CN109197752A - A kind of fish jar clean robot and fish jar cleaning systems - Google Patents
A kind of fish jar clean robot and fish jar cleaning systems Download PDFInfo
- Publication number
- CN109197752A CN109197752A CN201710553053.XA CN201710553053A CN109197752A CN 109197752 A CN109197752 A CN 109197752A CN 201710553053 A CN201710553053 A CN 201710553053A CN 109197752 A CN109197752 A CN 109197752A
- Authority
- CN
- China
- Prior art keywords
- fish jar
- clean robot
- jar clean
- cleaning
- matrix
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01K—ANIMAL HUSBANDRY; CARE OF BIRDS, FISHES, INSECTS; FISHING; REARING OR BREEDING ANIMALS, NOT OTHERWISE PROVIDED FOR; NEW BREEDS OF ANIMALS
- A01K63/00—Receptacles for live fish, e.g. aquaria; Terraria
- A01K63/10—Cleaning bottoms or walls of ponds or receptacles
Abstract
The invention discloses a kind of fish jar clean robot and fish jar cleaning systems, solve existing fish jar clean robot shape unsightly and technical problem at high cost.The robot body of fish jar clean robot includes the pushing body and matrix to connect up and down, cleaning module is set on the bottom surface of matrix, pushing body includes there are four inclined surface, which is inclined to set with respect to the top surface of matrix, and facing each other is set on four direction；Four vector propellers are respectively arranged on four inclined surface；Universal wheel is mounted on the bottom surface of matrix, and the height of opposing bottom surface is less than the height of cleaning module opposing bottom surface.Working principle is promoted based on vector in this case, four vector propellers, which cooperate, is able to achieve the movement of six-freedom degree promoted to drive fish jar clean robot, it reduces robot cost and has beautified appearance design effect, and cleaning module is squeezed by vector propeller thrust until universal wheel contact fish bowl wall, can be improved cleaning dynamics.
Description
Technical field
The invention belongs to intelligent cleaning technical fields, specifically, being to be related to a kind of fish jar clean robot and fish jar is clear
Clean system.
Background technique
Indoor environment can be beautified while full feeding enjoyment by placing fish jar indoors, but be also brought along clear to fish jar
Clean problem.
The inner wall of fish jar and bottom meeting attachment, can endanger the health of fish, also will affect the ornamental value to fish, user needs
Clean fish jar periodically to keep the cleaning ambient of fish jar, the cleaning mode of existing fish jar is usually the artificial cleaning for using most original
Mode, that is, changing water after manually cleaning to fish jar, then fish is reentered into fish jar after fish is vacateed fish jar；This people
It work cleaning mode labor intensive and wastes time, reduces the experience of feeding fish.Alternatively, there is also can be automatic in existing way
The clean robot for cleaning fish jar, installation pushes away respectively on the six directions such as up, down, left, right, before and after of clean robot face
It into device, realizes to the propulsion on clean robot six direction, and then realizes the basis of clean robot and fish bowl wall and clear
The conversion in clean direction, but this clean robot propeller installation number is more, and shape is unsightly and at high cost.
Summary of the invention
This application provides a kind of fish jar clean robot and fish jar cleaning systems, solve outside existing fish jar clean robot
Shape is unsightly and technical problem at high cost.
In order to solve the above technical problems, the application is achieved using following technical scheme:
It is proposed a kind of fish jar clean robot, including robot body, cleaning module, universal wheel and propulsion component；The machine
Device human body includes the pushing body and matrix to connect up and down；The cleaning module is set on the bottom surface of described matrix；It is described to push away
It include four inclined surface into body；Four inclined surface are inclined to set with respect to the top surface of described matrix, and four inclinations
Face is facing each other to be set on four direction；The propulsion component includes four vector propellers, and four vectors push away
It is respectively arranged on four inclined surface into device；Four vector propellers are based on vector and promote described in working principle driving
The movement of fish jar clean robot；The universal wheel is mounted on the bottom surface of described matrix, and the universal wheel is with respect to described matrix
The height of bottom surface is less than height of the cleaning module with respect to described matrix bottom surface.
Further, the fish jar clean robot further includes control module, and the control module includes that wireless communication is single
Member, the wireless communication unit receive external control signal, so that control module realization is relevant to the control signal
Control operation.
Further, the pushing body further includes supporting surface；The supporting surface is interspersed connect four inclined surface it
Between.
Further, sensor is installed on the supporting surface；The sensor is connect with the control module.
