WO2022111363A1

WO2022111363A1 - Robot with ultrasonic liquid level monitoring function

Info

Publication number: WO2022111363A1
Application number: PCT/CN2021/131311
Authority: WO
Inventors: 陶海平; 张涛; 曾飞; 彭凯
Original assignee: 深圳市普渡科技有限公司
Priority date: 2020-11-30
Filing date: 2021-11-17
Publication date: 2022-06-02
Also published as: CN112432686A

Abstract

A robot with an ultrasonic liquid level monitoring function, the robot comprising a solution bin (20) and a monitoring module (10), wherein the solution bin (20) is used for containing a liquid; the monitoring module (10) comprises a high-liquid-level limiting part (11), a low-liquid-level limiting part (12), a first switch (13), a second switch (14) and a magnetic float (15); the monitoring module (10) transmits a high-liquid-level signal by means of the sensing of the magnetic float (15) and the first switch (13); and the monitoring module (10) transmits a low-liquid-level signal by means of the sensing of the magnetic float (15) and the second switch (14).

Description

Robot with Ultrasonic Liquid Level Monitoring

This application claims the priority of the Chinese patent application with the application number 202011380316.X and the application name "Robot with Ultrasonic Liquid Level Monitoring Function" submitted to the Patent Office of the State Intellectual Property Office of China on November 30, 2020, all of which The contents are incorporated herein by reference.

technical field

The present application relates to the field of robotics, and in particular, to a robot with an ultrasonic liquid level monitoring function.

Background technique

Hospitals, office buildings, hotels and other places all have the need for environmental disinfection. Disinfection robots can meet the needs of automatic disinfection in the above scenarios. The robot is provided with a container for holding the disinfectant. At present, ultrasonic waves are usually used to atomize the disinfectant to achieve the effect of spray disinfection. When the disinfectant is used up or too much, it needs to be reminded in time. Because ultrasonic atomization of disinfectant is prone to splashing of disinfectant droplets, in this case, applying the existing electrical and electromagnetic methods for liquid level prompting has a large error due to the influence of droplet splashing.

technical solutions

According to various embodiments of the present application, a robot having an ultrasonic liquid level monitoring function is provided.

A robot with ultrasonic liquid level monitoring function, comprising: a solution bin and a monitoring module, the solution bin is used for containing liquid, and the monitoring module includes a high liquid level limit part, a low liquid level limit part, a first switch , the second switch, the magnetic float;

The magnetic float floats on the liquid level of the liquid, and can freely move with the liquid level between the high liquid level limit portion and the low liquid level limit portion;

When the magnetic float moves to the first switch, the monitoring module sends a high liquid level signal; when the magnetic float moves to the second switch, the monitoring module sends a low liquid level signal.

The details of one or more embodiments of the application are set forth in the accompanying drawings and the description below. Other features and advantages of the present application will be apparent from the description, drawings, and claims.

Description of drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the accompanying drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are only These are some embodiments of the present application. For those of ordinary skill in the art, the drawings of other embodiments can also be obtained according to these drawings without creative efforts.

1 shows a schematic diagram of the structure of a robot with an ultrasonic liquid level monitoring function involved in the present application;

Fig. 2 shows the schematic diagram of the constitution of the first module of the robot with the ultrasonic liquid level monitoring function involved in the present application;

FIG. 3 shows another schematic diagram of the structure of the first module of the robot with the ultrasonic liquid level monitoring function involved in the present application.

Embodiments of the present invention

In order to facilitate understanding of the present application, the present application will be described more fully below with reference to the related drawings. The preferred embodiments of the present application are shown in the accompanying drawings. However, the application may be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided so that a thorough and complete understanding of the disclosure of this application is provided.

Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the technical field of the invention. The terms used herein in the description of the invention are for the purpose of describing particular embodiments only and are not intended to limit the application. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.

As shown in FIG. 1 , an embodiment of the present application relates to a robot with an ultrasonic liquid level monitoring function, including a solution bin 20 and a monitoring module 10 . The solution bin 20 is used for containing liquid. The monitoring module 10 includes a high liquid level limit portion 11 , a low liquid level limit portion 12 , a first switch 13 , a second switch 14 , and a magnetic float 15 .

