CN210720771U - Intelligent water outlet detection device suitable for underwater automatic cleaning robot - Google Patents
Intelligent water outlet detection device suitable for underwater automatic cleaning robot Download PDFInfo
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- CN210720771U CN210720771U CN201921654473.8U CN201921654473U CN210720771U CN 210720771 U CN210720771 U CN 210720771U CN 201921654473 U CN201921654473 U CN 201921654473U CN 210720771 U CN210720771 U CN 210720771U
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Abstract
The utility model provides an intelligence goes out water detection device suitable for automatic cleaning machines people under water, including controlling means and at least one acceleration detection device, controlling means is connected with the acceleration detection device electricity, and acceleration detection device is used for detecting automatic cleaning machines people's direction of gravity acceleration to send testing result to controlling means, controlling means calculates automatic cleaning machines people's inclination or speed of marcing according to the direction of gravity acceleration, judges whether automatic cleaning machines people goes out water. The beneficial effects of the utility model are that can guide automatic swimming pool cleaning machines people under unmanned participation condition quick, the accurate detection of going on out water in swimming pool wall cleaning process under water, ensure that automatic cleaning machines people can not cross the waterline under water, carry out swimming pool wall cleaning on the waterline all the time.
Description
Technical Field
The utility model belongs to the technical field of it is clean, especially, relate to an intelligence goes out water detection device suitable for automatic cleaning machines people under water.
Background
Swimming pool cleaning machines people is to the clean demand of swimming pool, can make a round trip to clean the dirt of swimming pool bottom of the pool, four walls repeatedly, and the swimming pool rubbish is accomodate to the filter vat water, lets swimming pool quality of water limpid like new underwater cleaning machines people. Because the swimming pool cleaning robot has the characteristics of strong cleaning capacity, simple structure, excellent performance, small volume, light weight, high efficiency, large flow, easy maintenance and the like, the swimming pool cleaning robot helps people to easily realize the cleaning of daily garbage and dirt of a swimming pool, thoroughly changes the traditional manual cleaning mode and ensures that the swimming pool cleaning work is not troublesome any more.
At present, the automatic swimming pool cleaning machines people ubiquitous that can wash four walls of swimming pool that provide on the market go out water and detect the inaccurate machine that leads to and climb not to the swimming pool waterline, the machine crosses the swimming pool waterline, climbs out the swimming pool scheduling problem even, can not carry out effective cleanness to four walls of swimming pool waterlines that are covered with the dirt.
SUMMERY OF THE UTILITY MODEL
In view of the above problem, the to-be-solved problem of the utility model is to provide an intelligence goes out water detection device suitable for automatic cleaning robot under water to automatic cleaning robot is the carrier under water, can guide automatic swimming pool cleaning robot under unmanned participation condition quick, the accurate detection of going out water in swimming pool wall cleaning process under water, and adjust automatic cleaning robot's walking speed under water, ensures that automatic cleaning robot can not cross the waterline under water, all the time carries out swimming pool wall cleaning on the waterline.
In order to solve the technical problem, the utility model discloses a technical scheme is:
the utility model provides an intelligence goes out water detection device suitable for automatic cleaning machines people under water, includes controlling means and at least one acceleration detection device, and controlling means is connected with the acceleration detection device electricity, and acceleration detection device is used for detecting automatic cleaning machines people's direction of gravity acceleration to convey controlling means with the testing result, controlling means calculates automatic cleaning machines people's inclination or the speed of marcing according to direction of gravity acceleration, judges whether automatic cleaning machines people goes out water.
Further, the acceleration detection device is an acceleration sensor.
Owing to adopt above-mentioned technical scheme, make the intelligence that is applicable to automatic cleaning machines people under water go out water detection device simple structure, easy maintenance, adopt intelligent water detection method, use automatic cleaning machines people carrier under water, can guide automatic cleaning machines people under water quick in the swimming pool wall cleaning process under unmanned participation condition, the accurate detection that goes out water, and adjust automatic cleaning machines people's walking speed under water, ensure that automatic cleaning machines people can not cross the waterline under water, the swimming pool wall washs on the waterline all the time, swimming pool cleaning efficiency and intelligent level have been improved.
