Water tank cleaning robot

Abstract

The invention relates to the technical field of water tank cleaning robots, and discloses a water tank cleaning robot which comprises a robot body, a track driving device, a rotary cleaning device and a lifting swing arm device. The track driving devices are arranged on the two sides of the robot body and used for driving the robot body to move. The rotary cleaning device is arranged on the upper portion of the robot body and used for cleaning the inner wall of the water tank. The lifting swing arm device is arranged on the robot body, connected to the rotary cleaning device and used for adjusting the cleaning angle of the rotary cleaning device. The inner wall of the water tank can be cleaned in all directions, and the cleaning efficiency and the cleaning quality are improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of water tank cleaning robots, in particular to a water tank cleaning robot. BACKGROUND

[0002] At present, the water tank inner wall cleaning operation is mainly completed by manual work. Manual cleaning has problems such as uneven cleaning effect, incomplete cleaning, high operation difficulty, and safety hazards.

[0003] The existing water tank cleaning robot mainly adopts a single spray cleaning method, and the angle and position of the spray head cannot be adjusted according to different areas of the water tank inner wall, resulting in the existence of cleaning dead angles. Due to the fixed position of the spray head, the cleaning effect is limited, and the top and corner areas of the water tank inner wall cannot be effectively cleaned.

[0004] Therefore, it is urgent to provide a water tank cleaning robot to solve the above problems. SUMMARY

[0005] The purpose of the present application is to provide a water tank cleaning robot that can clean the water tank inner wall in all directions and improve cleaning efficiency and quality.

[0006] To solve the above technical problems, the present application provides a water tank cleaning robot, which comprises a robot body, a track driving device, a rotating cleaning device and a lifting swing arm device.

[0007] The track driving device is arranged on both sides of the robot body and is used to drive the movement of the robot body. The rotating cleaning device is arranged on the upper part of the robot body and is used for cleaning operation of the water tank inner wall. The lifting swing arm device is arranged on the robot body and is connected to the rotating cleaning device, which is used to adjust the cleaning angle of the rotating cleaning device.

[0008] Further, the track driving device comprises a driving motor, a track and a plurality of pulleys.

[0009] The driving motor is installed on the robot body. The output shaft of the driving motor is connected to one of the pulleys through a shaft coupling. The pulley is rotatably connected to the side surface of the robot body, and a plurality of pulleys are distributed along the circumference of the track. The track is in the form of a closed ring, and the inner side is engaged with the outer teeth of a plurality of pulleys to form a transmission fit. The driving motor drives one of the pulleys to rotate, and one of the pulleys drives the track and the remaining pulleys to rotate synchronously through meshing transmission, so as to realize the movement of the robot body.

[0010] Further, the rotating cleaning device comprises a rotating motor, a speed reducer, a rotating disc and a cleaning tank.

[0011] The rotating motor and the reduction gearbox are both installed in the robot body; the rotating motor is connected with the rotating disc through the reduction gearbox; the rotating disc is installed on the upper part of the robot body; the cleaning box is installed on the upper part of the rotating disc; the two ends of the lifting swing arm device are connected with the rotating disc and the cleaning box respectively.

[0012] Further, the lifting swing arm device comprises an electric push rod; the fixed end of the electric push rod is rotationally connected with the rotating disc, and the telescopic end is rotationally connected with the cleaning box; the fixed end and the telescopic end of the electric push rod are located on the two sides of the cleaning box respectively.

[0013] Further, the cleaning box comprises a box body, a working spray head and a flushing spray head; the side wall of the box body is rotationally connected with the telescopic end of the electric push rod; the working spray head is installed on one side of the box body and used for cleaning the inner wall of the water tank; the flushing spray head is installed on the bottom of the box body and used for cleaning the bottom of the water tank.

[0014] Further, the cleaning box further comprises a universal joint; the universal joint is arranged on the box body; one end of the universal joint is respectively connected with the working spray head and the flushing spray head, and the other end is connected with a water inlet pipe for preventing the water inlet pipe from winding in the rotating process; the box body is provided with a water inlet channel for connecting the working spray head and the flushing spray head, and the water inlet channel is connected with the universal joint.

