CN108937749A - Floor cleaning machine - Google Patents
Floor cleaning machine Download PDFInfo
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- CN108937749A CN108937749A CN201811075790.4A CN201811075790A CN108937749A CN 108937749 A CN108937749 A CN 108937749A CN 201811075790 A CN201811075790 A CN 201811075790A CN 108937749 A CN108937749 A CN 108937749A
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- 238000004140 cleaning Methods 0.000 title claims abstract description 28
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 201
- 239000007788 liquid Substances 0.000 claims abstract description 146
- 238000001514 detection method Methods 0.000 claims abstract description 29
- 238000012544 monitoring process Methods 0.000 claims abstract description 8
- 230000008595 infiltration Effects 0.000 claims abstract description 4
- 238000001764 infiltration Methods 0.000 claims abstract description 4
- 239000003990 capacitor Substances 0.000 claims description 35
- 238000012360 testing method Methods 0.000 claims description 31
- 239000004020 conductor Substances 0.000 claims description 21
- 230000005611 electricity Effects 0.000 claims description 21
- 238000007789 sealing Methods 0.000 claims description 9
- 230000004888 barrier function Effects 0.000 claims description 6
- 238000005259 measurement Methods 0.000 claims description 6
- 230000008859 change Effects 0.000 claims description 4
- 230000007613 environmental effect Effects 0.000 claims description 4
- 238000000034 method Methods 0.000 abstract description 15
- 230000000694 effects Effects 0.000 abstract description 4
- 238000012545 processing Methods 0.000 abstract description 4
- 238000004458 analytical method Methods 0.000 abstract description 2
- 239000013505 freshwater Substances 0.000 description 9
- 230000035772 mutation Effects 0.000 description 9
- 238000010586 diagram Methods 0.000 description 8
- 230000001276 controlling effect Effects 0.000 description 7
- 238000007667 floating Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 230000000875 corresponding effect Effects 0.000 description 3
- 239000000428 dust Substances 0.000 description 3
- 238000007689 inspection Methods 0.000 description 3
- 230000000630 rising effect Effects 0.000 description 3
- 230000006698 induction Effects 0.000 description 2
- 230000003020 moisturizing effect Effects 0.000 description 2
- 238000010408 sweeping Methods 0.000 description 2
- 239000002023 wood Substances 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 238000010009 beating Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 239000000084 colloidal system Substances 0.000 description 1
- 230000002596 correlated effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 230000001939 inductive effect Effects 0.000 description 1
- 239000004973 liquid crystal related substance Substances 0.000 description 1
- 230000003071 parasitic effect Effects 0.000 description 1
- 230000024241 parasitism Effects 0.000 description 1
- 230000001502 supplementing effect Effects 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
Classifications
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/28—Floor-scrubbing machines, motor-driven
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4036—Parts or details of the surface treating tools
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/408—Means for supplying cleaning or surface treating agents
- A47L11/4083—Liquid supply reservoirs; Preparation of the agents, e.g. mixing devices
Abstract
This application discloses a kind of floor cleaning machines, are related to Clean- field of mechanical technique.It includes shell, water tank, the fixed device of liquid level detection device and rag, and water tank mops floor for storing with water, and liquid level detection device includes liquid level display module and level sensing module, and for the fixed device setting of rag in housing bottom, water tank bottom is equipped with infiltration device.The present invention passes through while level sensing module and liquid level display module is arranged, realize that the water in floor cleaning machine water tank obtains implementing monitoring, the water size in water tank is legibly learnt convenient for user's simplicity, to add water in time, is prevented rag overdrying and is influenced the effect that mops floor；Wherein level sensing module is arranged in water tank, for the water level height in real-time monitoring water tank and feed back to liquid level display module, and user is shown to after liquid level display module analysis processing and is known, user need to only check that the display information of liquid level display module can legibly learn the water situation in water tank, to correspondingly handle it.
Description
Technical field
The present invention relates to Clean- field of mechanical technique more particularly to a kind of floor cleaning machines.
Background technique
People need the cleanings such as often clean house earth surface, mop floor in daily life.
It needs to clean ground after mop soaks when due to mopping floor, thus inevitably residual is a large amount of water stain on ground
On, for tile floor, easily skidding after getting wet makes one to fall down；For wood floors, water stain extended residual can immerse floor cause
It is etched floor, rottenization, influences the service life of wood floors.
If also needing to carry out ground with Dry mop in order to avoid ground residual is water stain secondary using traditional mode that mops floor
It dries, the workload of cleaning has been significantly greatly increased, not only inefficiency, but also make cleaning more time-consuming and laborious.