Drawings
Fig. 1 is a schematic structural diagram of an embodiment of the present invention;
fig. 2 is a schematic view of an angle detection means according to an embodiment of the present invention;
fig. 3 is a schematic view of a walking speed detection means according to an embodiment of the present invention.
In the figure:
1. acceleration detection device 2, control device 3, seal box
Detailed Description
The invention will be further described with reference to the accompanying drawings and specific embodiments.
Fig. 1 shows the structural schematic diagram of an embodiment, specifically show the structure of this embodiment, this embodiment relates to an intelligence goes out water detection device and intelligent water detection method suitable for automatic cleaning machines people under water, be used for judging whether going out water to automatic cleaning machines people under water, use automatic cleaning machines people as the carrier under water, can guide automatic cleaning machines people under water quick, the accurate detection that goes out water of going on in swimming pool wall cleaning process under unmanned participation condition, and adjust automatic cleaning machines people's walking speed under water, ensure that automatic cleaning machines people can not cross the waterline under water, it washs to carry out the swimming pool wall on the waterline all the time, improve clean efficiency and intelligent level.
The utility model provides an intelligence goes out water detection device suitable for automatic cleaning robot under water, as shown in figure 1, including controlling means 2 and at least one acceleration detection device 1, controlling means 2 is connected with acceleration detection device 1 electricity, acceleration detection device 1 is used for detecting automatic cleaning robot's direction of gravity acceleration to convey controlling means 2 with the testing result, controlling means 2 calculates automatic cleaning robot's inclination or speed of marcing according to direction of gravity acceleration, judges whether automatic cleaning robot goes out water. The electrical connection between the control device 2 and the acceleration detecting device 1 may be a wire electrical connection, a radio electrical connection, or other electrical connection, and is selected according to actual requirements, which is not specifically required here.
The number of the acceleration detecting device 1 may be one or more, and is selected according to actual requirements, and is not particularly required here.
The acceleration detection device 1 is an acceleration sensor, and preferably, the acceleration sensor is a triaxial acceleration sensor.
The control device 2 may be a PLC controller, a CPU, or other control device, and is selected according to actual requirements, which is not specifically required here.
The control device 2 can be installed in the sealing box 3 of the automatic cleaning robot, or can be installed on the external shore through wireless installation, or other installation modes, and the selection is carried out according to actual requirements, and no specific requirements are made here.
The acceleration sensor is installed in the sealing box 3 of the automatic cleaning robot.
An intelligent water outlet detection method suitable for an underwater automatic cleaning robot is used for detecting the inclination angle and/or the walking speed of the automatic cleaning robot during climbing and cleaning, and judging whether the automatic cleaning robot is in water outlet or not; that is, when the automatic cleaning robot is cleaning under water, through often carrying out inclination detection to the automatic cleaning robot when climbing the wall and wasing, perhaps carry out walking speed detection often, perhaps carry out inclination detection and walking speed detection of the automatic cleaning robot when climbing the wall and wasing often, judge whether the automatic cleaning robot goes out water, ensure that the automatic cleaning robot can not cross the waterline under water, carry out wall washing under water on the waterline all the time, improve under water cleaning efficiency and intelligent level.
Specifically, as shown in fig. 2, the above-mentioned inclination angle detection is performed to detect the inclination angle of the automatic cleaning robot when climbing the wall and washing, and to determine whether the automatic cleaning robot is out of water. And judging whether the automatic cleaning robot goes out water or not according to the detection of the inclination angle of the automatic cleaning robot when climbing the wall for cleaning.
