Water level detection structure for cleaning equipment water tank and floor cleaning robot

Abstract

The application discloses a kind of detection structure and floor cleaning robot for cleaning water tank water level, including first part (100) and second part (200), the first part is configured to be able to move along a straight line with the water level in water tank (300), to be close to or away from the second part (200);The second part (200) is configured to generate sensing signal in response to the relative movement of the first part (100);With the first part (100) relative to the second part (200) moves from far to near, the sensing signal intensity generated by the second part (200) gradually increases.Because the signal intensity of sensing signal and the distance between sensing part and trigger piece are one-to-one corresponding linear relationship, therefore the corresponding distance information can be obtained according to the intensity of signal, from determining accurate water level height.In addition, a kind of floor cleaning robot is also disclosed, receives the sensing signal emitted by second part, and calculates corresponding water information according to the intensity change of sensing signal, when detecting that water is insufficient, intelligent planning cleaning program is carried out, and control prompting module is sent to user with prompting information.

Description

Technical Field

[0001] The present invention relates to the field of smart home appliances, and in particular to a water level detection structure for a water tank of cleaning equipment and a sweeping robot. Background Art

[0002] According to existing technology, a robot vacuum is a smart household appliance that automatically vacuums and cleans the floor. A robot vacuum typically has sweeping, vacuuming, and mopping functions, requiring a water tank. This water tank typically uses self-seepage to allow liquid to flow from the tank to the mop, thereby achieving the mopping function. Alternatively, an air pump or water pump can be used to transfer liquid from the tank to the mop, achieving the mopping function.

[0003] Due to the limited amount of water in the water tank, the water level may run out during mopping. If the robot vacuum runs out of water while mopping without the user's knowledge, the robot vacuum will continue to mop without water, which will eventually damage the robot's structure and degrade its mopping performance.

[0004] Currently, the clean water tanks of sweeping robots in the industry generally do not have water level detection devices. Irobot's products provide a way to detect water levels by placing a wire in the sewage tank to detect whether the wire is in contact with water. If the circuit is unobstructed, it means it is in contact with water. If the circuit is blocked, it means there is no water in the sewage tank. This solution has two serious problems. First, it can only detect sewage and not clean water. The conductivity coefficient of clean water is very low, while various impurities dissolved in sewage improve the conductivity, which is only possible for detection. Second, this solution can only qualitatively detect whether there is water or whether it is full of water. In other words, there are only two states: power on / off, and it cannot quantitatively detect the water level.

[0005] In summary, existing sweeping robots cannot quantitatively detect water levels and intelligently plan cleaning routes based on the remaining water level, which impacts sweeping and mopping effectiveness. They also fail to promptly remind users to add water, causing the robot to operate without water, shortening its service life. Summary of the Invention

[0006] The technical problem to be solved by this invention is to overcome the shortcomings of the existing technology and provide a water level detection structure for a cleaning device's water tank. This water level detection mechanism can generate a linearly varying sensing signal based on the water level in the tank, and determine the amplitude of the water volume change based on the linearly varying sensing signal. This allows for intelligent planning of the robot vacuum's path and behavior, achieving better cleaning results. Furthermore, it can promptly prompt the user to add water, preventing water depletion and extending the robot vacuum's service life.

[0007] The first object of the present invention is to provide a water level detection structure that can quantitatively sense changes in water volume. To achieve the above effect, the basic concept adopted by the technical solution of the present invention is:

[0008] A water level detection structure for a water tank of cleaning equipment includes a first part and a second part. The first part is configured to move along a straight line with the water level in the water tank to approach or move away from the second part; the second part is configured to generate a sensing signal in response to the relative movement of the first part; as the first part moves from far to near relative to the second part, the intensity of the sensing signal generated by the second part gradually increases.

[0009] Furthermore, the first part includes a triggering member, and the second part includes a sensing portion, and the sensing portion generates a sensing signal in response to the relative movement of the triggering member; the first part also includes a float, and the triggering member is fixedly connected to the float.

[0010] Furthermore, the sensing part is a linear Hall sensing element, and the triggering element is a permanent magnet.

