embodiments, the second output signal generated by the first detection circuit has a different value than the second output signal generated by the second detection circuit based on a difference in conductivity of the liquid in the liquid reservoir. For example, when the driving signal is a voltage signal of 3.3V, when neither the first probe assembly nor the second probe assembly in the clean water tank nor the sewage tank is in contact with liquid, the first output signals output by the first detection circuit and the second detection circuit are the same and are both the driving signal of 3.3V. When the clean water tank and the first probe assembly and the second probe assembly in the sewage tank are in contact with liquid, the first detection circuit generates a second output signal which is usually a voltage signal less than 0.8V according to the electric conduction level of the clean water; the second water level detection circuit generates a second output signal, which is generally a voltage signal greater than 2V, according to the conductive level of the contaminated water.
Referring to fig. 6, fig. 6 is a schematic structural diagram of a liquid level detecting device according to an embodiment of the present invention, as shown in fig. 6, in still another embodiment, the first detecting circuit includes a first switch circuit 321 and a first signal output circuit, and the second detecting circuit includes a second switch circuit and a second signal output circuit. The first detection circuit further includes a first voltage stabilization protection circuit 35, and the first voltage stabilization protection circuit 35 is electrically connected between the first switch circuit 321 and the first probe TP 1; a second regulated protection circuit 36, wherein the second regulated protection circuit 36 is electrically connected between the first signal output circuit 322 and the second probe TP 2.
The second detection circuit further includes a third voltage stabilization protection circuit 37, and the third voltage stabilization protection circuit 37 is electrically connected between the second switch circuit 341 and the third probe TP 3; a fourth regulated protection circuit 38, wherein the fourth regulated protection circuit 38 is electrically connected between the second signal output circuit 342 and the fourth probe TP 4.
It will be appreciated that the first, second, third and fourth regulated protection circuits 35, 36, 37 and 18 are used to stabilize the voltage drop signal developed across the first and second probe assemblies 31 and 33. The voltage stabilizing protection circuit comprises a voltage stabilizing diode, wherein the anode of the voltage stabilizing diode is grounded, and the cathode of the voltage stabilizing diode is connected with a probe.
The first switch circuit 321 includes a first switch transistor Q1, a first resistor R1, a second resistor R2 and a third resistor R3; a first end of the first switch tube Q1 is connected to a first power source through the first resistor R1, a first end of the first switch tube Q1 is connected to the first probe through the second resistor R2, a second end of the first switch tube Q1 is connected to the signal input port through the third resistor R3, and a third end of the first switch tube Q1 is grounded.
The first signal output circuit comprises a fifth resistor R5, a sixth resistor R6 and a first capacitor C1; the sixth resistor R6 and the first capacitor C1 form a first RC filter circuit, and the fifth resistor R5 is connected in series with the first RC filter circuit.
The second switch circuit comprises a second switch tube Q2, a seventh resistor R7, an eighth resistor R8 and a ninth resistor R9; a first end of the second switch tube Q2 is connected to a first power source through the seventh resistor R7, a first end of the second switch tube Q2 is connected to the third probe through the eighth resistor R8, a second end of the second switch tube Q2 is connected to the signal input port through the ninth resistor R9, and a third end of the second switch tube Q2 is grounded.
The second signal output circuit comprises a tenth resistor R10, an eleventh resistor R11 and a second capacitor C2; the eleventh resistor R11 and the second capacitor C2 form a second RC filter circuit, and the tenth resistor R10 is connected in series with the second RC filter circuit.
In some embodiments, the resistance of the second resistor R2 is adjusted to be the same as that of the fifth resistor R5, the resistance of the eighth resistor R8 is adjusted to be the same as that of the tenth resistor R10, and the resistance of the second resistor R2 or the fifth resistor R5 is adjusted to be larger than that of the eighth resistor R8 or the tenth resistor R10 according to the difference of the electric conductivity of the fresh water and the sewage.
The above-described embodiments of the apparatus or device are merely illustrative, wherein the unit modules described as separate parts may or may not be physically separate, and the parts displayed as module units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network module units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment.
Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a general hardware platform, and certainly can also be implemented by hardware. Based on such understanding, the above technical solutions substantially or contributing to the related art may be embodied in the form of a software product, which may be stored in a computer-readable storage medium, such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the method according to the embodiments or some parts of the embodiments.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit it; within the idea of the invention, also technical features in the above embodiments or in different embodiments can be combined, steps can be implemented in any order, and there are many other variations of the different aspects of the invention as described above, which are not provided in detail for the sake of brevity; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present application.
Claims (12)
1. A cleaning robot, characterized by comprising:
a main body;
a driving wheel configured to drive the cleaning robot to move on a surface to be cleaned;
a liquid storage tank configured to store liquid; and
liquid level detection apparatus comprising:
the probe assembly is arranged on the liquid storage tank;
the detection circuit comprises a signal input port, is electrically connected with the probe assembly and is used for responding to a driving signal input by the signal input port and outputting a detection signal according to the driving signal so as to determine the liquid storage state of the liquid storage tank.
2. The cleaning robot of claim 1, wherein the detection signal includes a first output signal indicative of the signal output by the detection circuit when the probe assembly is not in contact with the liquid and a second output signal indicative of the signal output by the detection circuit when the probe assembly is in contact with the liquid.
3. The cleaning robot according to claim 2,
the probe assembly comprises a first probe and a second probe;
the detection circuit includes:
a switch circuit electrically connected to the signal input port and also electrically connected to the first probe, the switch circuit inverting the driving signal to generate a voltage drop signal when the liquid in the liquid storage tank contacts the probe assembly; when the liquid in the liquid storage tank is not in contact with the probe assembly, the switch circuit is in an open state;
the signal output circuit is electrically connected with the signal input port and the second probe, and when liquid in the liquid storage tank is contacted with the probe assembly, the signal output circuit superposes the driving signal and the voltage drop signal to obtain a second output signal; the signal output circuit outputs the first output signal when the liquid in the liquid storage tank is not in contact with the probe assembly.
4. The cleaning robot of claim 3, wherein the detection circuit further comprises:
a first voltage regulation protection circuit electrically connected between the switching circuit and the first probe;
and the second voltage stabilization protection circuit is electrically connected between the signal output circuit and the second probe.
5. The cleaning robot of claim 3, wherein the switching circuit comprises a switching tube, a first resistor, a second resistor, and a third resistor;
the first end of the switch tube is connected with the power supply through the first resistor, the first end of the switch tube is connected with the first probe through the second resistor, the second end of the switch tube is connected with the signal input port through the third resistor, and the third end of the switch tube is grounded.
6. The cleaning robot of claim 3, wherein the signal output circuit comprises a fifth resistor, a sixth resistor, and a capacitor;
the sixth resistor and the capacitor form an RC filter circuit, and the fifth resistor is connected with the RC filter circuit in series.
7. The cleaning robot of claim 1, wherein the liquid storage status of the tank includes whether liquid in the tank is present and/or whether liquid in the tank is full.
8. The cleaning robot of any one of claims 1-7, wherein the tank includes a first tank and a second tank, the probe assembly includes a first probe assembly mounted to the tank and a second probe assembly mounted to the second tank, the detection circuit includes a first detection circuit electrically connected to the first probe assembly and configured to determine a fluid storage state of the first tank based on a first detection signal output by the first detection circuit, and a second detection circuit electrically connected to the second probe assembly and configured to determine a fluid storage state of the second tank based on a second detection signal output by the second detection circuit.
9. The cleaning robot of claim 8, wherein the first reservoir is a clean water tank, the first probe assembly being configured to be mounted proximate a bottom of the clean water tank;
the second reservoir is a waste tank and the second probe assembly is configured to be mounted proximate a top of the waste tank.