The inclination angle detection specifically comprises the steps of detecting the acceleration in the gravity direction in the climbing and cleaning process of the automatic cleaning robot by using the acceleration detection device 1, calculating the inclination angle of the automatic cleaning robot by using the control device 2 according to the acceleration in the gravity direction, judging the water outlet by using the control device 2 according to the inclination angle, and when the automatic cleaning robot climbs and cleans the wall, the buoyancy force of the automatic cleaning robot in water is different from that of the automatic cleaning robot after water is discharged, and meanwhile, the inclination directions of the automatic cleaning robot are different when climbing the wall for cleaning, the acceleration in the gravity direction of the automatic cleaning robot is also different, the acceleration detecting device 1 detects the acceleration in the gravity direction of the automatic cleaning robot at all times, the control device 2 is preset with an edited program, and calculating the inclination angle of the automatic cleaning robot according to the acceleration in the gravity direction, and judging whether the automatic cleaning robot goes out water or not according to the inclination angle.
The inclination angle is an angle between the traveling direction of the automatic cleaning robot and an axis where gravity is located, and the traveling direction of the automatic cleaning robot can be known through the inclination angle. This acceleration measuring device is acceleration sensor, can carry out the triaxial acceleration measurement, when the self-cleaning robot climbs the wall and washs, acceleration sensor measures the triaxial acceleration of self-cleaning robot often to give controlling means 2 with the result of measuring often, preset the good procedure of editor in controlling means 2, according to the Pythagorean theorem, can calculate inclination, and with the inclination of calculating and the predetermined water outlet angle relative ratio of presetting in controlling means 2, carry out the self-cleaning robot and go out the water and judge. The acceleration in the gravity direction is in the vertical direction, and the acceleration sensor simultaneously measures the acceleration in the horizontal direction, so that the angle between the traveling direction of the automatic cleaning robot and the acceleration in the gravity direction can be calculated, and the inclination angle can be calculated.
When carrying out automatic cleaning robot according to inclination and go out water judgement, controlling means 2 judges whether automatic cleaning robot goes out water with inclination and preset play water angle contrast, specifically is:
if the inclination angle is larger than the preset water outlet angle, the automatic cleaning robot is judged to discharge water, and the control device 2 controls the automatic cleaning robot to act and enter the water to continue cleaning;
otherwise, the automatic cleaning robot is judged not to be out of water, and the cleaning action is continued.
The preset angle can be a numerical value obtained by the automatic cleaning robot in the swimming pool in the process of self-adaptive wall climbing cleaning for multiple times, can also be a numerical value set by a manufacturer independently according to the characteristics of the swimming pool of a user, can also be a numerical value set by the manufacturer according to the common characteristics of the swimming pool suitable for the automatic cleaning robot, and is selected according to actual requirements, wherein no specific requirement is made here.
As shown in fig. 3, the traveling speed detection is to detect the speed of the automatic cleaning robot when climbing the wall and cleaning to determine whether the automatic cleaning robot is out of water, and according to the difference between the buoyancy of the automatic cleaning robot when climbing the wall and cleaning and the buoyancy of the automatic cleaning robot after being out of water, the traveling speed of the automatic cleaning robot is changed when the automatic cleaning robot is out of water, and then whether the automatic cleaning robot is out of water is determined.
The walking speed detection specifically comprises the steps that the acceleration detection device 1 detects the acceleration in the gravity direction in the wall climbing and cleaning process of the automatic cleaning robot, the control device 2 calculates the advancing speed of the automatic cleaning robot according to the acceleration in the gravity direction, and water outlet judgment is carried out according to the advancing speed. The control device 2 is pre-programmed with an edited program, and can calculate the traveling speed based on an acceleration equation.
