CN209301026U - A kind of cistern controller and sweeping robot - Google Patents
A kind of cistern controller and sweeping robot Download PDFInfo
- Publication number
- CN209301026U CN209301026U CN201821786015.5U CN201821786015U CN209301026U CN 209301026 U CN209301026 U CN 209301026U CN 201821786015 U CN201821786015 U CN 201821786015U CN 209301026 U CN209301026 U CN 209301026U
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- Prior art keywords
- warning signal
- signal generator
- controller
- drain port
- runner
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Abstract
The utility model relates to a kind of cistern controller and sweeping robots, including sensor module, controller, drain port electric-controlled switch and pulsating pump；Sensor module is connect with controller, for sending controller for the heat transfer agent of acquisition；Drain port electric-controlled switch, for controlling the drain port between water tank and runner；Pulsating pump is located in water tank, for the water retained in runner to be sucked back water tank；Controller is connect with drain port electric-controlled switch and pulsating pump, is respectively used to control drain port and is opened or closed and control pulsating pump water suction.The utility model can automatic identification traveling ground be floor or carpet, when advancing on floor, control water tank to runner supply water, by infiltration item to rag supply water；When advancing on carpet, water tank drain port is not only closed, and the ponding retained in runner is also withdrawn into water storage box, stop supplying water to rag, avoid occurring seeping phenomenon on carpet.
Description
Technical field
The utility model relates to robotic technology field more particularly to a kind of cistern controllers and sweeping robot.
Background technique
Currently, the sweeping robot with water tank can carry out dust suction and wiping operation to ground during the work time.When
Sweeping robot, since the roughening of carpet is very big, causes sweeping robot on carpet when cleaning on to carpet
Travel speed is very slow, especially that shag carpet, and the travel speed of sweeping robot is just very slower.In this case, water
Water in case is easy to accumulate on carpet by rag, to impact to carpet.
Utility model content
In view of above-mentioned analysis, the utility model is intended to provide a kind of cistern controller and sweeping robot, prevents from sweeping
Ponding problem of the floor-washing robot when carpet is advanced.
The purpose of this utility model is mainly achieved through the following technical solutions:
A kind of sweeping robot cistern controller, including sensor module, controller, drain port electric-controlled switch and water suction
Pump；
The sensor module is connect with the controller, for sending the controller for the heat transfer agent of acquisition；
The drain port electric-controlled switch is switched on or off for controlling the drain port between water tank and runner；
The pulsating pump is located in water tank, is connected by suction piping with runner；Water for will be retained in runner
Suck back water tank；
The controller is connect with drain port electric-controlled switch, is opened or closed for controlling drain port；
The controller is connect with the pulsating pump；For controlling the pulsating pump water suction.
Further, the sensor module includes type detection component, vibrating sensor and wheel speed sensors；
The type detection component is mounted on the chassis of the sweeping robot ontology, and is located at the front of water tank, is used
Whether ground includes carpet in front of the traveling for prejudging the sweeping robot；
The vibrating sensor is installed on the chassis of the sweeping robot, for acquiring the top of sweeping robot ontology
It winnows with a dustpan signal；
The wheel speed sensors are installed on the wheel of the sweeping robot, and the wheel speed for acquiring sweeping robot becomes
Change signal.
Further, the type detection component is the sensor with floor type detection function.
Further, the type detection component is TOF picture pick-up device.
Further, the controller includes the first pre-warning signal generator, the second pre-warning signal generator, third early warning
Signal generator and the first decision device；
The input terminal connection type detection components of the first pre-warning signal generator, output end connect the second sequential logic
The enable end of controller；
The input terminal of the second pre-warning signal generator connects vibrating sensor, and output end connects the control of third sequential logic
The enable end of device processed；
The input terminal of the third pre-warning signal generator connects wheel speed sensors；
The first pre-warning signal generator, the second pre-warning signal generator and third pre-warning signal generator output connect
Connect the input terminal of the first decision device；
On the one hand the output end of first decision device connects pulsating pump and drain port electric-controlled switch；On the other hand connection the
The data dump end of one pre-warning signal generator, the second pre-warning signal generator and third pre-warning signal generator.
Further, the controller further includes the first releasing pre-warning signal generator, the second releasing pre-warning signal generation
Device, third release pre-warning signal generator and the second decision device；
Described first releases the input terminal connection type detection components of pre-warning signal generator, and output end connects the second timing
The enable end of logic controller；
Described second input terminal for releasing pre-warning signal generator connects vibrating sensor, and output end connection third timing is patrolled
Collect the enable end of controller；
The input terminal that the third releases pre-warning signal generator connects wheel speed sensors；
Described first, which releases pre-warning signal generator, the second releasing pre-warning signal generator and third, releases pre-warning signal production
Raw device output end connects the input terminal of the second decision device；
On the one hand the output end of second decision device connects drain port electric-controlled switch；On the other hand connection first releases pre-
Alert signal generator, the second releasing pre-warning signal generator and third release the data dump end of pre-warning signal generator.