Now on the market, there is sweeping robot, voluntarily ground can be cleaned, liberated labour significantly.
But such sweeping robot is unable to reach the effect that man-day mops floor frequently with mop based on dust suction, cleannes are inadequate.
Mopping robot on the market is then divided into two kinds, and dry or wet rag is directly fixed on by user by one kind without water tank
Robot bottom, it is mobile to mop floor by robot, it is mopped floor first with dry rag, dust can only be adsorbed on and be smeared
On cloth, ground cannot effectively be cleaned, secondly, if needing user to pay attention to rag at the moment with wet rag
Water amount, cannot it is overly wet can not be too dry, be replaced as often as possible, it is very troublesome；Second of band water tank, can be humidified to rag,
It does not need user and is replaced rag, still, can not usually learn the water size in the water tank of floor cleaning machine in real time, need to make
User by rule of thumb with feel to judge and add water, the water being easy to appear in water tank leaked the case where cannot but supplementing completely.
Summary of the invention
The present invention is in view of the above-mentioned problems, proposing a kind of water size that can be monitored in real time in water tank and being shown to use
The floor cleaning machine of person.
The technical solution adopted by the present invention is as follows: a kind of floor cleaning machine, including shell, water tank, liquid level detection device and rag
Fixed device, the water tank are arranged on shell, mop floor for storing with water, the liquid level detection device includes that liquid level shows mould
Block and level sensing module, the level sensing module are arranged in shell, simultaneously for the water level height in real-time monitoring water tank
Liquid level display module is fed back to, the liquid level display module is fixed on shell, for showing liquid level, the fixed device of the rag
Setting is in housing bottom, and for fixing rag, the water tank bottom is equipped with infiltration device, for the water in water tank to be led shell
On the rag of bottom.
Further, the liquid level detection device further includes liquid level column, and the level sensing module is equipped with level sensing
End, the liquid level column are connect with the level sensing end；
The liquid level column includes conductor cores, and the conductor cores, which are immersed in testing liquid, forms capacitor with testing liquid,
The induced electricity capacitance of the capacitor is immersed in the depth in testing liquid with the conductor cores and changes, the level sensing mould
Block is measured by induced electricity capacitance of the level sensing end to conductor cores, according to the acquisition of the induced electricity capacitance of measurement
Conductor cores are immersed in the depth of the testing liquid, and then get the liquid level of the testing liquid.
Further, the liquid level column further includes insulating layer, and the insulating layer is wrapped on the conductor outer core.
Further, display control end, the display control end and the liquid level are additionally provided in the level sensing module
Display module connection, the level sensing module is by sending idsplay order, institute to liquid level display module by display control end
Liquid level display module is stated to show the liquid level measured.
Further, the liquid level display module includes display panel, and the display panel is equipped with multiple indicator lights, respectively
A indicator light is connect with the display control end, and the level sensing module is by controlling indicator light on the display panel
Quantity is lighted to indicate different liquid levels.
Further, the liquid level display module includes display screen, and the display screen is connect with the display control end, institute
It states level sensing module and idsplay order is sent to the display screen in real time by the display control end, the display screen is according to aobvious
Show that instruction shows current level value.
It further, further include voice broadcast module, the level sensing module is connect with the voice broadcast module, when
When the level sensing module detects liquid level to be measured below or above preset threshold, controls the voice broadcast module and carry out
Audio alert.
It further, further include control device and running gear, the control device is arranged in shell, for controlling row
The bottom of shell, including universal wheel, driving wheel and driving motor, the drive is arranged in the movement of walking apparatus, the running gear
Dynamic motor is controlled by control device, changes driving wheel motion state.
It further, further include environmental detection set, the environmental detection set includes barrier detector and hanging inspection
Device is surveyed, and is connect with control device, for signal to be fed back to control device.
It further, further include sealing element, the water tank includes cabinet and case lid, and the sealing element is arranged in cabinet and case
The joint of lid.
The beneficial effects of the present invention are: the present invention is realized by level sensing module and liquid level display module to floor cleaning machine
The monitoring of quantity of water in water tank, how much is the intuitive water reacted in water tank, adds water in time convenient for user, prevents the water in water tank from leaking
It is complete, rag overdrying and influence the effect that mops floor；Wherein level sensing module for the water level height in real-time monitoring water tank and passes through
Water is intuitively reflected to user by liquid level display module, makes corresponding processing convenient for user.