The magnetic float 15 floats on the liquid surface of the liquid (ie, the surface of the liquid), and can freely move with the liquid surface between the high liquid level limit portion 11 and the low liquid level limit portion 12 . The magnetic float 15 contains a magnetic object, which can generate a magnetic field.

The first end of the first switch 13 and the first end of the second switch 14 are both connected to the power supply, and the second end of the first switch 13 and the second end of the second switch 14 are both connected to the monitoring module 10 . The first switch 13 and the second switch 14 are in an open state when the magnetic field is not sensed, and are closed when the magnetic field of the magnetic float 15 is sensed. The closing of the first switch 13 will make a path formed between the power source---the first switch 13---the monitoring module 10, so that the monitoring module 10 can monitor that the first switch 13 has been closed. Similarly, the closing of the second switch 14 will form a path between the power source---the second switch 14---the monitoring module 10, so that the monitoring module 10 can monitor that the second switch 14 has been closed. In this embodiment, the first switch 13 and the second switch 14 are both magnetic reed switches. Therefore, the first switch 13 and the second switch 14 can generate magnetic induction with the magnetic float 15 respectively.

The high liquid level limit portion 11 and the low liquid level limit portion 12 may be specific components, or may be just a scale mark used to indicate the upper and lower limit positions of the liquid level warning. The limiter 11 is associated with the first switch 13 , and the low liquid level limiter 12 is associated with the second switch 14 . The specific related manner is to set the first switch 13 at a position adjacent to the high liquid level limiter 11 , and set the second switch 14 at a position adjacent to the low liquid level limiter 12 . In this way, when the magnetic float 15 approaches the high liquid level limit portion 11 with the liquid level, the first switch 13 can sense the magnetic field of the magnetic float 15 to be closed. When the magnetic float 15 approaches the low liquid level limit portion 12 with the liquid level, The second switch 14 can be closed by sensing the magnetic field of the magnetic float 15 .

After the above design, when the magnetic float 15 moves to the first switch 13 (indicating that the liquid level is about to reach the high liquid level limit 11 ), the first switch 13 senses the magnetic field of the magnetic float 15 and is closed, and then the monitoring module 10 Send out a high liquid level signal; when the magnetic float 15 moves to the second switch 14 (indicating that the liquid level is about to reach the low liquid level limit 12 ), the second switch 14 senses the magnetic field of the magnetic float 15 and closes, and then the monitoring module 10 Signal low level.

Further, the monitoring module 10 may further include a support portion 16 . The support portion 16 extends from the bottom of the solution chamber 20 to the top of the solution chamber 20 . The high liquid level limiting portion 11 , the low liquid level limiting portion 12 , and the magnetic float 15 can all be disposed outside the support portion 16 . The first switch 13 and the second switch 14 are both disposed inside the support portion 16 and between the high liquid level limit portion 11 and the low liquid level limit portion 12 . The first switch 13 is disposed close to the high liquid level limiter 11 . The second switch 14 is disposed close to the low liquid level limiter 12 . The magnetic float 15 floats on the liquid level of the liquid, and can move anywhere along the extending direction of the support portion 16 between the high liquid level limit portion 11 and the low liquid level limit portion 12 . The liquid level moves freely.

When the magnetic float 15 is inductive with the first switch 13 , the first switch 13 can be closed, and then the monitoring module 10 sends a high liquid level signal. When the magnetic float 15 is inductive with the second switch 14, the second switch 14 can be closed, and then the monitoring module 10 sends a low liquid level signal. In this case, the magnetic float 15 is blocked by the high liquid level limit portion 11 and the low liquid level limit portion 12, and moves between the two, through the first switch 13, the second switch 14 and the magnetic float 15 respectively. The mutual induction effect of the two devices can realize that when the high liquid level or low liquid level is reached, the first switch 13 and the second switch 14 are closed accordingly, so that the monitoring module 10 sends out the corresponding liquid level signal; the magnetic float 15 floats in the liquid The surface is not affected by the sputtering when the ultrasonic wave excites the liquid level, and can accurately indicate the level of the liquid level; and the first switch 13 and the second switch 14 are arranged inside the support portion 16, preventing the electrical contact with the liquid and lifting the monitoring security.