[0011] Furthermore, the water level detection structure also includes: a limiting mechanism, the limiting mechanism includes a guide structure and a height limiting structure, the guide structure defines a guide cavity, and the float is floatably arranged in the guide cavity to move in a straight line along the guide cavity; the height limiting structure is arranged at the upper port of the guide cavity, the height limiting structure is connected to the guide structure, or connected to the inner wall of the water tank, the height limiting part includes a limiting block, and the limiting block is configured to make point contact with the first part.

[0012] Furthermore, the height of the limiting mechanism extends to the top of the water tank, or the height of the limiting mechanism is a part of the height of the water tank.

[0013] Furthermore, the guide portion includes at least three guide rails, and the guide cavity is defined between at least three guide rails; at least three guide rails are arranged in parallel, and at least three guide rails are arranged at equal intervals on a circle; the height limiting structure is a guide rail bending portion formed by bending the upper end of the guide rail toward the inside of the guide cavity, and a blocking boss is provided on the lower surface of the guide rail bending portion, and the lower surface of the blocking boss is hemispherical, forming point contact with the upper surface of the float; the limiting mechanism also includes a shell, which is arranged around each guide rail, and the end of the guide rail away from the center of the guide cavity is connected to the inner side surface of the shell, and a through hole is opened on the side surface of the shell.

[0014] Furthermore, one end of the guide rail close to the center of the guide cavity includes a first surface and a second surface that gradually approach each other, and the intersection of the first surface and the second surface forms a guide portion that contacts the first portion;

[0015] Preferably, the number of the guide rails is four.

[0016] Furthermore, the float has a sealed cavity inside, the trigger is arranged in the sealed cavity, and two guide rings protruding from the outer side are arranged around the outer side of the float. The two guide rings are arranged at intervals, and the surface of the guide ring is an arc surface.

[0017] Furthermore, at least one placeholder is provided on the lower surface of the float. The placeholder is a convex column extending out of the lower surface of the float. The convex columns are arranged at equal intervals along the circumference of the lower surface of the float, and there are three of them. The lower surface of the convex column is hemispherical.

[0018] Preferably, the float comprises an upper shell and a lower shell, the upper shell and the lower shell are combined to form the sealed cavity, a fixing ring for placing the trigger member is provided on the bottom surface of the lower shell, and the trigger member is provided in the fixing ring.

[0019] The second object of the present invention is to provide a sweeping robot, comprising a control board and the water level detection structure described in any one of the above items, wherein the first part is arranged in the water tank, the second part is arranged on the water tank or on the shell of the sweeping robot, and the second part is electrically connected to the control board.

[0020] Furthermore, it also includes a display module and a reminder module, wherein the second part, the display module and the reminder module are electrically connected to the control panel respectively,

[0021] Display module: used to display water volume information;

[0022] Reminder module: used to send reminder information to users;

[0023] Control panel: used to receive the sensing signal sent by the second part, and calculate the corresponding water volume information according to the changes in the strength of the sensing signal, and send the water volume information to the display module for the user to view; when insufficient water is detected, the cleaning program is intelligently planned, or the sweeping robot is controlled to stop cleaning, and the reminder module is controlled to send a reminder message to the user.

[0024] The above technical solution of the present invention has the following beneficial technical effects:

[0025] Accurately sensing the remaining water level in the water tank is achieved by employing a linear Hall effect sensor and a trigger component that moves smoothly with changes in the water level. The sensing component generates a sensing signal in response to the relative movement of the trigger component. The generated sensing signal is a linear signal that gradually increases or decreases with the distance from the trigger component, rather than a signal with only two states: on / off. Because the strength of the sensing signal is linearly correlated with the distance between the sensing component and the trigger component, the corresponding distance can be determined based on the signal strength, thereby accurately determining the water level. Accurate water level information allows for more rational cleaning routines, making the robot vacuum more intelligent and improving the user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 A schematic diagram of a water level detection structure for a clean water tank according to the present invention;

[0027] Figure 2 A three-dimensional diagram of a limiting mechanism in an embodiment of the present invention;

[0028] Figure 3 for Figure 2 sectional view of

[0029] Figure 4 This is a schematic diagram of the assembly of the first part and the limiting mechanism in an embodiment of the present invention;

[0030] Figure 5 for Figure 4 Cross-sectional view

[0031] Figure 6 for Figure 4 Cross-sectional view

[0032] Figure 7 is a three-dimensional diagram of a float in an embodiment of the present invention

[0033] Figure 8 yes Figure 7 sectional view of .