Detailed description of the invention:
Fig. 1 is the overall structure diagram of one embodiment of the invention；
Fig. 2 is the configuration schematic diagram of one embodiment of the invention；
Fig. 3 is the attachment structure schematic diagram of the detection device of one embodiment of the invention；
Fig. 4 is the capacitor equivalent schematic diagram of conducting wire of one embodiment of the invention itself；
Fig. 5 is the capacitor equivalent schematic diagram when conducting wire of one embodiment of the invention is immersed in testing liquid；
Fig. 6 is the schematic illustration of level mutation；
Fig. 7 is the curve synoptic diagram in the charging time based on level mutation；
Fig. 8 is the curve synoptic diagram of the discharge time based on level mutation；
Fig. 9 is the bottom case overlooking structure diagram of one embodiment of the invention；
Figure 10 is the partial enlargement structural representation in Fig. 2 at A；
Figure 11 is the partial enlargement structural representation in Fig. 2 at B；
Figure 12 is the partial enlargement structural representation in Fig. 2 at C.
Each appended drawing reference in figure are as follows: 1, shell, 11, bottom case, 12, upper cover, 2, water tank, 21, water storage box, 211, guide hole, 22,
Humidity water tank, 221, guide post, 222, case lid, 223, add the mouth of a river, 3, liquid level detection device, 31, level sensing module, 32, liquid
Position display module, 33, liquid level column, 34, voice broadcast module, 4, flow-control module, 5, sealing element, 6, position detecting device,
61, barrier detector, 62, hanging detector.
Specific embodiment:
Below with reference to each attached drawing, the present invention will be described in detail.
Referring to Fig. 1-3, the present embodiment provides a kind of floor cleaning machines, including shell 1, water tank 2, liquid level detection device 3 and rag
Fixed device.
Water tank 2 is arranged on shell 1, uses water for storing to mop floor.Liquid level detection device 3 includes 31 He of level sensing module
Liquid level display module 32, level sensing module 31 are arranged in shell 1, just and anti-for the water level in real-time monitoring water tank 2
Liquid level of feeding display module 32.Liquid level display module 32 is fixed on shell 1, for showing liquid level.The fixed device setting of rag
In 1 bottom of shell, for fixing rag, 2 bottom of water tank is equipped with infiltration device, for the water in water tank 2 to be led 1 bottom of shell
Rag on.
By the way that level sensing module 31 and liquid level display module 32 are arranged simultaneously, realize to the water in the water tank 2 of floor cleaning machine
Amount is monitored in real time, how much legibly learns the water in water tank 2 convenient for user's simplicity, to add water in time, prevents water tank 2
Interior water has leaked, rag overdrying and influence the effect that mops floor；Wherein level sensing module 31 is for the water level in real-time monitoring water tank 2
Height simultaneously feeds back to liquid level display module 32, and liquid level display module 32 is in the signal feedback for receiving level sensing module 31
Afterwards, it is shown to user after analysis processing to know, user need to only check that the display information of liquid level display module 32 can be obtained legibly
The water situation in water tank 2 is known, to make corresponding processing.
Referring to Fig. 3, liquid level detection device 3 further includes liquid level column 33 and voice broadcast module 34.In level sensing module 31
Equipped with level sensing end.Liquid level column 33 is connect with level sensing end, and voice broadcast module 34 is connect with level sensing module 31.
Liquid level column 33 include conductor cores, liquid level column 33 be immersed in the depth in testing liquid difference, inductance capacitance it is big
Small also to change therewith, level sensing module 31 is measured by inductance capacitance size of the level sensing end to liquid level column 33,
And the depth that liquid level column 33 is immersed in testing liquid is obtained according to the capacitance size measured, and then to the liquid level of testing liquid into
Row measurement.In the present embodiment, liquid level column 33 is arranged in water tank 2, to be measured in real time to the water in water tank 2.
In other embodiments, liquid level column 33 further includes insulating layer, and insulating layer is wrapped on the conductor outer core.
Liquid level display module 32 shows the level value for the testing liquid that level sensing module 31 measures, specific:
Level sensing module 31 is equipped with level sensing end and display control end, and level sensing end is connect with liquid level column 33, display control
End is connect with liquid level display module 32, and level sensing module 31 detects liquid level by level sensing end, and passes through display control
End processed sends idsplay order to liquid level display module 32, shows to the liquid level measured.
