Sweeper base station water tank water level detection method

Abstract

The invention belongs to the technical field of sweeping robots, and particularly relates to a sweeper base station water tank water level detection method, which comprises the following specific steps: step 1, measuring the volume of a selected floater assembly, and calculating the volume V of the floater assembly; when the floater assembly floats in the water tank, the calculation formula of the buoyancy of the floater assembly is F = rho * g * V; and 2, the elastic coefficient of a spring in the selected elastic buffer assembly is known and recorded as k, the spring pre-pressure in the working process of the elastic buffer assembly is calculated, and the calculation formula is F < elastic > = k * L. The state of the floater assembly is detected through the Hall detection plate, whether the floater assembly is static or suspended or floating is judged, and the elastic coefficient of the elastic buffer assembly is recorded as k. The residual water amount in the water tank can be correspondingly calculated according to different states, so that water of a corresponding volume can be accurately added into the water tank, and the cleaning effect of the sweeping robot is guaranteed.

Description

Technical Field

[0001] The invention relates to the technical field of sweeping robots, and in particular to a method for detecting the water level of a water tank in a sweeping robot base station. Background Art

[0002] The sweeping machine, also known as the sweeping robot, relies on certain artificial intelligence to automatically complete the floor cleaning work indoors. With the progress of the times, sweeping machines have gradually appeared in every household, playing an important role in people's daily lives and greatly improving people's quality of life; When the robot vacuum cleaner is cleaning the house, the main unit will return to the station to clean the mop after cleaning the floor. The water tank in the base station serves as a water source to provide water for the main unit to clean the mop and keep the mop clean. The water level detection of the water tank on the market currently only has water and no water states, and cannot accurately display the amount of water retained.

[0003] To this end, a method for detecting the water level of a water tank in a sweeper base station is proposed to solve the above-mentioned problems. Summary of the invention

[0004] The purpose of the present invention is to provide a method for detecting the water level of a water tank of a sweeper base station to solve the problems raised in the above-mentioned background technology.

[0005] To achieve the above object, the present invention provides the following technical solution: a method for detecting the water level of a water tank of a sweeping machine base station. The specific steps of the method for detecting the water level of a water tank of a sweeping machine base station are as follows: Step 1: Measure the volume of the selected float assembly and calculate its volume V; the buoyancy formula when the float assembly floats inside the water tank is: F=ρ*g*V; Step 2: Understand the elastic coefficient of the internal spring of the selected elastic buffer component and record it as k, and calculate the spring preload during the working process of the elastic buffer component. The calculation formula is F spring = k * △ L; Step 3: Detect the position state of the float assembly through the Hall inside the Hall detection board. When the float assembly is stationary at the initial position, it means that the buoyancy of the float assembly is less than the sum of gravity and elastic preload. When the float assembly is in a suspended state, it means that the buoyancy is equal to the sum of gravity and elastic preload. The calculation formula for the two states is L=(Ffloat-G) / k. In these two cases, it means that there is no water or almost no water in the water tank. At this time, water needs to be added to the water tank. When the Hall detection board detects that the float assembly is floating, it means that the buoyancy is greater than the sum of gravity and elastic preload, which means that there is more water inside. The specific calculation formula is: water level height = (Ffloat-GFbounce) / k, and the depth of the remaining water in the bucket is obtained.

[0006] Preferably, the shape of the float assembly includes but is not limited to a shape with a larger lower portion and a smaller upper portion.

[0007] Preferably, the elastic buffer component includes but is not limited to a spring soft rubber component.

[0008] Preferably, in step 1, ρ is 1000 kg / m3, g is 10 m / s², and V=length of the volume of the float assembly immersed in water*width of the volume of the float assembly immersed in water*height of the volume of the float assembly immersed in water.

[0009] Preferably, in step 2, ΔL=L (total length of the spring)-L (length of the spring after being squeezed).