[0034] Among them, the various reference numerals in the figure:

[0035] 100 - first part; 200 - second part; 300 - water tank; 400 - limit mechanism; 110 - float; 120 - permanent magnet; 111 - guide ring; 112 - fixing ring; 113 - boss; 1111 - upper housing; 1112 - lower housing; 210 - linear Hall element; 410 - guide rail; 411 - guide portion; 420 - guide rail bending portion; 421 - blocking boss; 430 - housing; 500 - control board DETAILED DESCRIPTION

[0036] The accompanying drawings illustrate schematic diagrams of layer structures according to embodiments of the present invention. These figures are not drawn to scale; for clarity, some details are exaggerated and some details may be omitted. The shapes, relative sizes, and positional relationships of the various regions and layers shown in the figures are merely exemplary and may deviate in practice due to manufacturing tolerances or technical limitations. Those skilled in the art may design regions / layers with different shapes, sizes, and relative positions based on actual needs.

[0037] Obviously, the embodiments described are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention. In the description of the present invention, it should be noted that the terms "first", "second" and "third" are used for descriptive purposes only and should not be understood as indicating or implying relative importance.

[0038] In addition, the technical features involved in the different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0039] To make the objectives, technical solutions, and advantages of the present invention more clearly understood, the present invention will be further described in detail below in conjunction with specific embodiments and with reference to the accompanying drawings. It should be understood that these descriptions are merely exemplary and are not intended to limit the scope of the present invention. In addition, in the following description, descriptions of well-known structures and technologies are omitted to avoid unnecessary confusion of the concepts of the present invention.

[0040] See also Figure 1 The water level detection structure provided by the present invention is now described. This water level detection structure is used in a robot vacuum to detect the water level in the water tank. It is understood that in other embodiments of the present invention, the water level detection structure can also be used in other electrical devices to detect water levels, such as a garment steamer, but this is not intended to be the sole limitation.

[0041] In an embodiment of the present invention, the water level detection structure includes a first part 100 and a second part 200. The first part is configured to move along a straight line with the water level in the water tank 300 to approach or move away from the second part 200; the second part 200 is configured to generate a sensing signal in response to the relative movement of the first part 100; as the first part 100 moves from far to near relative to the second part 200, the intensity of the sensing signal generated by the second part 200 gradually increases or decreases.

[0042] Figure 1 In the diagram, the first part 100 is floatingly arranged in the water tank 300, and the second part 200 is arranged on the outside of the bottom of the water tank 300. It should be noted that the second part 200 is arranged on the outside of the bottom of the water tank 300. It is only one embodiment of the present invention and is not the only limitation. The second part 200 is arranged in the water tank 300 and can also sense the distance change of the first part 100. Or the second part 200 can be set on the side of the water tank 300. It can also be set on the outer shell of the sweeping robot. It should be pointed out that the installation position of the second part 200 is not limited to this. Any position within the range of generating an induction signal with the first part 100 can be used as an alternative.

[0043] In this embodiment of the present invention, the second portion 200 is positioned at the bottom of the water tank 300. As the first portion 100 approaches the bottom of the water tank, the sensing signal generated by the second portion 200 gradually increases. Based on the signal strength, the distance between the first portion 100 and the second portion 200 can be determined, and thus the water level. If the second portion 200 is positioned at the top of the water tank 300, the sensing signal from the second portion 200 should be configured to gradually decrease as the first portion 100 approaches, because the approach of the first portion 100 indicates a rise in the water level.

[0044] Most existing robot vacuums lack water level detection. A small number of them have water-absence detection, meaning they can only generate two detection signals: water-presence and water-absence. This is because the components that generate these signals are nonlinear and have only two states: on / off. Therefore, they can only detect the presence or absence of water, but cannot quantitatively measure water level information.