Referring to Fig. 1, in the present embodiment, liquid level display module 32 includes display panel, and display panel is equipped with multiple fingers
Show that lamp, each indicator light are connect with display control end, level sensing module 31 is by controlling the display panel the point of upper indicator light
Bright quantity indicates different liquid levels.Preferably, multiple indicator lights uniformly surround circle, liquid level column 33 on a display panel
The length being immersed in testing liquid is longer, then the quantity for the indicator light lighted is more, to make the instruction result of indicator light more
Be it is intuitive, surround circular multiple indicator lights, the increase of the length in testing liquid be immersed in liquid level column 33, along clockwise
It lights in direction.When all indicator lights are lighted in entire circle, surveyed liquid level is in peak.Certainly, in of the invention its
In his embodiment, multiple indicator lights can also line up the other shapes such as rectangle, linear, and core purpose is: intuitive
Show liquid level, thus this is not limited by the present invention.In addition, liquid level display module 32 can also be deposited in the form of display screen
Display screen is connect with level sensing end, and the detection module is real-time by level sensing end according to the obtained level value of detection
Idsplay order is sent to display screen, display screen shows current level value according to idsplay order, which can be liquid crystal
Display screen, or touch screen etc., core purpose is, shows to liquid level, thus, the present invention is aobvious to this liquid level
Show that the concrete form of module 32 is not construed as limiting.
Voice broadcast module 34, when level sensing module 31 detects that the liquid level of liquid level tested point is below or above default threshold
When value, level sensing module 31 controls voice broadcast module 34 and carries out audio alert.
To sum up, the difference of the height in testing liquid is immersed according to liquid level column 33, inductance capacitance can change therewith
Principle, measured using size of the level sensing module 31 to the capacitance at level sensing end, calculated by the capacitance
The size of the inductance capacitance of the liquid level column 33, and then to the liquid level of level gauging point, i.e. water level in water tank 2 is surveyed
Amount, concrete principle are as follows:
Referring to fig. 4,5, all there is inductance capacitance between the object of any two conduction, the conducting wire with a routine is
Example, i.e., with greatly also may make up an inductance capacitance, as shown in figure 4, in the case where ambient enviroment is constant, the inductance capacitance
Value is fixed and invariable small value (being equivalent to Cs).As shown in figure 5, being immersed in the conducting wire to weak inductive liquid (with fresh water
For) in, its length being immersed in fresh water is calculated using the size of the inductance capacitance of the conducting wire.Since fresh water has faint lead
Electrically, when conducting wire is immersed in fresh water, it is (equivalent that parasitic capacitance in testing liquid with conducting wire has been coupled into new inductance capacitance
For Cx), inductance capacitance (Cx) at this time is inductance capacitance (Δ C) parallel conducting wire of fresh water and the inductance capacitance that the earth is constituted
(Cs), total induced electricity capacitance can be made to increase, i.e. Cx=Δ C+Cs.And the inductance capacitance Cx of conducting wire and fresh water into contact can be with conducting wire
Increase with the contact area (length being immersed in fresh water) of fresh water and increase, there is certain proportionate relationship.According to this
Characteristic, level sensing module can calculate the length that conducting wire is immersed in fresh water by the minor change of measurement inductance capacitance Cx.
In addition, it should be noted that, the present invention cannot be only used for carrying out the liquid level of the water with little
Measurement, can be also used for the height for measuring other liquid.
Liquid-level detecting method includes the following steps:
S100, the conductor cores of liquid level column are immersed in testing liquid, the conductor cores be immersed in testing liquid with to
It surveys liquid and forms capacitor；
S200, the level sensing module are surveyed by induced electricity capacitance of the level sensing end to the conductor cores
Amount, obtains induced electricity capacitance；
S300, the height that the liquid level column is immersed in testing liquid is obtained by the induced electricity capacitance.
We can calculate the inductance capacitance of conducting wire the capacitor calculating for being similar to coaxial cylindrical condenser, it may be assumed that
C=2 π ε L/ln (R1/R2)；
L is the length of two parts that overlap in formula；R1 is the diameter of outside electrode；R2 is the diameter of inner cylinder electrode；ε
For the dielectric constant of intermediate medium；Ln is natural logrithm.
R1, R2, ε are basically unchanged in practical applications, therefore push away to obtain capacitor C and length direct proportionality, it may be assumed that
C=kL；
Wherein k=2 π ε/ln (R1/R2) is constant.As long as therefore measuring capacitance size C i.e. may know that the height of liquid level.
In other embodiments, the conductor cores, which are immersed in testing liquid, forms capacitor, the liquid with testing liquid
Position detection module is measured by induced electricity capacitance of the level sensing end to the conductor cores, obtains induced electricity capacitance,
It specifically includes:
Capacitor charge and discharge is carried out to the capacitor, and it is fully charged or be discharged the consumed time to detect the capacitor
t；
The induced electricity capacitance of the liquid level column is calculated according to the time t.
In RC circuit, the calculation formula of capacitor charge and discharge time are as follows:
T=R*C*Ln ((V1-V0)/(V1-Vt))；
Wherein, t is the time, and R is resistance, and C is capacitor, and V0 is the initial voltage on capacitor, and V1 is that capacitor can be finally charged to
Or the voltage value being put into, Vt are the voltage value on t moment capacitor, Ln is natural logrithm.