10. The cleaning robot as claimed in claim 9, further comprising a controller electrically connected to the first and second detection circuits, respectively, for applying the driving signal to the signal input port, determining a liquid storage state of the clean water tank according to the first detection signal and a preset reference signal, and determining a liquid storage state of the dirty water tank according to the second detection signal and the preset reference signal.
11. The cleaning robot of claim 10, wherein the detection signal includes a first output signal indicative of the signal output by the detection circuit when the probe assembly is not in contact with the liquid and a second output signal indicative of the signal output by the detection circuit when the probe assembly is in contact with the liquid, the first detection circuit generating the second output signal when the clean water tank is in the presence of liquid, the first detection circuit generating the first output signal when the clean water tank is not in the presence of liquid; the second detection circuit generates a second output signal when the wastewater tank is full of wastewater, and generates a first output signal when the wastewater tank is not full of liquid.
12. The cleaning robot of claim 10, wherein the predetermined reference signal is a signal output by the detection circuit when the probe assembly is not in contact with the liquid.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922308316.8U CN211534252U (en) | 2019-12-19 | 2019-12-19 | Cleaning robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922308316.8U CN211534252U (en) | 2019-12-19 | 2019-12-19 | Cleaning robot |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112515587A (en) * | 2020-10-23 | 2021-03-19 | 深圳市银星智能科技股份有限公司 | Liquid level state detection method, water tank assembly and robot |
| CN112603210A (en) * | 2020-12-04 | 2021-04-06 | 东莞市商斯迈智能科技有限公司 | Floor washing machine water level alarm control method and system |
| CN113455972A (en) * | 2021-07-07 | 2021-10-01 | 苏州奔马厨具有限公司 | Water tank assembly capable of detecting water quality |
| CN113461226A (en) * | 2021-08-07 | 2021-10-01 | 广东云汉智能科技有限公司 | Sewage circulating and filtering system |
| CN114468890A (en) * | 2022-01-07 | 2022-05-13 | 北京石头世纪科技股份有限公司 | Cleaning device and liquid storage tank thereof |
| CN115067829A (en) * | 2022-07-25 | 2022-09-20 | 添可智能科技有限公司 | Method and device for detecting state of sewage bucket and readable storage medium |
| WO2024045799A1 (en) * | 2022-08-31 | 2024-03-07 | 汤恩智能科技(上海)有限公司 | Water change method, workstation, cleaning robot and system, and storage medium |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112515587A (en) * | 2020-10-23 | 2021-03-19 | 深圳市银星智能科技股份有限公司 | Liquid level state detection method, water tank assembly and robot |
| CN112515587B (en) * | 2020-10-23 | 2023-09-26 | 深圳银星智能集团股份有限公司 | Liquid level state detection method, water tank assembly and robot |
| CN112603210A (en) * | 2020-12-04 | 2021-04-06 | 东莞市商斯迈智能科技有限公司 | Floor washing machine water level alarm control method and system |
| CN113455972A (en) * | 2021-07-07 | 2021-10-01 | 苏州奔马厨具有限公司 | Water tank assembly capable of detecting water quality |
| CN113461226A (en) * | 2021-08-07 | 2021-10-01 | 广东云汉智能科技有限公司 | Sewage circulating and filtering system |
| CN114468890A (en) * | 2022-01-07 | 2022-05-13 | 北京石头世纪科技股份有限公司 | Cleaning device and liquid storage tank thereof |
| CN114468890B (en) * | 2022-01-07 | 2023-09-12 | 北京石头世纪科技股份有限公司 | Liquid storage tank of cleaning equipment and cleaning equipment |
| CN115067829A (en) * | 2022-07-25 | 2022-09-20 | 添可智能科技有限公司 | Method and device for detecting state of sewage bucket and readable storage medium |
| CN115067829B (en) * | 2022-07-25 | 2023-06-23 | 添可智能科技有限公司 | Sewage bucket state detection method, equipment and readable storage medium |
| WO2024045799A1 (en) * | 2022-08-31 | 2024-03-07 | 汤恩智能科技(上海)有限公司 | Water change method, workstation, cleaning robot and system, and storage medium |
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