[0045] In the embodiment provided herein, the first portion 100 includes a triggering element, and the second portion 200 includes a sensing portion. The sensing portion generates a sensing signal in response to the relative movement of the triggering element. The generated sensing signal is a linear signal that gradually increases or decreases with the distance from the triggering element, rather than a signal with only two states: on / off. Because the signal strength of the sensing signal has a one-to-one linear relationship with the distance between the sensing portion and the triggering element, the corresponding distance can be determined based on the signal strength, thereby accurately determining the water level. It should be noted that the type of sensing signal is not limited. The sensing signal can be derived from a magnetic field signal, such as by generating an induction signal between a permanent magnet and a linear Hall sensor 210. It can also be derived from a light wave signal, such as by using a laser ranging element or other light wave sensing instrument to transmit a light signal to the water surface. In this case, the water surface can be positioned as the first portion 100, and the water surface height can be measured by the reflection and refraction of the light wave by the water surface. Similarly, it can be derived from a sound wave signal, such as by using an ultrasonic ranging element to transmit an ultrasonic wave to the water surface. The water surface can be positioned as the first portion 100 and the water surface height can be measured by receiving the reflected sound wave.

[0046] In the embodiment of the present invention, the sensing portion utilizes a linear Hall effect sensor, and the trigger portion utilizes a permanent magnet 120. The permanent magnet 120 is affixed to a float 110 that floats with the water level. As the water level in the water tank drops, the float drops along with the water level, and the permanent magnet affixed to the float gradually approaches the linear Hall effect sensor. The permanent magnet 120 is a material with a constant magnetic field, and the linear Hall effect sensor 210 is an element whose output level is linearly related to the applied magnetic field within a certain range. Therefore, as the permanent magnet 120 approaches the linear Hall effect sensor 210, the magnetic field strength continuously increases, and the electrical signal generated by the linear Hall effect sensor also continuously increases and / or decreases. A control board 500 connected to the linear Hall effect sensor obtains the corresponding water level value based on the changes in the electrical signal strength, thereby achieving quantitative water level detection. It should be understood that the use of the linear Hall effect sensor 210 in this embodiment is not a limitation of the present invention. Methods employed by those skilled in the art using other types of signal sensing elements, such as light waves or sound waves, fall within the scope of the present invention.

[0047] See also Figure 2 and Figure 3 Figure 3 is a schematic diagram of a limiting mechanism 400 in an embodiment of the present invention. To achieve the present invention's goal of accurately and quantitatively detecting water levels, it is necessary to prevent the float 110 from floating excessively and affecting the accuracy of the linear Hall effect sensor 210's detection. Therefore, a limiting mechanism 400 is provided within the water tank 300. This limiting mechanism 400 is used to limit the range of motion of the magnetic float 110, ensuring that the float 110 returns to the position corresponding to the linear Hall effect sensor 210 when the water in the tank is depleted.

[0048] The limiting mechanism 400 has a guide cavity, and the float 110 is arranged to float in the guide cavity so as to move up and down in a straight line along the guide cavity. The sensing component is arranged at a position corresponding to the bottom of the guide cavity, so as to ensure that the sensing signal obtained by the sensing component reflects the real water level information. Furthermore, this embodiment sets a limited height mechanism at the upper port of the guide cavity. This setting is to prevent the float from floating out of the upper port of the limiting mechanism and out of the sensing range of the linear Hall sensing element, resulting in failure of the water level detection function. Among them, the range of the guide cavity should be adapted to the cross-section of the float. If it is set too large, the limiting effect will not be achieved, and the float 110 may also flip over. If it is set too small, the float may be stuck, affecting the continuity of the movement of the float 110.

[0049] In order to obtain better detection accuracy, the present invention needs to further optimize and limit the limit mechanism 400. The existing technology only triggers the sensing signal when the float 110 reaches the bottom of the water tank 300, and no signal is generated during the process of the float 110 descending to the bottom of the water tank. Therefore, the existing technology does not require the smoothness and continuity of the movement of the float 110 in the limit mechanism. When the float 110 moves in the limit mechanism 400, it often gets stuck, sticks or suddenly drops. Analysis of the reasons for this phenomenon shows that it is mainly due to the unreasonable setting of the contact surface between the float 110 and the guide cavity. One situation is that the existence of a non-smooth contact surface causes the jamming phenomenon; the other situation is that the contact surface is too large, and the tension and capillary action of the liquid cause the float and the guide cavity of the limit mechanism to adhere and adsorb.

[0050] The present invention requires ensuring smooth and continuous movement of float 110 within limiter mechanism 400 to produce a continuously linearly varying sensing signal and achieve the present invention's goal of precise and quantitative water level detection. Therefore, the present invention must address the aforementioned issues of sticking and adhesion by optimizing both limiter mechanism 400 and float 110. This approach employs a smooth contact surface and minimizes the total contact area.