It follows that the size C's of capacitor charge and discharge time t and capacitor is also direct ratio when R, V1, V0, Vt are constant
Example relationship, it may be assumed that
T=mC；
Wherein m=R*Ln ((V1-V0)/(V1-Vt)) is constant.
Finally, it can derive:
L=t/ (k*m)；
It is directly proportional to the charge and discharge time of the inductance capacitance of conducting wire to therefore deduce that conducting wire is immersed in the length in water
Relationship.
: C=t/R*Ln ((V1-V0)/(V1-Vt)) is converted to by above-mentioned formula to be calculated and obtained according to this formula
The value of capacitor C in practical applications, can be directly by time t computational length L, L=t/ (k*m) without calculating capacitor C.In other
In embodiment, the conductor cores, which are immersed in testing liquid, forms capacitor with testing liquid, and the level sensing module passes through
The level sensing end measures the induced electricity capacitance of the conductor cores, obtains induced electricity capacitance, can also specifically include:
Controlling the level value that level sensing end occurs level mutation, and detects the level sensing end is more than jump threshold value
Consumed time t；
The induced electricity capacitance of the liquid level column is calculated according to the time t.
More specifically, in this embodiment, level mutation occurs for control level sensing end specifically: makes level sensing end
The level sensing end is set to floating input and is interrupted and to induced electricity even if the charge in inductance capacitance is zero for low level
Appearance carries out charging and reaches high level, please refers to Fig. 7；Or,
Make level sensing end high level, even if charge is saturation state in inductance capacitance, by the level sensing
End, which is set to floating input interruption and carries out electric discharge to inductance capacitance, reaches low level, please refers to Fig. 8.
Since the detection being mutated to level can be completed by single-chip microcontroller, cost is lower.
Concrete methods of realizing are as follows: when container anhydrous state, the charging time is TCs (fiducial time).When detector bar detects
When water, capacitor becomes larger, and charging time t is TCx=T Δ C+TCs.Since in the case where testing liquid is constant, TCs is to fix not
Become, thus can be by detecting the overall capacitance charge and discharge time, to judge the height of water level.The time of t is longer, and water level is got over
Height, on the contrary it is lower.
By the size of induced electricity capacitance, the foundation that liquid level column is immersed in the height in testing liquid is calculated are as follows: induced electricity
The size of capacitance is immersed in the height in testing liquid with the liquid level column and is positively correlated, and the induced electricity capacitance is bigger, described
It is higher that liquid level column is immersed in the height in testing liquid.
It is apparent to control level sensing end generation level mutation, process, which carries out specifically, to be realized to this below
It is bright:
In Fig. 6, R1: the charging resistor of capacitor is detected.
R2: the charge and discharge resistance of capacitor is detected.
Cs: when container anhydrous state, the base capacitor of detector bar.
Δ C: when detector bar detects water, water and detector bar are formed by induction (parasitism) capacitor.
Cx: Δ C+Cs.
Single-chip I/O mouth.In Fig. 7, TCs: fiducial time, when container anhydrous state, the charging time.
TCx: fiducial time+variant time, when detector bar detects water, capacitor becomes larger, and the charging time is elongated.
In conjunction with shown in Fig. 6 and Fig. 7, level sensing module is using conventional single-chip microcontroller (it is of course also possible to use with touching
The single-chip microcontroller or dedicated touch-sensitive control device of induction controller function, such device method is fairly simple, only needs reference device
The touch sensing function application method of part is applied), a pin of the single-chip microcontroller and liquid level column are connected to liquid level inspection
End is surveyed, and sets push-pull output for the level sensing end.
There are two kinds of situations for general level mutation, it may be assumed that low level sports high level (rising edge mutation) and high level
Low level (failing edge mutation) is sported, is described in detail separately below for two kinds of above-mentioned situations:
Sensed water level process (rising edge method), please refers to Fig. 7:
Single-chip microcontroller pin is set as push-pull output, and output 0 realizes that capacitor discharges into 0；It is defeated that single-chip microcontroller pin is set as floating
Enter, capacitor Cx is started to charge, and timer starts timing；The input capture for opening single-chip microcontroller pin simultaneously starts to capture；Waiting is filled
Electricity is completed and (is charged to Vth, detect that rising edge interrupts), and the timer time is read；Calculate height of water level value.