In this embodiment, the liquid contained in the solution bin 20 may be a disinfectant. However, the liquid contained is not limited to disinfectant. In other practical scenarios, the liquid contained in the solution bin 20 may also be air humidifying liquid, air purifier, air freshening liquid, insecticidal liquid, and the like.

In this embodiment, the robot may have a chassis. The chassis can drive the robot to move autonomously. The robot can also set the positioning module. The robot can realize disinfection path planning and mobile disinfection through the positioning module. The robot may also include an ultrasonic controller. An ultrasonic controller is used to atomize the disinfectant.

As shown in FIG. 2 , in this embodiment, the robot further includes a micro-control unit 30 connected to the monitoring module 10 . The high liquid level signal and the low liquid level signal are sent by the monitoring module 10 to the micro-control unit 30 . After receiving the low liquid level signal, the micro-control unit 30 controls adding the liquid to the solution tank 20 . After the micro-control unit 30 receives the high liquid level signal, it controls to stop adding the liquid to the solution tank 20 . In this way, the micro-control unit 30 can judge the high liquid level signal and the low liquid level signal to control to continue adding liquid or stop adding liquid.

Further, the robot may have a fluid control assembly. The micro-control unit 30 is electrically connected to the fluid control assembly. The fluid control assembly is connected to the solution chamber 20, and the micro-control unit 30 controls the fluid control assembly to communicate with the solution chamber 20, or connect the fluid control assembly to the solution chamber 20. The solution bin 20 is partitioned off. The liquid can enter the solution chamber 20 when the fluid control assembly is in communication with the solution chamber. When the fluid control assembly is isolated from the solution chamber 20 , the liquid cannot enter the solution chamber 20 . Thus, adding and stopping adding liquid to the solution tank 20 can be controlled by the micro-control unit 30 .

In some examples, the fluid control assembly may be a valve. The fluid control assembly may be connected to a device for adding liquid. The device for adding liquid may be provided on the robot body, or may be provided separately from the robot.

In this embodiment, the high liquid level signal is at the first level, and the low liquid level signal is at the second level. Thus, the robot can judge the liquid level height according to the received first level and the second level.

As shown in FIG. 2 , in this embodiment, the monitoring module 10 includes a first module 18 and a second module (not shown). The first switch 13 is disposed on the first module 18 . The second switch 14 is disposed on the second module. When the magnetic float 15 moves to the first switch 13 , the first module 18 outputs the first level. When the magnetic float 15 moves to the second switch, the second module outputs the second level. In this case, since the first switch 13 and the second switch 14 are provided in the first module 18 and the second module, respectively, the micro-control unit 30 can recognize the first level from the first module 18 and the first level from the second module, respectively. second level.

In this embodiment, both the first module 18 and the second module are connected to the micro-control unit 30 respectively.

In this embodiment, the first module 18 further includes a first output port 182 , and the first output port 182 is connected to the second end of the first switch 13 . When the magnetic float 15 moves to the first switch 13 , induction occurs, the first switch 13 is closed, and the first module 18 outputs the first level through the first output port 182 . The second module further includes a second output port. The second output port is connected to the second end of the second switch 14. When the magnetic float 15 moves to the second switch 14, induction occurs and the second switch 14 is closed. , the second module outputs the second level through the second output port. The first output port 182 is connected to the first switch 13 . The second output port is connected to the second switch 14 . The first output port 182 outputs the first level, and the second output port outputs the second level. In this case, the micro-control unit 30 can distinguish the first level output from the first output port 182 and the second level output from the second output port.

In this embodiment, the first module 18 and the second module may be the same. The first level and the second level may be the same. The first level is a high level or a low level.

In this embodiment, the first output port 182 and the second output port are both connected to the microcontroller unit 30 .

In this embodiment, the first module 18 includes a first prompt light 181, and the first prompt light 181 may be connected between the second end of the first switch 13 and the first output port as shown in FIG. 2, or may As shown in FIG. 3 , the first prompt light 181 and the first output port 182 are connected in parallel to the second end of the first switch 13 . When the first switch 13 is closed, the first indicator light 181 lights up while the first output port 182 outputs the first level. The second module includes a second prompt light. Similarly, the second prompt light can be connected between the second end of the second switch 14 and the second output port, or the second prompt light can be connected in parallel with the second output port. at the second end of the second switch 14 . When the second switch 14 is closed, the second indicator light is on while the second output port 2 outputs the second level. In this case, the liquid level height can be prompted by the magnetic float 15 reaching the high liquid level or the low liquid level and simultaneously setting off the prompt light.