[0051] First, the top of the position limiting mechanism 400 is optimized. A height limiting structure is provided at the upper end of the guide cavity of the position limiting mechanism. The height limiting structure is configured to be in point contact with the first part 100. The use of point contact can greatly reduce the contact area between the float 110 and the top of the position limiting mechanism 400, thereby preventing the float 110 from sticking to the top of the position limiting mechanism 400 and causing detection failure. The height limiting structure can be connected to the guide structure or to the top wall or side wall of the water tank. As long as at least a portion of the height limiting structure blocks the upper end of the guide cavity, the height limiting structure can be used to limit the upward floating of the first part (100).

[0052] In the present invention, the height of the limiting mechanism can be set to extend to the top of the water tank 300, consistent with the height of the water tank 300, so as to detect the complete water volume of the water tank 300. The height of the limiting mechanism 400 can also be a part of the height of the water tank 300, detecting the water volume process between the water volume in the water tank 300 being large and the water volume in the water tank 300 being empty (that is, the water volume in the water tank exceeds the detection threshold of the water level detection device, that is, the water volume in the water tank is sufficient signal is output). When the height of the limiting mechanism 400 is consistent with the height of the water tank 300, the height limiting mechanism can be set on the water tank top cover, or the height limiting mechanism is the water tank top cover body. Those skilled in the art can adopt different settings according to actual use requirements, all of which are within the scope of protection of the present invention. For example, when the limiting mechanism is set on the side of the water tank, the height limiting mechanism can also be set on the side wall of the water tank.

[0053] Second, the inner portion of the limiting mechanism is optimized. To reduce the area of ​​the inner portion of the limiting mechanism, this embodiment adopts the idea of ​​using guide rails 410 as a guiding structure to define the guide cavity. Specifically, the guiding structure includes at least three guide rails 410, which define the guide cavity. Each guide rail 410 is a parallel vertically extending structure to ensure that the float 110 moves in a straight line within the guide cavity. The guide rails 410 are arranged at equal intervals on a circle. This can evenly surround the outer side of the float 110, ensuring the balance of force on the side of the float 110 and preventing the float 110 from getting stuck or tilting. The advantage of using guide rails is that the side area of ​​the guide cavity is greatly reduced, reducing the surface contact between the float 110 and the guide cavity in the prior art to line contact. While ensuring the guiding effect, the contact area is minimized to the greatest extent, thereby reducing the chance of the float 110 sticking to the shell. Since the guide rail 410 is used to define the guide cavity, the height limiting structure can be set as a guide rail bending portion 420 formed by bending the upper end of the guide rail toward the inside of the guide cavity. The use of the guide rail bending portion as the height limiting structure has the following advantages: the guide rail bending portion 420 and the guide rail 410 are an integrated structure, do not require additional components, are easy to install, are low in cost, and greatly reduce the top area of ​​the guide cavity. The height limiting structure can also take other forms, such as a cover plate or a cover net connected to the upper end of the guide rail, but these solutions all require additional components at the upper end of the guide rail, which increases the top area of ​​the guide cavity. Therefore, this embodiment preferably uses the guide rail bending portion 420 as the height limiting structure.

[0054] To achieve point contact between the guide rail bend 420 (i.e., the height limiting structure) and the float 110, a blocking protrusion 421 is provided on the lower surface of the guide rail bend 421, extending from the lower surface of the guide rail bend. The lower surface of the blocking protrusion 421 is configured as a spherical surface to achieve point contact with the float 110. Because the spherical surface is smooth and continuous, this point contact is less likely to cause jamming.

[0055] Please refer to Figure 4 , and combined with Figure 2-5 To further reduce the contact area between the guide rail and the float 110, the end of the guide rail 410 near the center of the guide cavity is provided with a first surface and a second surface that gradually converge. The intersection of the first and second surfaces forms a guide portion that contacts the first portion. As shown in the figure, the guide portion 411 is approximately a ridge structure with an isosceles triangle cross-section. This further reduces the contact area between the guide rail and the float.