Sensed water level process (failing edge method), please refers to Fig. 8:
Single-chip microcontroller pin is set as push-pull output, and output 1 realizes capacitor charging to VC；Single-chip microcontroller pin is set as floating
Input, capacitor Cx start to discharge, and timer starts timing；The input capture for opening single-chip microcontroller pin simultaneously starts to capture；It waits
Electric discharge is completed and (discharges into Vtl, detect that failing edge interrupts), and the timer time is read；Calculate height of water level value.
In addition, to improve measurement accuracy, the above process can both participate in implementation method, successively rise to level sensing end
Edge and failing edge voltage jump are averaged calculating back and forth.
In addition, it should be noted that, the adoptable detection method of the application is not limited only to above method, other also can be used
Detection method, such as: electric current and voltage phase difference detection, the oscillator frequency detection being made of capacitor, capacitance bridge electric charge transfer are examined
Survey etc., we are the circuits RC constituted using inductance capacitance and resistance here.Detect the variable quantity of capacitor charge and discharge time.It is not required to
Dedicated test circuit is wanted, it is low in cost.
Referring to Fig. 1,2, shell 1 includes bottom case 11 and upper cover 12, and water tank 2 includes water storage box 21 and humidity water tank 22.It stores
Water tank 21 mops floor for mass storage with water, and humidity water tank 22 then supplies water to rag for gradation component.In this reality
It applies in example, humidity water tank 22 is arranged on shell 1, is an integral structure with shell 1, and the fixed device of rag is arranged in shell 1
Bottom is arranged in 22 bottom of humidity water tank.Device setting seep water in 22 bottom of humidity water tank, is used for humidity water tank
Water in 22 exports on rag.In the present embodiment, device is seeped water for several uniformly distributed apopores, in humidity water tank 22
Water can be leaked out by apopore, be directly leaked into and be fixed on the rag on shell 1 by the fixed device of rag, carried out to rag
Humidification.
Referring to fig. 2,9, flow-control module 4 is set between water storage box 21 and humidity water tank 22, for controlling water storage box
Conducting situation between 21 and humidity water tank 22.Flow-control module 4 includes water inlet pipe, outlet pipe, flow controller and master
Controller.Water inlet pipe is connected to water storage box 21, and outlet pipe is connected to humidity water tank 22.Flow controller and master controller connect
It connects, for controlling the conducting situation between water inlet pipe and outlet pipe.Master controller is fixed on bottom case 11, by controlling flow control
The working condition of device processed changes the Lifetime length between water storage box 21 and humidity water tank 22, Lifetime interval and water
Uninterrupted.
Liquid level column 33 includes the first liquid level column 33 and the second liquid level column 33, is separately positioned on water storage box 21 and humidity water tank
In 22, the water level of two water tanks 2 is measured in real time and feeds back to level sensing module 31.Meanwhile flow-control module 4 with
Level sensing module 31 connects, and can receive the signal from level sensing module 31, thus accordingly by flow control is changed
The working condition of device changes the on state between water storage box 21 and humidity water tank 22.
To the water level control of humidity water tank 22: when level sensing module 31 monitors the water level mistake in humidity water tank 22
It is low or when will leak, signal is fed back into flow-control module 4, after flow-control module 4 is analyzed, to humidity water tank
22 carry out moisturizing；On the other hand, the peak level value of humidity water tank 22 can be also set by flow-control module 4, work as liquid level
When detection module 31 monitors that the water level of humidity water tank 22 is higher than the peak level value, with signal fed back to flow control
Module 4 stops adding water.
To the water level control of water storage box 21: level sensing module 31 is measured in real time the water level in water storage box 21, and
Liquid level display module 32 is fed back to be shown；Meanwhile when level sensing module 31 monitors the water level in humidity water tank 22
When higher or lower than threshold value, signal is fed back into liquid level display module 32 and voice broadcast module 34 simultaneously, by water storage box 21
While interior water is shown by liquid level display module 32, audio alert is carried out by voice broadcast module 34, thus
User is reminded not add excessive water or carry out moisturizing in time.
In the present embodiment, water storage box 21 is arranged in humidity water tank 22, and 21 bottom of water storage box and humidity water tank
Spacing is equipped between 22 bottoms.I.e. the Sidewall Height of water storage box 21 be lower than humidity water tank 22 Sidewall Height so that water storage box
21 can be disposed entirely in humidity water tank 22, the case where not reducing the contact area of humidity water tank 22 and beneath rag
Under, the overall volume of whole device is reduced, setting is easily installed.In other embodiments, to water storage box 21 and humidity water
Relative position between case 22 is with no restrictions.