Further, the fish jar clean robot further includes wireless charging module and battery；The wireless charging module
Receiving coil be centered around around the battery；The electric energy that the receiving coil receives external emission coil is embodied as the electricity
Pond charging.
Further, the sensor includes water quality monitoring sensor, obstacle detecting sensor and/or position sensor.
Further, the supporting surface is arranged perpendicular to the top surface of described matrix.
Further, the fish jar clean robot further includes the alarm connecting with the control module.
Further, through-hole is offered in the middle part of described matrix, offers one and half in the pushing body to connect with the through-hole
Spherical cavity.
A kind of fish jar cleaning systems are proposed, including above-mentioned fish jar clean robot and intelligent mobile terminal；The fish jar
Clean robot and the intelligent mobile terminal interconnect.
Compared with prior art, the advantages of the application and good effect is: fish jar clean robot that the application proposes and
Fish jar cleaning systems, robot body the design of propulsion body portion there are four inclined surface, this four inclined surface are with respect to matrix top
Face is inclined to set, and it is facing each other be set on four direction, four vector propellers be separately mounted to this four inclination
On face because the structure design of four inclined surface, this four vector propellers can be worked based on vector principle of propeller, it is upper,
Under, propulsion to fish jar clean robot is realized on the six direction of left, right, front and rear, compared with the prior art in robot six
All installation propeller, each propeller can only be responsible for promoting the mode of robot in one direction, adopt in this case on a direction
The four inclined surface design methods taken are reduced so that four vector propellers cooperate and are able to achieve the propulsion of six-freedom degree
The application of vector propeller quantity；And universal wheel height is designed lower than the structure of cleaning module height, so that vector propeller
When fish jar clean robot to be pressed on fish bowl wall, cleaning module is squeezed until universal wheel is contacted with fish bowl wall, so that clearly
Clean module is closer to be contacted with fish bowl wall, can be improved cleaning dynamics.To sum up, the fish jar that the application proposes cleans machine
People reduces the cost of fish jar robot on the whole and has beautified appearance design effect, solves existing fish jar cleaning machine
People's shape unsightly and technical problem at high cost, also achieves the technical effect for improving cleaning effect.
Wireless charging module can be charged the battery based on existing wireless charging principle, guarantee that fish jar cleans machine
The working power of people；Wireless communication unit in control module can receive the controls such as remote controler, intelligent mobile terminal and set
The control signal that preparation is sent is realized and is controlled the control of vector propeller and other function, additionally it is possible to will such as water quality monitoring
The sensor signal of sensor, position sensor or obstacle detecting sensor is sent to remote controler or intelligent mobile terminal, so that
User can know the water quality situation in fish jar and the working condition to robot at any time, additionally it is possible to realize in bathtub water matter
Alarm is realized when situation is poor and work is broken down；And in the application, through-hole is also opened up by portion in the base, with it is logical
Fish jar is cleaned machine when vector propeller generates propulsive force by the mode that a hemispherical cavity is opened up in the pushing body that hole connects
When people is pressed on fish bowl wall, the effect of vector propeller can also to form differential water pressures in hemispherical cavity body, reinforce fish jar cleaning
Absorption dynamics of the robot on fish bowl wall.
After the detailed description of the application embodiment is read in conjunction with the figure, other features and advantages of the application will become more
Add clear.
Detailed description of the invention
Fig. 1 is the main view for the fish jar clean robot that the application proposes；
Fig. 2 is the top view for the fish jar clean robot that the application proposes；
Fig. 3 is the bottom view for the fish jar clean robot that the application proposes.
Specific embodiment
The specific embodiment of the application is described in more detail with reference to the accompanying drawing.
For the mode for improving existing artificial cleaning fish jar, the application proposes a kind of fish jar clean robot, including robot
Ontology, cleaning module 2, universal wheel 6 and propulsion component；As shown in Figure 1, robot body includes the pushing body to connect up and down
With matrix 12；As shown in connection with fig. 3, cleaning module 2 is set on the bottom surface of matrix 12；As shown in connection with fig. 2, pushing body includes promoting
Body top surface 111 and four inclined surface 112,113,114 and 115 to connect with pushing body top surface；Four inclined surface are with respect to matrix 12
Top surface be inclined to set, and four inclined surface are facing each other is set on four direction；Propulsion component includes four arrows
Propeller 31,32,33 and 34 is measured, four vector propellers are respectively arranged on four inclined surface, which is based on
The movement of vector propeller working principle driving fish jar clean robot；Universal wheel 6 is installed on the bottom surface of matrix 12, and universal
The height of the opposite matrix bottom surface of wheel 6 is less than height of the cleaning module 2 with respect to matrix bottom surface.