[0056] See also Figure 2-5To secure the relative positions of the guide rails 410, a housing 430 is provided. The housing surrounds each guide rail 410, positioning each rail within the housing 430. The end of each guide rail 410, distal from the center of the guide cavity, connects to the inner side of the housing 430, securing the guide rails 410 and increasing stability. A through-hole is provided on the side of the housing to communicate with the water level within the water tank 300. It should be noted that other methods for securing the guide rails 410 include providing a base plate or pedestal. Each guide rail can be vertically extended onto the upper surface of a base plate to achieve securement. However, this approach only secures the bottom of the guide rails, resulting in poor stability at the top of the guide rails 410. Furthermore, the base plate has a certain thickness, which can affect the accuracy of the linear Hall effect sensor when installed at the bottom of the water tank. Therefore, a preferred approach is to secure the guide rails via a housing that encloses the guide rails on the sides. Furthermore, the housing 430 can be connected to the side of the water tank, allowing for a wider range of connection options between the stop mechanism and the water tank, beyond being limited to installation at the bottom of the tank.

[0057] In the above scheme, the number of guide rails 410 is at least three, which is not specifically limited and can be determined according to the shape of the float. Because three points can define a plane, it can be specifically set as needed under the premise of ensuring that the float does not escape from the limiting mechanism 400. In one embodiment of the present invention, the float 410 is cylindrical. In this case, three guide rails 410 can be used to limit the linear motion of the float. In order to obtain a more stable effect, a setting of four guide rails is preferably used. The above is an explanation of the specific implementation method of the limiting mechanism 400 in one embodiment of the water level detection structure of the present invention.

[0058] Next, combine the attached Figure 4-8 , the structure of the float 110 in this embodiment is described.

[0059] The function of the float 110 is to carry a trigger and move it linearly up and down within the limiting mechanism 400 as the water level changes. To this end, the float is internally configured to have a sealed chamber, within which the trigger, i.e., a permanent magnet 120, is disposed. Preferably, the float 110 includes an upper shell 1111 and a lower shell 1112, which mate to form the sealed chamber. A retaining ring 112 for accommodating the trigger is provided on the bottom surface of the lower shell 1112. The trigger, i.e., the permanent magnet 120, is disposed within the retaining ring 112. The permanent magnet 120 can be mounted within the retaining ring by embedding or bonding. The sealed chamber within the float provides buoyancy for the float 110 and also provides a mounting position for the permanent magnet 120. Placing the permanent magnet 120 at the bottom of the shell allows the permanent magnet 120 to be as close to the linear Hall effect sensor 210 as possible during the descent of the float 110, thereby increasing the strength of the sensing signal. On the other hand, it also lowers the center of gravity of the float 110 and improves the stability of the float's floating. The upper and lower shells are installed in a matching manner, which is convenient for production and processing, and easy to disassemble and repair. The fixing ring 112 should preferably be set at the geometric center of the bottom surface of the lower shell to ensure that the center of gravity of the float 110 does not shift after the permanent magnet 120 is installed. Avoid the tilt of the float, which affects the smoothness of the float's movement in the limit mechanism. In this way, the setting of the float's internal structure is completed. It should be noted that the shape of the float 110 can be various shapes that can move up and down in the guide rail, such as spherical, square, etc. However, since the direction of movement of the float 110 is vertical, it is preferred to adopt a vertically stretched structure, including cylinders, elliptical cylinders, square cylinders, polygonal prisms, etc. This embodiment preferably uses a cylindrical float 110.

[0060] To further reduce the contact area between the float 110 and the side of the limiting mechanism 400, two guide rings 111 are provided around the outer side of the float 110, protruding from the outer side. The two guide rings 111 are spaced apart and have a circular arc surface. With this solution, the float 110 achieves linear contact with the limiting mechanism via the guide rings 111. If only one guide ring is provided, the float's moving surface is unrestricted, resulting in wobble. Therefore, two guide rings 111 are spaced apart, and the two guide rings can be located at the upper and lower ends of the float, respectively, to prevent wobble during float movement and improve sliding stability. Furthermore, the guide rings 111 are designed to have a continuous and smooth circular arc surface. This allows the guide rings 111 on the outer side of the float 110 to form continuous and smooth point contact with the guide portion 411 of the guide rail 410. This minimizes the contact area between the float and the limiting mechanism, preventing the float 110 from adhering to the side wall of the limiting mechanism.

[0061] Furthermore, to prevent the float 110 from adhering to the bottom of the water tank when it reaches the bottom and not rising with the water level when the water tank is filled, a placeholder can be provided at the bottom of the water tank 300 or the lower surface of the float 110. The placeholder serves to isolate the surface from contact and can be provided at the bottom of the water tank or at the lower surface of the float.