Controlling means 2 compares the difference between the travel speed and the travel speed of setting with the difference of predetermineeing, perhaps, controlling means 2 compares the difference between travel speed and the initial travel speed with the difference of predetermineeing, judges whether automatic cleaning robot goes out water, specifically is:
if the difference value is larger than the preset difference value, the automatic cleaning robot is judged to discharge water, and the control device 2 controls the automatic cleaning robot to act and enter water for continuous cleaning;
otherwise, the automatic cleaning robot is judged not to be out of water, and the cleaning action is continued.
The preset traveling speed may be a value obtained by the automatic cleaning robot in the swimming pool in the process of multiple self-adaptive wall climbing cleaning, or a value set by the manufacturer independently according to the characteristics of the swimming pool of the user, or a value set by the manufacturer according to the common characteristics of the swimming pool to which the automatic cleaning robot is applicable, and the value is selected according to actual requirements, which is not specifically required.
Owing to adopt above-mentioned technical scheme, make the intelligence that is applicable to automatic cleaning machines people under water go out water detection device simple structure, easy maintenance, adopt intelligent water detection method, use automatic cleaning machines people carrier under water, can guide automatic cleaning machines people under water quick in the swimming pool wall cleaning process under unmanned participation condition, the accurate detection that goes out water, and adjust automatic cleaning machines people's walking speed under water, ensure that automatic cleaning machines people can not cross the waterline under water, the swimming pool wall washs on the waterline all the time, swimming pool cleaning efficiency and intelligent level have been improved.
The embodiments of the present invention have been described in detail, but the description is only for the preferred embodiments of the present invention and should not be construed as limiting the scope of the present invention. All the equivalent changes and improvements made according to the application scope of the present invention should still fall within the patent coverage of the present invention.
Claims (2)
1. The utility model provides an intelligence goes out water detection device suitable for automatic cleaning machines people under water which characterized in that: the automatic cleaning robot comprises a control device and at least one acceleration detection device, wherein the control device is electrically connected with the acceleration detection device, the acceleration detection device is used for detecting the acceleration of the gravity direction of the automatic cleaning robot and transmitting a detection result to the control device, and the control device calculates the inclination angle or the advancing speed of the automatic cleaning robot according to the acceleration of the gravity direction and judges whether the automatic cleaning robot goes out water or not.
2. The intelligent effluent detection device suitable for the underwater automatic cleaning robot as claimed in claim 1, wherein: the acceleration detection device is an acceleration sensor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921654473.8U CN210720771U (en) | 2019-09-30 | 2019-09-30 | Intelligent water outlet detection device suitable for underwater automatic cleaning robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201921654473.8U CN210720771U (en) | 2019-09-30 | 2019-09-30 | Intelligent water outlet detection device suitable for underwater automatic cleaning robot |
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| CN210720771U true CN210720771U (en) | 2020-06-09 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111980452A (en) * | 2020-08-28 | 2020-11-24 | 王芹芬 | Fixing device for swimming pool cleaning machine |
| WO2024092854A1 (en) * | 2022-11-02 | 2024-05-10 | 智橙动力(北京)科技有限公司 | Control method for swimming pool cleaning robot, and swimming pool cleaning robot |
-
2019
- 2019-09-30 CN CN201921654473.8U patent/CN210720771U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111980452A (en) * | 2020-08-28 | 2020-11-24 | 王芹芬 | Fixing device for swimming pool cleaning machine |
| WO2024092854A1 (en) * | 2022-11-02 | 2024-05-10 | 智橙动力(北京)科技有限公司 | Control method for swimming pool cleaning robot, and swimming pool cleaning robot |
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Address after: 300463 No.30, Zhongnan 4th Street, West District, Binhai New Area Economic and Technological Development Zone, Tianjin Patentee after: Tianjin Wangyuan Intelligent Technology Co.,Ltd. Address before: 300463 No.30, Zhongnan 4th Street, West District, Binhai New Area Economic and Technological Development Zone, Tianjin Patentee before: TIANJIN WANGYUAN ENVIRONMENTAL PROTECTION TECHNOLOGY Co.,Ltd. |