Vector propeller is based on Thrust Vectoring Technology, is a kind of direction by deflecting jet cutting car flow, utilizes engine
The thrust of generation obtains the technology of additional manipulation torque, does not use the equipment of Thrust Vectoring Technology, the jet flow of propeller be all with
What the axis of equipment was overlapped, the thrust of generation is also along axis, and resistance of the intelligence for overcoming equipment suffered provides acceleration
Power, that is, compared to that can only realize that the common propeller of propulsion, vector propeller can be realized based on side in one direction
It is controlled to deflection, realizes multidirectional propulsion.In the fish jar cleaning machine that the application proposes, in conjunction with the knot of aforementioned four inclined surface
Structure design enables four vector propellers to be based on promoting the work of vectoring technology principle, turns by the way that one or more is united
Dynamic control realizes the propulsion to fish jar clean robot, wherein boost on up, down, left, right, before and after six direction
Realize that fish jar robot is detached from fish bowl wall, and downward propulsion provides pressure and overlays realization fish jar clean robot in fish bowl wall
On, propulsion of the fish jar clean robot on four direction is realized in the propulsion of front, rear, left and right, and by being promoted on six direction
The adjusting and combination of dynamics can be realized the propulsion of fish jar robot in all directions.
It is above-mentioned as it can be seen that in compared with the prior art on robot six direction all installation propellers, each propeller is only
It can be responsible for promoting the mode of robot, the four inclined surface design methods taken in this case, so that four arrows in one direction
Amount propeller, which cooperates, is able to achieve the propulsion of six-freedom degree, reduces the application of vector propeller quantity.
The relatively same reference data: the bottom surface of substrate, universal wheel height design lower than the structure of cleaning module height, make
Vector propeller is obtained when fish jar clean robot to be pressed on fish bowl wall, squeezes cleaning module until universal wheel and fish bowl wall
Contact, contacts with fish bowl wall so that cleaning module is closer, can be improved cleaning effect.The embodiment of the present application does not limit specifically
The relative position of universal wheel and cleaning module in matrix bottom surface.
To sum up, the fish jar clean robot that the application proposes reduces and pushes away compared with existing fish jar clean robot
It into device quantity, reduces robot cost and has beautified appearance design effect, solve existing fish jar clean robot shape not
Beautiful and at high cost technical problem also achieves the technical effect for improving cleaning dynamics.In practical application, 4 can be used
Small vector propeller, cost are cheaper.And the design structure of four inclined surface can also improve overall appearance aesthetic feeling, it will not
Stop user to watch sight, improves the usage experience of user.
Pushing body top surface 111 is not defined in the application specifically, which can not have, in this case, four
Connect at the top of a inclined surface；The application does not also limit the shape of inclined surface specifically；Four inclined surface settings can be arcwall face
Etc. structure types, the application also not limit.The application does not limit the quantity of vector propeller on each inclined surface yet.
As shown in figure 3, the fish jar clean robot that the application proposes further includes control module 4, which includes nothing
Line communication unit 41, wireless communication unit 41 are based on wireless transmission, external control signal can be received, so that control module 4
Realize that control relevant to control signal operates.The control signal of the outside has cleaning by fish jar cleaning remote controler, user installation
Control the intelligent mobile terminal etc. of application.For example, after fish jar cleaning remote controler sends the enabling signal of cleaning fish jar, wirelessly
Communication unit 41 receives the enabling signal, and control module 4 then implements cleaning based on enabling signal starting fish jar clean robot
Work.
As shown in Figure 1, pushing body further includes supporting surface 116；Supporting surface 116 is interspersed to connect between four inclined surface, right
Pushing body is played a supporting role, the supporting surface 116 perhaps top surface inclination setting of matrix 12 or the top of matrix 12 relatively relatively
Face is vertically arranged, and the embodiment of the present application not limits.