[0062] The solution adopted in this embodiment is to set at least one placeholder on the lower surface of the float 110. The placeholder is a protrusion 113 extending from the lower surface of the float. The protrusion 113 isolates the lower surface of the float from the bottom surface of the limiting mechanism 400 or the bottom surface of the water tank by a certain distance, reducing the influence of capillary action and avoiding adhesion. The lower surface of the protrusion 113 is hemispherical. The purpose of adopting a hemispherical shape is to better achieve point contact between the float and the bottom surface of the water tank. The protrusions 113 are arranged at equal intervals along the circumference of the center of the lower surface of the float. This arrangement is to ensure that the center of gravity does not shift and to avoid tilting of the float. There are three protrusions 113 in order to determine a plane through three contact points to ensure that the float 110 remains horizontal when it drops to the bottom of the water tank.

[0063] The above embodiment optimizes the contact surface between the float 110 and the side of the limiting mechanism. By means of the guide ring 111 provided on the side of the float 110 and the guide portion 411 on the guide rail 410 in the limiting mechanism, point contact between the float and the side of the limiting mechanism is achieved, thereby avoiding the float from getting stuck in the limiting mechanism and the adhesion caused by the surface tension of the liquid, so that the float moves smoothly up and down in the limiting mechanism, so that the linear Hall sensing element senses accurate signals and realizes accurate measurement of the water volume.

[0064] The upper and lower contact surfaces of the float 110 and the limit mechanism are optimized. By means of the blocking boss provided at the upper end of the limit mechanism and the boss provided on the lower surface of the float, point contact between the float and the top and bottom of the limit mechanism is achieved, thereby avoiding the phenomenon of the float sticking to the top or bottom of the limit mechanism due to the surface tension of the liquid, and ensuring that the Hall sensor element accurately obtains the sensing signal.

[0065] After adopting the above solution, the float 110 achieves point contact with the top, side and bottom surfaces of the guide cavity, thereby avoiding the float from getting stuck on any contact surface in the guide cavity and sticking due to the surface tension of the liquid, allowing the float to move up and down smoothly and continuously in the limit mechanism, so that the linear Hall sensor element senses accurate signals and realizes accurate measurement of the water volume.

[0066] See Figure 1A second object of the present invention is to provide a robot vacuum cleaner comprising a control board 500 and the water level detection structure described in any of the above embodiments. The first portion 100 is disposed within the water tank, and the second portion 200 is disposed on the water tank or on the housing of the robot vacuum cleaner. The second portion is electrically connected to the control board. Thus, the second portion 200 of the robot vacuum cleaner senses a linearly varying induction signal and converts the induction signal into a linearly varying electrical signal, which is transmitted to the control board 500, thereby achieving accurate and quantitative water level detection.

[0067] To further enhance the user experience and enable more functions, the robot vacuum cleaner of the present invention also includes a display module and a reminder module (not shown). The second part, the display module, and the reminder module are each electrically connected to the control panel. The display module is used to display water level information; the reminder module is used to send reminder information to the user; and the control panel is used to receive the sensing signal emitted by the second part and, based on the strength changes of the sensing signal, calculate the corresponding water level information and send the water level information to the display module for the user to view. When insufficient water is detected, the robot vacuum cleaner intelligently plans a cleaning program, for example, by estimating the remaining cleaning time based on the remaining water level and shortening the cleaning trip, or controlling the robot vacuum cleaner to stop cleaning. The robot vacuum cleaner also controls the reminder module to send a reminder information to the user. The reminder module may also include a voice device for emitting a voice prompt to inform the user of water level changes. When the linear Hall sensor element 200 senses the magnetic signal of the permanent magnet 120 and converts the magnetic signal into an electrical signal, when the linear Hall sensor element 200 sends the electrical signal to the control board 500, the control board 500 determines the water level information based on the electrical signal, and then the control board 500 issues a control command to the voice device, so that the voice device issues a voice prompt, such as "The water level is decreasing, please add more" or similar voice prompts.

[0068] It should be understood that the above-described specific embodiments of the present invention are merely illustrative or illustrative of the principles of the present invention and do not constitute limitations of the present invention. Therefore, any modifications, equivalent substitutions, improvements, etc. made without departing from the spirit and scope of the present invention should be included within the scope of protection of the present invention. In addition, the appended claims are intended to cover all variations and modifications that fall within the scope and metes and bounds of the appended claims, or equivalents thereof.