Further, the sensor module further includes liquid level sensor, and the liquid level sensor is mounted in runner
Lower part, for whether having water in detection channel.
Further, the liquid level sensor is two or more, is separately mounted to the interior lower part at runner both ends, Huo Zhefen
Cloth is mounted on the interior lower part of runner.
Further, the liquid level sensor is connect with the controller, when the water retained in runner is drained by pulsating pump
Afterwards, output detection signal controls pulsating pump and stops working to the controller.
A kind of sweeping robot, including any of the above-described cistern controller.
The utility model has the beneficial effect that:
The ground for capableing of the traveling of automatic identification sweeping robot is carpet or floor, to control whether water tank is discharged；On ground
When advancing on plate, control water tank supplies water to runner, is supplied water by infiltration item to rag, is wiped to floor；In carpet uplink
Into when, not only close water tank drain port, and the ponding retained in runner is also withdrawn into water storage box, stop supplying water to rag,
Avoid occurring the phenomenon that ponding on carpet.
Other feature and advantage of the utility model will illustrate in the following description, also, partial from specification
In become apparent, or understood and implementing the utility model.The purpose of this utility model and other advantages can pass through
Structure specifically indicated in the written description, claims, and drawings is achieved and obtained.
Detailed description of the invention
Attached drawing is only used for showing the purpose of specific embodiment, and is not considered as limitations of the present invention, entire
In attached drawing, identical reference symbol indicates identical component.
Fig. 1 is that the cistern controller in the utility model embodiment forms connection schematic diagram.
Specific embodiment
Specifically describe the preferred embodiment of the utility model with reference to the accompanying drawing, wherein attached drawing constitutes the application one
Point, and be used to illustrate the principles of the present invention together with the embodiments of the present invention.
One specific embodiment of the utility model, discloses a kind of sweeping robot cistern controller, such as Fig. 1 institute
Show, including sensor module, controller, drain port electric-controlled switch and pulsating pump；
Wherein, sensor module is connect with the controller, for sending the controller for the heat transfer agent of acquisition；
Drain port electric-controlled switch, for controlling the drain port between water tank and runner；
Pulsating pump is located in water tank, is connected by suction piping with runner, for sucking back the water retained in runner
Water tank；
The controller is connect with drain port electric-controlled switch, is opened or closed for controlling drain port；
The controller is connect with the pulsating pump；For controlling the pulsating pump water suction.
Sensor module in the present embodiment includes type detection component, vibrating sensor and wheel speed sensors；
Wherein, type detection component is mounted on the chassis of the sweeping robot ontology, and is located at the front of water tank, is used
Whether ground includes carpet in front of the traveling for prejudging the sweeping robot；
Vibrating sensor is installed on the chassis of the sweeping robot, for acquiring the letter that jolts of sweeping robot ontology
Number；
Wheel speed sensors are installed on the wheel of the sweeping robot, and the wheel speed for acquiring sweeping robot changes letter
Number.
Optionally, the type detection component is the sensor with floor type detection function, which being capable of area
Ground or carpet when dividing front ground, and corresponding detection signal can be exported.
Optionally, the type detection component is TOF picture pick-up device, can shoot the figure on ground in front of sweeping robot
Picture, by known image recognition methods, anticipation front ground is floor or carpet.
The controller of the present embodiment includes the first pre-warning signal generator, the second pre-warning signal generator, third early warning letter
Number generator and the first decision device；
The input terminal connection type detection components of first pre-warning signal generator, output end connect the second time series stereodata
The enable end of device；When type detection component, which exports front ground, includes carpet signal, the first pre-warning signal generator is produced
It gives birth to and caches the first pre-warning signal, and exporting enable signal keeps the second pre-warning signal generator enabled；
The input terminal of second pre-warning signal generator connects vibrating sensor, and output end connects third time series stereodata device
Enable end；When vibrating sensor, which is detected, jolts signal as caused by the obstacle detouring to carpet of floor, second pre-warning signal
Generator generates and caches the second pre-warning signal, and exporting enable signal keeps third pre-warning signal generator enabled；
The input terminal of third pre-warning signal generator connects wheel speed sensors；When wheel speed sensors detect wheel speed decline letter
Number when, the third pre-warning signal generator generates and caches the first pre-warning signal；
First pre-warning signal generator, the second pre-warning signal generator and third pre-warning signal generator output connect
The input terminal of one decision device；
On the one hand the output end of first decision device connects pulsating pump and drain port electric-controlled switch；On the other hand connection first is pre-
The data dump end of alert signal generator, the second pre-warning signal generator and third pre-warning signal generator；
After the first, second, and third pre-warning signal generates, on the one hand the first decision device outputs a control signal to drain port
Electric-controlled switch closes drain port, and water tank stops supplying water to runner；On the other hand pulsating pump is output a control signal to, makes to inhale
Pump working extracts the water in runner；In addition, also outputting a control signal to the first, second, and third pre-warning signal generator, clearly
Except the first, second, and third pre-warning signal.