As depicted in figs. 1 and 2, it is the automated cleaning for realizing fish jar clean robot, sensing is installed on supporting surface 116
Device 5；It is such as water quality monitoring sensor of sensor 5, including but not limited to water temperature detection sensor, pH value detection sensor, clear
Cleanliness detection sensor etc., such as obstacle detecting sensor, such as position sensor etc., can be in real-time detection fish jar
Whether water quality, detection fish jar clean robot encounter barrier in the process in cleaning, position etc. to fish jar clean robot
Deng so that control module after receiving the detection signal of sensor, can make corresponding adjustment according to detection signal in time
Control, such as remote controler or intelligent mobile terminal transmission detection data are cleaned to fish jar, so that user knows water in fish jar at any time
Matter situation and situation state, perhaps water quality be lower than limit value when to user's intelligent mobile terminal issue cleaning remind or
According to detection of obstacles situation and positioning scenarios during fish jar clean robot is in cleaning, to the clear of fish jar clean robot
Clean route adjusts etc..
As shown in Figure 1, offering through-hole 121 at the middle part of matrix 12, one is offered in the pushing body to connect with through-hole 121
A hemispherical cavity 117, this matrix middle part, which opens up in through-hole 121 and the pushing body to connect with through-hole, opens up hemispherical cavity
117 structure combination, so that fish jar clean robot when the propulsive force generated by vector propeller presses against on fish bowl wall, is sweared
The effect of amount propeller can also to form differential water pressures between fish jar clean robot surrounding aqueous environment in hemispherical cavity body, should
Differential water pressures can reinforce absorption dynamics of the fish jar clean robot on fish bowl wall, additionally it is possible to so that cleaning module 2 is closer
It is attached at fish bowl wall, improves cleaning dynamics.
As shown in figure 3, fish jar clean robot further includes wireless charging module and battery 8；The reception of wireless charging module
Coil 7 is centered around around battery 8；The electric energy that receiving coil receives external emission coil is embodied as the charging of battery 8, so that fish
Cylinder clean robot ontology can be placed in fish jar work without any cable for a long time.
The fish jar clean robot further includes the alarm connecting with control module, receives sensor in control module
After detection data, detection data is judged, when detection data is more than limit value, alarm signal can be issued by alarm
Breath reminds user's water quality situation, user is reminded to start cleaning or prompting failure etc. in time.
Based on fish jar clean robot set forth above, the application also proposes a kind of fish jar cleaning systems, which includes
There are fish jar clean robot and intelligent mobile terminal set forth above, the two interconnects, and operation has correlation in intelligent mobile terminal
Using, enable fish jar clean robot to receive the various control signals of intelligent mobile terminal transmission, it also can be by the number that works
According to, detection data, fault message etc. be sent to intelligent mobile terminal, the user for holding intelligent mobile terminal is obtained in time
Know the working condition of fish jar state and fish jar clean robot, improves user experience.
It should be noted that four vector propellers are worked based on existing Thrust Vectoring Technology in the application, about side
To control and transformation can based on existing way implement, it will not go into details for the embodiment of the present application.
It should be noted that the above description is not a limitation of the present invention, the present invention is also not limited to the example above,
The variations, modifications, additions or substitutions that those skilled in the art are made within the essential scope of the present invention, are also answered
It belongs to the scope of protection of the present invention.
Claims (10)
1. a kind of fish jar clean robot, including robot body, cleaning module, universal wheel and propulsion component；Its feature exists
In,
The robot body includes the pushing body and matrix to connect up and down；The cleaning module is set to the bottom surface of described matrix
On；The pushing body includes four inclined surface；Four inclined surface are inclined to set with respect to the top surface of described matrix, and described
Four inclined surface are facing each other to be set on four direction；
The propulsion component includes four vector propellers, and four vector propellers are respectively arranged in four inclinations
On face；Four vector propellers drive the movement of the fish jar clean robot based on vector propulsion working principle;
The universal wheel is mounted on the bottom surface of described matrix, and the universal wheel be less than with respect to the height of described matrix bottom surface it is described
Height of the cleaning module with respect to described matrix bottom surface.
2. fish jar clean robot according to claim 1, which is characterized in that the fish jar clean robot further includes control
Molding block, the control module include wireless communication unit, and the wireless communication unit receives external control signal, so that described
Control module realizes control operation relevant to the control signal.
3. fish jar clean robot according to claim 2, which is characterized in that the pushing body further includes supporting surface；Institute
State that supporting surface is interspersed to connect between four inclined surface.
4. fish jar clean robot according to claim 3, which is characterized in that be equipped with sensor on the supporting surface；
The sensor is connect with the control module.