[0015] Further, the observation device comprises a working camera, a front camera and a rear camera; the working camera is installed on the cleaning box, and the working camera, the front camera and the working spray head are located on the same side of the robot body; the front camera and the rear camera are respectively installed on the two sides of the robot body.

[0016] Further, the illumination device comprises a working light source, a front illumination light source and a rear illumination light source; the working light source is installed on the cleaning box and located around the working camera; the front illumination light source is installed on the robot body and located around the front camera; the rear illumination light source is installed on the robot body and located around the rear camera.

[0017] Further, the cleaning device comprises a suction pipe and a mop; the suction pipe is installed on the bottom of the robot body; the mop is installed on the bottom of the robot body and located between the suction pipe and the robot body, and used for removing stains on the bottom of the water tank.

[0018] Further, the control system is further included; a power signal port is arranged on the robot body; the control system is connected with the track driving device, the rotary cleaning device and the lifting swing arm device through the power signal port;

[0019] The control system includes a control circuit and a driving circuit; the control circuit is connected with the driving circuit; the control circuit is used for receiving operation instructions and converting the operation instructions into control signals; and the driving circuit is used for driving the track driving device, the rotary cleaning device and the lifting swing arm device to work respectively according to the control signals.

[0020] Through the above technical scheme, the present application has the following beneficial effects:

[0021] Through the combination of the track driving device, the rotary cleaning device and the lifting swing arm device, the stable movement and omnibearing cleaning of the robot in the water tank are realized. The track driving device can improve the movement stability of the robot in a humid environment, and the cooperation of the rotary cleaning device and the lifting swing arm device can flexibly adjust the angle of the cleaning device, effectively solving the problem of cleaning dead angles.

[0022] In addition, through the observation device, the lighting device and the pollution cleaning device, the quality and efficiency of the cleaning operation are further improved. The cooperation of the observation device and the lighting device realizes the real-time monitoring of the cleaning process, and the pollution cleaning device can timely clean the stains at the bottom of the water tank, so that the whole cleaning process is more reliable and efficient. BRIEF DESCRIPTION OF DRAWINGS

[0023] Figure 1 It is a whole structure schematic diagram of the front end direction of the water tank cleaning robot in an embodiment of the present application;

[0024] Figure 2 It is a structure schematic diagram of the track driving device in the water tank cleaning robot in an embodiment of the present application;

[0025] Figure 3 It is a part structure schematic diagram of the water tank cleaning robot in an embodiment of the present application;

[0026] Figure 4 It is a whole structure schematic diagram of the rear end direction of the water tank cleaning robot in an embodiment of the present application;

[0027] Figure 5 It is a whole structure schematic diagram of the control circuit in the water tank cleaning robot in an embodiment of the present application;

[0028] Figure 6 It is a structure schematic diagram of the 24V to 12V circuit in the control circuit in the water tank cleaning robot in an embodiment of the present application;

[0029] Figure 7The structural schematic diagram of the 24V to 5V circuit in the control circuit of the water tank cleaning robot in an embodiment of the present application is shown in the figure;

[0030] Figure 8 The structural schematic diagram of the 5V to 3.3V circuit in the control circuit of the water tank cleaning robot in an embodiment of the present application is shown in the figure;

[0031] Figure 9 The structural schematic diagram of the main control module in the control circuit of the water tank cleaning robot in an embodiment of the present application is shown in the figure;

[0032] Figure 10 The structural schematic diagram of the indicator lamp circuit in the control circuit of the water tank cleaning robot in an embodiment of the present application is shown in the figure;

[0033] Figure 11 The structural schematic diagram of the logic module in the control circuit of the water tank cleaning robot in an embodiment of the present application is shown in the figure;

[0034] Figure 12 The structural schematic diagram of the ADC input circuit in the control circuit of the water tank cleaning robot in an embodiment of the present application is shown in the figure;

[0035] Figure 13 The structural schematic diagram of the pin input circuit in the control circuit of the water tank cleaning robot in an embodiment of the present application is shown in the figure;