The controller of the present embodiment further include the first releasing pre-warning signal generator, second release pre-warning signal generator,
Third releases pre-warning signal generator and the second decision device；
First releases the input terminal connection type detection components of pre-warning signal generator, and output end connects the second sequential logic
The enable end of controller；When it is ground partitioned signal that type detection component, which exports front ground, described first, which releases pre-warning signal, is produced
Raw device generates and caches the first releasing pre-warning signal, and exporting enable signal keeps the second releasing pre-warning signal generator enabled；
Described second input terminal for releasing pre-warning signal generator connects vibrating sensor, and output end connection third timing is patrolled
Collect the enable end of controller；When vibrating sensor, which is detected, jolts signal caused by floor as falling under carpet, described second
It releases pre-warning signal generator to generate and cache the second pre-warning signal, and exporting enable signal makes third pre-warning signal generator
Energy；
The input terminal that the third releases pre-warning signal generator connects wheel speed sensors；It is swept when wheel speed sensors detect
Floor-washing robot travel speed rising signals, and travel speed is restored to it in travel speed on floor, the third releases pre-
Alert signal generator, which generates and caches third, releases pre-warning signal；
Described first, which releases pre-warning signal generator, the second releasing pre-warning signal generator and third, releases pre-warning signal production
Raw device output end connects the input terminal of the second decision device；
On the one hand the output end of second decision device connects drain port electric-controlled switch；On the other hand the first early warning of connection letter
The data dump end of number generator, the second pre-warning signal generator and third pre-warning signal generator；
After first, second, and third, which releases pre-warning signal, generates, on the one hand the second decision device outputs a control signal to thin
Mouth of a river electric-controlled switch, opens drain port, and water tank restores to supply water to runner；On the other hand, first, is output a control signal to
Two and third release pre-warning signal generator, remove first, second, and third release pre-warning signal.
Special, it further include liquid level sensor in sensor module, liquid level sensor is mounted on the lower part in runner, uses
In whether having water in detection channel；
Also, liquid level sensor can be separately mounted to the interior lower part at runner both ends, or distribution peace to be two or more
Mounted in the interior lower part of runner.
By the way that liquid level sensor is connect with the controller, after the water retained in runner is drained by pulsating pump, liquid level
Sensor output detection signal controls pulsating pump and stops working to controller.
By being installed as two or more liquid level sensors, when all liquid level sensors all detect not retain in runner
Water after, controller control pulsating pump stop working.
The present embodiment also discloses a kind of sweeping robot, including cistern controller；Used cistern controller
Including sensor module, controller, drain port electric-controlled switch and pulsating pump；
Wherein, sensor module is connect with the controller, for sending the controller for the heat transfer agent of acquisition；
Drain port electric-controlled switch, for controlling the drain port between water tank and runner；
Pulsating pump is located in water tank, is connected by suction piping with runner；
The controller is connect with drain port electric-controlled switch, is opened or closed for controlling drain port；
The controller is connect with the pulsating pump；For controlling the pulsating pump water suction.
In conclusion a kind of cistern controller and sweeping robot disclosed in the present embodiment, can automatic identification sweep the floor
The ground that robot advances is carpet or floor, to control whether water tank is discharged；When advancing on floor, water tank is controlled to runner
It supplies water, is supplied water by infiltration item to rag, floor is wiped；When advancing on carpet, water tank drain port is not only closed, and
And the ponding retained in runner is also withdrawn into water storage box, stop supplying water to rag, avoids occurring the phenomenon that ponding on carpet.
The preferable specific embodiment of the above, only the utility model, but the protection scope of the utility model is not
It is confined to this, anyone skilled in the art within the technical scope disclosed by the utility model, can readily occur in
Change or replacement, should be covered within the scope of the utility model.
Claims (10)
1. a kind of cistern controller, which is characterized in that including sensor module, controller, drain port electric-controlled switch and water suction
Pump；
The sensor module is connect with the controller, for sending the controller for the heat transfer agent of acquisition；
The drain port electric-controlled switch is switched on or off for controlling the drain port between water tank and runner；
The pulsating pump is located in water tank, is connected by suction piping with runner；For the water retained in runner to be sucked back
Water tank；
The controller is connect with drain port electric-controlled switch, is opened or closed for controlling drain port；
The controller is connect with the pulsating pump；For controlling the pulsating pump water suction.