5. fish jar clean robot according to claim 1, which is characterized in that the fish jar clean robot further includes nothing
Line charging module and battery；The receiving coil of the wireless charging module is centered around around the battery；The receiving coil
The electric energy for receiving external emission coil is embodied as the battery charging.
6. fish jar clean robot according to claim 2, which is characterized in that the sensor includes water quality monitoring sensing
Device, obstacle detecting sensor and/or position sensor.
7. fish jar clean robot according to claim 3, which is characterized in that the supporting surface is perpendicular to described matrix
Top surface setting.
8. fish jar clean robot according to claim 2, which is characterized in that the fish jar clean robot further include with
The alarm of the control module connection.
9. fish jar clean robot according to claim 1, which is characterized in that through-hole is offered in the middle part of described matrix, with
A hemispherical cavity is offered in the pushing body that the through-hole connects.
10. fish jar cleaning systems, which is characterized in that including the described in any item fish jar clean robots of such as claim 1-9 and
Intelligent mobile terminal；
The fish jar clean robot and the intelligent mobile terminal interconnect.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710553053.XA CN109197752A (en) | 2017-07-07 | 2017-07-07 | A kind of fish jar clean robot and fish jar cleaning systems |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710553053.XA CN109197752A (en) | 2017-07-07 | 2017-07-07 | A kind of fish jar clean robot and fish jar cleaning systems |
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| Publication Number | Publication Date |
|---|---|
| CN109197752A true CN109197752A (en) | 2019-01-15 |
Family
ID=64991207
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710553053.XA Pending CN109197752A (en) | 2017-07-07 | 2017-07-07 | A kind of fish jar clean robot and fish jar cleaning systems |
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| CN205931198U (en) * | 2016-08-05 | 2017-02-08 | 杭州霆舟无人科技有限公司 | Many vectors propulsion underwater robot |
| CN106428479A (en) * | 2015-08-06 | 2017-02-22 | 欧舶智能科技（上海）有限公司 | Unmanned remote-controlled underwater robot and control method thereof |
| CN207491859U (en) * | 2017-07-07 | 2018-06-15 | 青岛塔波尔机器人技术有限公司 | A kind of fish jar clean robot and fish jar cleaning systems |
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Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20070034734A1 (en) * | 2005-04-15 | 2007-02-15 | Urban Aeronautics Ltd. | Flight control system especially suited for VTOL vehicles |
| CN203952149U (en) * | 2014-07-11 | 2014-11-26 | 中国水产科学研究院东海水产研究所 | A kind of distance type pond disinfection device |
| CN104326074A (en) * | 2014-10-27 | 2015-02-04 | 中国船舶重工集团公司第七〇五研究所 | CAM matrix-based underwater robot vectored thrust distribution method |
| CN106428479A (en) * | 2015-08-06 | 2017-02-22 | 欧舶智能科技（上海）有限公司 | Unmanned remote-controlled underwater robot and control method thereof |
| CN105521975A (en) * | 2016-01-29 | 2016-04-27 | 浙江大学宁波理工学院 | Underwater netting cleaning robot |
| CN105815252A (en) * | 2016-05-01 | 2016-08-03 | 王凯盛 | Robot for automatically cleaning fish tank |
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Address after: 266111 No. 127 Huizhiqiao Road, Qingdao High-tech Zone, Shandong Province C1-301, Science Park of Qingdao National University Applicant after: Qingdao Tabor Robot Technology Co.,Ltd. Applicant after: QINGDAO SENCOTT INTELLIGENT INSTRUMENT CO.,LTD. Address before: 266101 Haier Road, Laoshan District, Qingdao, Qingdao, Shandong Province, No. 1 Applicant before: QINGDAO TAB ROBOT TECHNOLOGY Co.,Ltd. Applicant before: QINGDAO SENCOTT INTELLIGENT INSTRUMENT CO.,LTD. |
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Address after: 266111 No. 127 Huizhiqiao Road, Qingdao High-tech Zone, Shandong Province C1-301, Science Park of Qingdao National University Applicant after: Haier Robotics (Qingdao) Co.,Ltd. Applicant after: QINGDAO SENCOTT INTELLIGENT INSTRUMENT CO.,LTD. Address before: 266111 No. 127 Huizhiqiao Road, Qingdao High-tech Zone, Shandong Province C1-301, Science Park of Qingdao National University Applicant before: Qingdao Tabor Robot Technology Co.,Ltd. Applicant before: QINGDAO SENCOTT INTELLIGENT INSTRUMENT CO.,LTD. |
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