[0036] Figure 14 The structural schematic diagram of the communication module in the control circuit of the water tank cleaning robot in an embodiment of the present application is shown in the figure;

[0037] Figure 15 The structural schematic diagram of the wiring port module in the control circuit of the water tank cleaning robot in an embodiment of the present application is shown in the figure;

[0038] Figure 16 The block schematic diagram of the drive circuit in the water tank cleaning robot in an embodiment of the present application is shown in the figure;

[0039] Figure 17 The structural schematic diagram of the 24V input circuit of the power conversion module in the drive circuit of the water tank cleaning robot in an embodiment of the present application is shown in the figure;

[0040] Figure 18 The structural schematic diagram of the 24V to 12V circuit of the power conversion module in the drive circuit of the water tank cleaning robot in an embodiment of the present application is shown in the figure;

[0041] Figure 19 The structural schematic diagram of the 12V to 3.3V circuit of the power conversion module in the drive circuit of the water tank cleaning robot in an embodiment of the present application is shown in the figure;

[0042] Figure 20The structural schematic view of the main control module in the driving circuit of the water tank cleaning robot in an embodiment of the present application is shown in the figure.

[0043] Figure 21 The structural schematic view of the first communication circuit in the driving circuit of the water tank cleaning robot in an embodiment of the present application is shown in the figure.

[0044] Figure 22 The structural schematic view of the second communication circuit in the driving circuit of the water tank cleaning robot in an embodiment of the present application is shown in the figure.

[0045] Figure 23 The structural schematic view of the DIP switch module in the driving circuit of the water tank cleaning robot in an embodiment of the present application is shown in the figure.

[0046] Figure 24 The structural schematic view of the motor driving module in the driving circuit of the water tank cleaning robot in an embodiment of the present application is shown in the figure.

[0047] In the figure, 1, robot body; 21, driving motor; 22, track; 23, pulley; 31, rotary motor; 32, reduction box; 33, rotary disc; 341, box body; 342, working spray head; 343, flushing spray head; 41, working camera; 42, front camera; 43, rear camera; 51, working light source; 52, front illumination light source; 53, rear illumination light source; 61, suction pipe; 62, mop; 7, lifting swing arm device;

[0048] 811, power conversion module; 812, main control module; 813, input module; 814, logic module; 815, communication module; 816, wiring port module;

[0049] 821, driving board power conversion module; 822, driving board main control module; 823, driving board communication module; 824, DIP switch module; 825, motor driving module;

[0050] 9, power signal port; 10, water inlet channel. DETAILED DESCRIPTION

[0051] Based on the inspiration of the present specification, the skilled in the art can form new technical solutions by cross combination of different embodiments without causing technical contradiction, and such variations should be considered as falling into the protection scope of the present patent.

[0052] A water tank cleaning robot of the present application will be described in more detail below with reference to the accompanying drawings, in which the preferred embodiments of the present application are shown, and it should be understood that the skilled in the art can modify the present application described herein while still achieving the advantageous effects of the present application. Therefore, the following description should be understood as extensive knowledge for the skilled in the art, and not as a limitation on the present application.

[0053] The invention is described more specifically by way of example in the following paragraphs with reference to the accompanying drawings. The advantages and features of the invention will become clearer from the following description. It should be noted that the drawings are in a very simplified form and use non-precise proportions, and are only used to facilitate and clarify the illustration of the embodiments of the invention.

[0054] like Figures 1-4 As shown in the figure, an embodiment of the present invention proposes a water tank cleaning robot, including a robot body 1, a track drive device, a rotating cleaning device, and a lifting swing arm device 7.

[0055] Specifically, the track drive device is located on both sides of the robot body 1 to drive the robot body 1 to move; the rotating cleaning device is located on the upper part of the robot body 1 to clean the inner wall of the water tank; the lifting swing arm device 7 is located on the robot body 1 and connected to the rotating cleaning device to adjust the cleaning angle of the rotating cleaning device. In this embodiment, the track drive 22 improves the robot's movement stability in humid environments, and the cooperation between the rotating cleaning device and the lifting swing arm device 7 enhances the angle adjustment capability of the cleaning device.