Referring to 2,10,11,22 bottom of humidity water tank is equipped with several guide posts 221, and water storage box 21 is equipped with several guide holes
211.Water storage box 21 is equipped in humidity water tank 22 by guide hole 211 and guide post 221.Pass through guide post 221 and guide hole
211 cooperation limits the relative position of water storage box 21 and humidity water tank 22, so that water storage box 21 can not arbitrarily shake
It is dynamic, to improve integrally-built stability.
221 bottom of guide post is equipped with limited step, and the outer diameter of limited step is greater than the aperture of guide hole 211.When water storage box 21 is logical
Guide hole 211 and the cooperation of guide post 221 are crossed when being fixed in humidity water tank 22, due to the setting of limited step, so that water storage box 21
Bottom is stuck on limited step, so that there are gaps between 22 bottom of 21 bottom of water storage box and humidity water tank, for doing
A small amount of water storage of humidity water tank 22.
Referring to fig. 2,12, case lid 222 is provided on humidity water tank 22, case lid 222, which is equipped with, adds the mouth of a river 223.Add the mouth of a river
223 are correspondingly arranged on water storage box 21, add water for carrying out to water storage box 21.Upper cover 12, which is equipped with, adds water cover.Due to
Water storage box 21 is arranged inside humidity water tank 22, therefore case lid 222 is arranged on humidity water tank 22 can be by humidity
Water tank 22 and water storage box 21 cover simultaneously, so that the water inside two water tanks 2 is not easily susceptible to dust or the pollution of other sundries, from
And a possibility that reducing device blocking.
It is arranged above water storage box 21 simultaneously as adding the mouth of a river 223, therefore when adding water, without beating entire case lid 222
It opens, need to only open and add water cover, so that it may water storage box 21 be carried out to add water by adding the mouth of a river 223.
Add water cover one end and upper cover 12 is rotatablely connected, the other end and upper cover 12 are clamped.A bullet is additionally provided on adding water cover
Spring allows and adds water cover after the clamping with upper cover 12 disconnects, is propped up under the action of the spring, adds water cover and upper cover 12
Between form angle.
Referring to fig. 2, the present embodiment further includes sealing element 5, and the joint of water tank 2 and case lid 222 is arranged in sealing element 5.It stores
The top of the box side edge of water tank 21 and humidity water tank 22, sealing element 5 is along the edge of water storage box 21 and humidity water tank 22
Setting, thus a possibility that water for reducing in humidity water tank 22 and water storage box 21 is spilt.
In the present embodiment, case lid 222, sealing element 5 are fixed by screws on water storage box 21.In other embodiments
It can also be adhesively fixed by colloid.
The present embodiment further includes running gear, and the bottom of bottom case 11 is arranged in running gear, including universal wheel and motor drive
Driving wheel.Each motor driving wheel is provided with a driving motor, and driving motor is connected with master controller, can be in master controller
The lower work of control.
Referring to Fig. 9, the present embodiment further includes position detecting device 6, including barrier detector 61 and hanging detector 62,
It is connect with master controller, signal can be fed back to master controller, so that master controller makes corresponding adjustment order, under
Up to running gear.Barrier detector 61 is arranged on bottom case 11, for detecting barrier, in the present embodiment, position inspection
Survey device 6 is infrared detection sensor, and the side of bottom case 11 is arranged in, surrounding ring can be judged by the reflection of infrared light
Whether there are obstacles in border, so that floor cleaning machine be avoided to hit wall.The bottom of the shell 1 of floor cleaning machine is arranged in hanging detector 62, uses
It is whether hanging in detection front, so that floor cleaning machine be avoided to fall accidentally.
The present embodiment further includes automatic charge device, and automatic charge device includes cradle and searcher.It is set on cradle
There is infrared transmitter, searcher is arranged on shell 1, and the signal that can be issued by the infrared transmitter on search cradle is automatic
The position of positioning charging block, and signal is fed back into master controller, so that floor cleaning machine can charge automatically.
The above description is only a preferred embodiment of the present invention, not thereby limits scope of patent protection of the invention, all
It is directly or indirectly to be used in other relevant technologies with equivalent structure transformation made by description of the invention and accompanying drawing content
Field similarly includes within the scope of the present invention.
Claims (10)
1. a kind of floor cleaning machine, which is characterized in that including the fixed device of shell, water tank, liquid level detection device and rag, the water tank
It is arranged on shell, mops floor for storing with water, the liquid level detection device includes level sensing module and liquid level display module,
The level sensing module is arranged in shell, for the water level height in real-time monitoring water tank and feeds back to liquid level display mould
Block, the liquid level display module are fixed on shell, and for showing liquid level, the fixed device of the rag is arranged in housing bottom,
For fixing rag, the water tank bottom is equipped with infiltration device, for the water in water tank to be led to the rag of housing bottom.