In this embodiment, when the magnetic float 15 is located between the first switch 13 and the second switch 14, the first module 18 sends a third level through the first output port 182, and the The second module sends out the third level through the second output port. The third level is different from the first level and the second level. Thus, the micro-control unit 30 can determine that the liquid level is within a reasonable range through the third level.

In some examples, when the magnetic float 15 is located between the first switch 13 and the second switch 14 , the first switch 13 and the second switch 14 are both turned off. Both the first prompt light 181 and the second prompt light are in a closed state. The staff can confirm that the liquid level is in a reasonable state by closing the first prompt light 181 and the second prompt light.

In some examples, the first level and the second level are a high level, and the third level is a low level. It can be understood that, the first level and the second level are low levels, and the third level may be a high level.

In this embodiment, the magnetic float 15 is annular. The magnetic float 15 is sleeved outside the support portion 16 . There is a gap between the magnetic float 15 and the support portion 16 . Therefore, it is ensured that the support portion 16 does not interfere during the movement of the magnetic float with the liquid surface, thereby ensuring the accuracy of monitoring.

In some examples, the magnetic float 15 may be annular. The outer layer of the magnetic float 15 may have a cladding layer. The coating layer is made of waterproof and anti-corrosion materials.

In some examples, the support portion 16 may have a cylindrical shape. The high liquid level limiting portion 11 is detachably disposed on the support portion 16 . Thus, the replacement of the magnetic float is facilitated.

In some examples, the support portion 16 and the low liquid level stop portion 12 may be integrally formed and fixed to the bottom of the solution tank 20 .

In some examples, the high liquid level limiting portion 11 may be sleeved on the support portion 16 . The high liquid level limiter 11 may be an annular block.

As shown in FIG. 1 , in this embodiment, the monitoring module 10 further includes a printed circuit board 17 . The printed circuit board 17 is disposed inside the support portion 16 . The first switch 13 and the second switch 14 are respectively disposed on both sides of the printed circuit board 17 .

Thereby, not only the circuit connection is realized, but also the first switch 13 and the second switch 14 can be supported by the rigid structure of the printed circuit board 17 .

In some examples, both the first switch 13 and the second switch 14 are soldered to the printed circuit board 17 , and on the circuit connection, the first switch 13 , the first output port 182 , the second switch 14 , the second switch The output port can be soldered on the printed circuit board 17 according to the connection relationship described above, and the first prompt 181 and the second prompt light need to prompt the liquid level height, so they can be led out to the solution tank 20 through the line. The outside can also be arranged inside the support part 16 , and the support part 16 can be made of a transparent material, so that the user can observe the lighting conditions of the first prompt light 181 and the second prompt light through the support part 16 .

The technical features of the above-described embodiments can be combined arbitrarily. For the sake of brevity, all possible combinations of the technical features in the above-described embodiments are not described. However, as long as there is no contradiction between the combinations of these technical features, All should be regarded as the scope described in this specification.

The above-mentioned embodiments only represent several embodiments of the present application, and the descriptions thereof are relatively specific and detailed, but should not be construed as a limitation on the scope of the patent application. It should be noted that, for those skilled in the art, without departing from the concept of the present application, several modifications and improvements can be made, which all belong to the protection scope of the present application. Therefore, the scope of protection of the patent of the present application shall be subject to the appended claims.