[0010] Compared with the prior art, the present invention has the following beneficial effects: The present application detects the state of the float assembly through a Hall detection board to determine whether it is stationary, suspended or floating. According to different states, the remaining water volume inside the water tank can be calculated accordingly, so that the corresponding volume of water can be accurately added to the inside to ensure the cleaning effect of the sweeping robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Figure 1 It is a schematic diagram of the internal structure of the water tank of the present invention.

[0012] In the figure: 1 water tank, 2 Hall detection board, 3 water outlet filter assembly, 4 float assembly, 5 limit guide seat, 6 elastic buffer assembly. DETAILED DESCRIPTION

[0013] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0014] In the description of the present invention, it is necessary to understand that the terms "upper", "lower", "front", "back", "left", "right", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0015] Example 1 See also Figure 1 , the present invention provides a technical solution: A method for detecting the water level of a water tank in a base station of a sweeping machine. The specific steps of the method for detecting the water level of a water tank in a base station of a sweeping machine are as follows: Step 1: Measure the volume of the selected float assembly and calculate its volume V; the buoyancy formula when the float assembly floats inside the water tank is: F=ρ*g*V; ‌F=ρ*g*v represents buoyancy, liquid density, gravitational acceleration and volume of displaced liquid respectively; Buoyancy (Fbuoyancy): refers to the upward force exerted on an object in a liquid, and its unit is Newton (N); Liquid density (ρliquid): indicates the mass of liquid per cubic meter, in kilograms per cubic meter (kg / m³); ‌Gravitational acceleration (g): It represents the gravitational acceleration of an object on the earth, which is about 9.8 m / s², but 10 m / s² can be used for rough calculations.

[0016] ‌Displaced volume (V)‌: The volume of liquid displaced by an object immersed in liquid, measured in cubic meters (m³).

[0017] Step 2: Understand the elastic coefficient of the internal spring of the selected elastic buffer component and record it as k, calculate the spring preload during the working process of the elastic buffer component, and the calculation formula is F spring = k * △ L; the spring inside the buffer component here needs to select a spring with a smaller elastic coefficient to ensure better coordination with the buoyancy generated by the float component in the water, thereby increasing the sensitivity of water depth detection; Step 3: Detect the position state of the float assembly through the Hall inside the Hall detection board. When the float assembly is stationary in the initial position, it indicates that the buoyancy of the float assembly is less than the sum of the gravity and the elastic preload. When the float assembly is in a suspended state, it means that the buoyancy is equal to the sum of the gravity and the elastic preload. The calculation formula for the two states is L=(Ffloat-G) / k. When the float assembly is stationary, it indicates that there is no water or almost no water in the water tank. At this time, water needs to be added to the water tank. In this case, there may be no water in the water tank. At this time, the float assembly is not subject to any buoyancy, or there is still a little water, but the buoyancy generated by the float assembly is small, which is much smaller than the gravity of the float assembly and the sum of the elastic force of the elastic buffer assembly, so that the float assembly is still at the bottom and does not move; when the float assembly is in a suspended state, there must be water inside the float water tank, but the depth of the water will not exceed the height of the float assembly. The buoyancy generated at this time will still not drive the float assembly to move upward and cause the elastic buffer assembly to be squeezed.

[0018] When the Hall detection board detects that the float assembly is floating, it means that the buoyancy is greater than the sum of gravity and elastic preload, which means that there is more water inside. The specific calculation formula is: water level height = (Ffloat-GFbounce) / k, and the depth of the remaining water in the bucket is obtained.

[0019] The shape of the float assembly includes but is not limited to a shape with a larger lower portion and a smaller upper portion, and any material with a density less than that of water can be used.

[0020] The elastic buffer component includes but is not limited to a spring soft rubber component, and any component with elasticity can be used.

[0021] In the step 1, ρ is 1000 kg / m3, g is 10 m / s², and V=length of the volume of the float assembly immersed in water*width of the volume of the float assembly immersed in water*height of the volume of the float assembly immersed in water.

[0022] In the step 2, ΔL=L (total length of the spring)-L (length of the spring after being squeezed), and the maximum height that the float assembly can rise in the water tank needs to be less than the deformation length of the spring.