2. floor cleaning machine as described in claim 1, which is characterized in that the liquid level detection device further includes liquid level column, the liquid
Position detection module is equipped with level sensing end, and the liquid level column is connect with the level sensing end；
The liquid level column includes conductor cores, and the conductor cores, which are immersed in testing liquid, forms capacitor with testing liquid, described
The induced electricity capacitance of capacitor is immersed in the depth in testing liquid with the conductor cores and changes, and the level sensing module is logical
It crosses the level sensing end to measure the induced electricity capacitance of conductor cores, the conductor is obtained according to the induced electricity capacitance of measurement
Core is immersed in the depth of the testing liquid, and then gets the liquid level of the testing liquid.
3. floor cleaning machine according to claim 2, which is characterized in that the liquid level column further includes insulating layer, the insulating layer
It is wrapped on the conductor outer core.
4. floor cleaning machine according to claim 2, which is characterized in that be additionally provided with display control in the level sensing module
End, the display control end are connect with the liquid level display module, and the level sensing module passes through display control end to liquid level
Display module sends idsplay order, and the liquid level display module shows the liquid level measured.
5. floor cleaning machine according to claim 4, which is characterized in that the liquid level display module includes display panel, described
Display panel is equipped with multiple indicator lights, and each indicator light is connect with the display control end, and the level sensing module is logical
Cross control indicator light on the display panel light quantity to indicate different liquid levels.
6. floor cleaning machine according to claim 5, which is characterized in that the liquid level display module includes display screen, described aobvious
Display screen is connect with the display control end, and the level sensing module is sent out to the display screen in real time by the display control end
Idsplay order is sent, the display screen shows current level value according to idsplay order.
7. floor cleaning machine according to claim 1, which is characterized in that it further include voice broadcast module, the level sensing mould
Block is connect with the voice broadcast module, when the level sensing module detects liquid level to be measured below or above preset threshold
When, it controls the voice broadcast module and carries out audio alert.
8. floor cleaning machine as described in claim 1, which is characterized in that further include control device and running gear, the control dress
It installs in shell, for controlling the movement of running gear, the bottom of shell is arranged in the running gear, including universal
Wheel, driving wheel and driving motor, the driving motor are controlled by control device, change driving wheel motion state.
9. floor cleaning machine as claimed in claim 8, which is characterized in that it further include environmental detection set, the environmental detection set
It is connect including barrier detector and hanging detector, and with control device, for signal to be fed back to control device.
10. floor cleaning machine as described in claim 1, which is characterized in that further include sealing element, the water tank includes cabinet and case
The joint of cabinet and case lid is arranged in lid, the sealing element.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811075790.4A CN108937749A (en) | 2018-09-14 | 2018-09-14 | Floor cleaning machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811075790.4A CN108937749A (en) | 2018-09-14 | 2018-09-14 | Floor cleaning machine |
Publications (1)
| Publication Number | Publication Date |
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| CN108937749A true CN108937749A (en) | 2018-12-07 |
Family
ID=64476747
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811075790.4A Pending CN108937749A (en) | 2018-09-14 | 2018-09-14 | Floor cleaning machine |
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| CN110025267A (en) * | 2019-03-26 | 2019-07-19 | 深圳市赛领未来科技有限公司 | Cisten mechanism and clean robot |
| CN110537878A (en) * | 2019-10-10 | 2019-12-06 | 深圳商斯迈科技有限公司 | Floor washing machine with liquid level detection function |
| CN111359921A (en) * | 2019-10-09 | 2020-07-03 | 添可智能科技有限公司 | Cleaning machine, cleaning equipment, information display method of cleaning equipment and storage medium |
| WO2021043002A1 (en) * | 2019-09-05 | 2021-03-11 | 北京石头世纪科技股份有限公司 | Cleaning robot and method for controlling same |
| CN112773265A (en) * | 2019-11-10 | 2021-05-11 | 佛山市云米电器科技有限公司 | Control method of cleaning robot, cleaning robot and cleaning system |
| CN113391505A (en) * | 2020-03-13 | 2021-09-14 | 中强光电股份有限公司 | Projection device and water tank |
| CN113892873A (en) * | 2021-10-19 | 2022-01-07 | 北京顺造科技有限公司 | Wet surface cleaning equipment and charging and discharging liquid level detection method of wet surface cleaning equipment |
| EP4295739A1 (en) * | 2022-05-10 | 2023-12-27 | Hako GmbH | Method for operating a floor cleaning machine |
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| EP4295739A1 (en) * | 2022-05-10 | 2023-12-27 | Hako GmbH | Method for operating a floor cleaning machine |
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