Claims

A robot with ultrasonic liquid level monitoring function, comprising: a solution bin and a monitoring module, the solution bin is used for containing liquid, and the monitoring module includes a high liquid level limit part, a low liquid level limit part, a first switch , the second switch, the magnetic float;

The magnetic float floats on the liquid level of the liquid, and can freely move with the liquid level between the high liquid level limit portion and the low liquid level limit portion;

When the magnetic float moves to the first switch, the monitoring module sends a high liquid level signal; when the magnetic float moves to the second switch, the monitoring module sends a low liquid level signal.
The robot with ultrasonic liquid level monitoring function according to claim 1, wherein when the magnetic float moves to the first switch, the magnetic float and the first switch induce the first switch to make the first switch closure;

When the magnetic float moves to the second switch, the magnetic float and the second switch are induced to close the second switch.
The robot with ultrasonic liquid level monitoring function according to claim 1, wherein the monitoring module further comprises a support portion extending from the bottom of the solution tank to the top of the solution tank.
The robot with ultrasonic liquid level monitoring function according to claim 3, wherein the high liquid level limiter, the low liquid level limiter, and the magnetic float are all arranged on the bottom of the support part. external.
The robot with ultrasonic liquid level monitoring function according to claim 3, wherein the first switch and the second switch are both arranged inside the support part and arranged at the high liquid level limit between the position and the low liquid level limit.
The robot with ultrasonic liquid level monitoring function according to claim 1, wherein the first switch and the second switch are both magnetic reed switches.
The robot with ultrasonic liquid level monitoring function according to claim 1, wherein the robot further comprises a micro-control unit connected with the monitoring module, the high liquid level signal and the low liquid level signal are sent To the micro-control unit, after receiving the low liquid level signal, the micro-control unit controls adding the liquid to the solution tank, and after the micro-control unit receives the high liquid level signal, the control stops Add the liquid to the solution tank.
The robot with ultrasonic liquid level monitoring function according to claim 7, wherein the robot further comprises a fluid control assembly, the micro-control unit is electrically connected to the fluid control assembly, and the fluid control assembly is connected to the fluid control assembly. The solution chamber is connected, and the micro-control unit controls the fluid control assembly, so that the fluid control assembly communicates with the solution chamber, or isolates the fluid control assembly from the solution chamber.
The robot with ultrasonic liquid level monitoring function according to claim 7, wherein the high liquid level signal is a first level, and the low liquid level signal is a second level.
The robot with ultrasonic liquid level monitoring function according to claim 9, wherein the monitoring module comprises a first module and a second module, the first switch is arranged on the first module, and the second switch is arranged on the first module. In the second module, when the magnetic float moves to the first switch, the first module outputs the first level, and when the magnetic float moves to the second switch, the second The module outputs the second level.
The robot with ultrasonic liquid level monitoring function according to claim 10, wherein when the magnetic float is located between the first switch and the second switch, the first module and the second The modules all emit a third level, which is different from the first level and the second level.
The robot with ultrasonic liquid level monitoring function according to claim 10, wherein the first module further comprises a first output port, the second module further comprises a second output port, the first output port connected to the first switch, the second output port is connected to the second switch, the first output port outputs the first level, and the second output port outputs the second level.
The robot with ultrasonic liquid level monitoring function according to claim 12, wherein the first output port outputs the first level when the first switch is closed; the second output port is in the The second level is output when the second switch is closed.
The robot with ultrasonic liquid level monitoring function according to claim 12, wherein the first module comprises a first prompt light, and when the first opening and closing is closed, the first prompt light is lit, so that the The second module includes a second prompt light, and when the second switch is closed, the second prompt light lights up.
The robot with ultrasonic liquid level monitoring function according to claim 14, wherein the first end of the first switch is connected to a power source, and the first prompt light is connected to the second end of the first switch and the between the first output ports; the first end of the second switch is connected to a power supply, and the second prompt light is connected between the second end of the second switch and the second output port.
The robot with ultrasonic liquid level monitoring function of claim 14, wherein the first end of the first switch is connected to a power source, and the first prompt light is connected to the first output port in parallel with the first output port. The second end of a switch; the second end of the second switch is connected to the power supply, and the second prompt light and the second output port are connected in parallel with the second end of the second switch.
The robot with ultrasonic liquid level monitoring function according to claim 3, wherein the magnetic float is annular, the magnetic float is sleeved outside the support portion, and the magnetic float is connected to the support portion. There are gaps in between.
The robot with ultrasonic liquid level monitoring function according to claim 3, wherein the monitoring module further comprises a printed circuit board, the printed circuit board is arranged inside the support portion, and the first switch and the second switches are respectively arranged on both sides of the printed circuit board.