[0023] Example 2 It also includes a water tank 1, a Hall detection board 2 is fixed at the lower left end of the water tank 1, and the Hall detection board 2 has multiple Hall detection units. A limited guide seat 5 is fixed on the left side of the inner wall of the water tank 1, and a float assembly 4 is slidably arranged inside the limited guide seat 5. An elastic buffer assembly 6 is fixed at the upper end of the float assembly 4, and the upper end of the elastic buffer assembly 6 is fixedly connected to the upper end of the inner wall of the limited guide seat 5. A water outlet filter assembly 3 is fixed at the upper end of the water tank 1. When water is added to the water tank 1, the float assembly 4 (without any shape) starts to float upward by the buoyancy of the water, and at the same time triggers the Hall detection board 2. The Hall detection board 2 is provided with multiple groups of Halls, and an elastic buffer assembly 6 (without any spring soft rubber assembly) is provided above the float assembly 4. The buoyancy will be equivalent to the elastic buffer force and the gravity of the float assembly 4. Through the movement of the float assembly 4, different Hall detection arrangement groups will be triggered, and the percentage of the remaining water in the water tank will be calculated (the calculation formula is as in Example 1).

[0024] The above shows and describes the basic principles and main features of the present invention and the advantages of the present invention. For those skilled in the art, it is obvious that the present invention is not limited to the details of the above exemplary embodiments, and the present invention can be implemented in other specific forms without departing from the spirit or basic features of the present invention; therefore, no matter from which point of view, the embodiments should be regarded as exemplary and non-restrictive. The scope of the present invention is limited by the attached claims rather than the above description. Therefore, it is intended to include all changes within the meaning and scope of the equivalent elements of the claims in the present invention, and any figure marks in the claims should not be regarded as limiting the claims involved.

[0025] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A method for detecting the water level of a water tank of a sweeping machine base station, characterized in that: The specific steps of the water level detection method of the water tank of the sweeper base station are as follows: Step 1: Measure the volume of the selected float assembly and calculate its volume V; the buoyancy formula when the float assembly floats inside the water tank is: F=ρ*g*V; Step 2: Understand the elastic coefficient of the internal spring of the selected elastic buffer component and record it as k, and calculate the spring preload during the working process of the elastic buffer component. The calculation formula is F spring = k * △ L; Step 3: Detect the position state of the float assembly through the Hall inside the Hall detection board. When the float assembly is stationary at the initial position, it means that the buoyancy of the float assembly is less than the sum of gravity and elastic preload. When the float assembly is in a suspended state, it means that the buoyancy is equal to the sum of gravity and elastic preload. The calculation formula for the two states is L=(Ffloat-G) / k. In these two cases, it means that there is no water or almost no water in the water tank. At this time, water needs to be added to the water tank. When the Hall detection board detects that the float assembly is floating, it means that the buoyancy is greater than the sum of gravity and elastic preload, which means that there is more water inside. The specific calculation formula is: water level height = (Ffloat-GFbounce) / k, and the depth of the remaining water inside the water tank is obtained.

2. A method for detecting water level in a water tank of a sweeping machine base station according to claim 1, characterized in that: The shape of the float assembly includes but is not limited to a shape with a larger lower portion and a smaller upper portion.

3. A method for detecting water level in a water tank of a sweeping machine base station according to claim 1, characterized in that: The elastic buffer component includes but is not limited to a spring soft rubber component.

4. A method for detecting water level in a water tank of a sweeping machine base station according to claim 1, characterized in that: In the step 1, ρ is 1000 kg / m3, g is 10 m / s², and V=length of the volume of the float assembly immersed in water*width of the volume of the float assembly immersed in water*height of the volume of the float assembly immersed in water.

5. The method for detecting water level of a water tank of a sweeping machine base station according to claim 1, characterized in that: In the step 2, ΔL=L (total length of the spring)-L (length of the spring after being squeezed).

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