2. cistern controller according to claim 1, which is characterized in that the sensor module includes type detection
Component, vibrating sensor and wheel speed sensors；
The type detection component is mounted on the chassis of sweeping robot ontology, and is located at the front of water tank, for prejudging
State whether ground in front of the traveling of sweeping robot includes carpet；
The vibrating sensor is installed on the chassis of the sweeping robot, for acquiring the letter that jolts of sweeping robot ontology
Number；
The wheel speed sensors are installed on the wheel of the sweeping robot, and the wheel speed for acquiring sweeping robot changes letter
Number.
3. cistern controller according to claim 2, which is characterized in that the type detection component is with ground noodles
The sensor of type detection function.
4. cistern controller according to claim 2, which is characterized in that the type detection component is that TOF camera shooting is set
It is standby.
5. cistern controller according to claim 2, which is characterized in that the controller is produced including the first pre-warning signal
Raw device, the second pre-warning signal generator, third pre-warning signal generator and the first decision device；
The input terminal connection type detection components of the first pre-warning signal generator, output end connect the second time series stereodata
The enable end of device；
The input terminal of the second pre-warning signal generator connects vibrating sensor, and output end connects third time series stereodata device
Enable end；
The input terminal of the third pre-warning signal generator connects wheel speed sensors；
The first pre-warning signal generator, the second pre-warning signal generator and third pre-warning signal generator output connect
The input terminal of one decision device；
On the one hand the output end of first decision device connects pulsating pump and drain port electric-controlled switch；On the other hand connection first is pre-
The data dump end of alert signal generator, the second pre-warning signal generator and third pre-warning signal generator.
6. cistern controller according to claim 2, which is characterized in that the controller further includes the first releasing early warning
Signal generator, second release pre-warning signal generator, third releasing pre-warning signal generator and the second decision device；
Described first releases the input terminal connection type detection components of pre-warning signal generator, and output end connects the second sequential logic
The enable end of controller；
Described second input terminal for releasing pre-warning signal generator connects vibrating sensor, and output end connects the control of third sequential logic
The enable end of device processed；
The input terminal that the third releases pre-warning signal generator connects wheel speed sensors；
Described first, which releases pre-warning signal generator, the second releasing pre-warning signal generator and third, releases pre-warning signal generator
Output end connects the input terminal of the second decision device；
On the one hand the output end of second decision device connects drain port electric-controlled switch；On the other hand connection first releases early warning letter
Number generator, second release pre-warning signal generator and third releases the data dump end of pre-warning signal generator.
7. cistern controller according to claim 2, which is characterized in that the sensor module further includes level sensing
Device, the liquid level sensor are mounted on the lower part in runner, for whether having water in detection channel.
8. cistern controller according to claim 7, which is characterized in that the liquid level sensor be it is two or more,
The interior lower part for being separately mounted to runner both ends or distributing installation are in the interior lower part of runner.
9. cistern controller according to claim 7, which is characterized in that the liquid level sensor and the controller connect
It connects, after the water retained in runner is drained by pulsating pump, output detection signal to the controller controls pulsating pump and stops work
Make.
10. a kind of sweeping robot, which is characterized in that including any cistern controller of claim 1-9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821786015.5U CN209301026U (en) | 2018-10-30 | 2018-10-30 | A kind of cistern controller and sweeping robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821786015.5U CN209301026U (en) | 2018-10-30 | 2018-10-30 | A kind of cistern controller and sweeping robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209301026U true CN209301026U (en) | 2019-08-27 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821786015.5U Expired - Fee Related CN209301026U (en) | 2018-10-30 | 2018-10-30 | A kind of cistern controller and sweeping robot |
Country Status (1)
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| CN (1) | CN209301026U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111358380A (en) * | 2019-12-18 | 2020-07-03 | 添可智能科技有限公司 | Cleaning apparatus, cleaning apparatus control method, and storage medium |
| WO2021232525A1 (en) * | 2020-05-22 | 2021-11-25 | 深圳市伽利略机器人有限公司 | Mopping robot with controllable continuous water output |
| CN113892866A (en) * | 2021-10-29 | 2022-01-07 | 珠海格力电器股份有限公司 | Sweeping robot control method and device, processor and sweeping robot |
-
2018
- 2018-10-30 CN CN201821786015.5U patent/CN209301026U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111358380A (en) * | 2019-12-18 | 2020-07-03 | 添可智能科技有限公司 | Cleaning apparatus, cleaning apparatus control method, and storage medium |
| WO2021232525A1 (en) * | 2020-05-22 | 2021-11-25 | 深圳市伽利略机器人有限公司 | Mopping robot with controllable continuous water output |
| CN113892866A (en) * | 2021-10-29 | 2022-01-07 | 珠海格力电器股份有限公司 | Sweeping robot control method and device, processor and sweeping robot |
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| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20190827 Termination date: 20211030 |
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| CF01 | Termination of patent right due to non-payment of annual fee |