Claims

1. A water level detection structure for a water tank of a cleaning equipment, characterized in that: The invention comprises a first part (100) and a second part (200), wherein the first part is configured to be able to move along a straight line with the water level in the water tank (300) to approach or move away from the second part (200); and the second part (200) is configured to generate a sensing signal in response to the relative movement of the first part (100); As the first part (100) moves from far to near relative to the second part (200), the intensity of the sensing signal generated by the second part (200) gradually increases; The water level detection structure further comprises: a limiting mechanism (400), the limiting mechanism (400) comprising a guide structure, the guide structure defining a guide cavity, the guide structure comprising a guide rail (410), an end of the guide rail (410) close to the center of the guide cavity comprising a first surface and a second surface that gradually approach each other, and a guide portion (411) in contact with the first portion is formed at the intersection of the first surface and the second surface; The first part (100) further comprises a float (110), and two guide rings (111) protruding from the outer side surface are arranged around the outer side surface of the float (110), and the two guide rings (111) are arranged at intervals, and the surface of the guide ring (111) is an arc surface, and the guide ring (111) forms a point contact with the guide portion (411) of the guide rail (410).

2. The water level detection structure according to claim 1, characterized in that: The first part (100) includes a triggering member, and the second part (200) includes a sensing portion, wherein the sensing portion generates a sensing signal in response to the relative movement of the triggering member; the triggering member is fixedly connected to the float (110).

3. The water level detection structure according to claim 2, characterized in that: The sensing portion is a linear Hall sensing element (210), and the triggering element is a permanent magnet (120).

4. The water level detection structure according to claim 2, characterized in that: The limiting mechanism (400) includes a height limiting structure, and the float (110) is arranged in a floating manner in the guide cavity to move linearly along the guide cavity; the height limiting structure is arranged at the upper end of the guide cavity, and the height limiting structure is connected to the guide structure or to the inner wall of the water tank, and the height limiting structure includes a limiting block, and the limiting block is configured to be in point contact with the first part (100).

5. The water level detection structure according to claim 4, characterized in that: The guide structure includes at least three guide rails (410), and the guide cavity is defined between the at least three guide rails (410); the at least three guide rails (410) are arranged in parallel, and the at least three guide rails (410) are arranged at equal intervals on a circumference; the height limiting structure is a guide rail bending portion (420) formed by bending the upper end of the guide rail (410) toward the inside of the guide cavity, and a blocking protrusion (421) is provided on the lower surface of the guide rail bending portion, and the lower surface of the blocking protrusion is hemispherical and forms a point contact with the upper surface of the float; the limiting mechanism also includes a shell, and the shell (430) is arranged around each guide rail, and the end of the guide rail (410) away from the center of the guide cavity is connected to the inner side surface of the shell (430), and the side of the shell (430) is provided with a through hole.

6. The water level detection structure according to any one of claims 2 to 5, characterized in that: The float (110) has a sealed cavity inside, and the triggering member is arranged in the sealed cavity.

7. The water level detection structure according to claim 6, characterized in that: At least one placeholder is provided on the lower surface of the float (110), wherein the placeholder is a convex column (113) extending out of the lower surface of the float (110), and the lower surface of the convex column (113) is hemispherical.

8. A sweeping robot, characterized in that: The invention comprises a control board (500) and a water level detection structure according to any one of claims 1 to 7, wherein the first part (100) is arranged in the water tank (300), the second part (200) is arranged on the water tank or on the housing of the sweeping robot, and the second part (200) is electrically connected to the control board (500).

9. The sweeping robot according to claim 8, characterized in that: It also includes a display module and a reminder module, wherein the second part (200), the display module, and the reminder module are electrically connected to the control panel (500) respectively, wherein: Display module: used to display water volume information; Reminder module: used to send reminder information to users; Control panel: used to receive the sensing signal from the second part, and calculate the corresponding water volume information according to the strength change of the sensing signal, and send the water volume information to the display module for users to view; when insufficient water is detected, intelligent planning The cleaning program can be started, or the sweeping robot can be controlled to stop cleaning, and the reminder module can be controlled to send a reminder message to the user.

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