[0056] Preferably, the track drive device includes a drive motor 21, a track 22, and a plurality of pulleys 23.

[0057] Specifically, the drive motor 21 is mounted on the robot body 1; the output shaft of the drive motor 21 is connected to one of the pulleys 23 via a coupling; the pulleys 23 are rotatably connected to the side of the robot body 1, and multiple pulleys 23 are distributed circumferentially along the track 22; the track 22 is a closed loop, and its inner side meshes with the outer teeth of multiple pulleys 23 to form a transmission engagement; the drive motor 21 drives one of the pulleys 23 to rotate, and the pulley 23 drives the track 22 and the other pulleys 23 to rotate synchronously through meshing transmission, so as to realize the movement of the robot body 1.

[0058] Preferably, the track 22 is made of wear-resistant rubber, and the surface of the track 22 has anti-slip texture. The pulley 23 is made of stainless steel, and the hub is equipped with a sealed bearing. The drive motor 21 is a waterproof servo motor.

[0059] The plurality of pulleys 23 are arranged along the circumferential direction of the track 22, which increases the contact area between the track 22 and the pulleys 23 and improves the stability of the transmission. The outer teeth of the pulleys 23 are arranged to engage the inner side of the track 22, which enhances the transmission efficiency of the driving force and reduces the slippage. In the embodiment, the driving motor 21 drives one of the pulleys 23 to rotate, which in turn drives the track 22 and the remaining pulleys 23 to rotate synchronously through the engagement transmission. This simplifies the transmission structure and improves the reliability of the transmission system. Meanwhile, the plurality of pulleys 23 increase the contact area between the track 22 and the ground, which improves the gripping ability and the moving stability of the robot in a wet environment. The coupling compensates for the axial deviation between the output shaft of the driving motor 21 and the pulley 23, which reduces the mechanical stress during the transmission and prolongs the service life of the transmission components. The closed loop arrangement enhances the tension of the track 22 and improves the smoothness of the transmission.

[0060] In the embodiment, the rotating cleaning device comprises a rotating motor 31 (e.g., a servo motor), a reduction box 32, a rotating disc 33, and a cleaning tank.

[0061] Specifically, the rotating motor 31 and the reduction box 32 are installed in the robot body 1; the rotating motor 31 is connected to the rotating disc 33 through the reduction box 32; the rotating disc 33 is installed on the upper part of the robot body 1; the cleaning tank is installed on the upper part of the rotating disc 33; and the two ends of the lifting swing arm device 7 are connected to the rotating disc 33 and the cleaning tank, respectively.

[0062] In the embodiment, the rotating motor 31 and the reduction box 32 are installed in the robot body 1, which forms a closed driving unit and improves the waterproof performance of the key components. Meanwhile, this built-in installation method lowers the gravity center of the device and enhances the overall stability of the robot during operation.

[0063] The transmission mode of connecting the rotating motor 31 and the rotating disc 33 through the reduction box 32 realizes the precise adjustment of the rotating speed. The reduction ratio of the reduction box 32 reduces the rotating speed of the rotating disc 33, increases the output torque, and makes the cleaning operation more stable and controllable.

[0064] The rotating disc 33 is installed on the upper part of the robot body 1, and the cleaning tank is installed on the upper part of the rotating disc 33, which forms a rotating structure that swings left and right. Combined with the connection mode of the two ends of the lifting swing arm device 7 to the rotating disc 33 and the cleaning tank, the rotating cleaning device realizes the combined motion of left-right swinging and angle adjustment in the horizontal plane, which improves the accessibility of the side wall cleaning and the horizontal coverage range of the cleaning operation.

[0065] In an embodiment, the reduction gearbox 32 adopts a planetary gear reduction mechanism with self-locking function. The rotating disc 33 is made of aluminum alloy material, and the edge is provided with a reinforcing rib to improve the strength. The rotating motor 31 is connected with the reduction gearbox 32 through a spline shaft, and an angle sensor is arranged between the output shaft and the rotating disc 33 for detecting the rotation angle.

[0066] In the embodiment, the lifting swing arm device 7 comprises an electric push rod. Specifically, the fixed end of the electric push rod is rotationally connected to the rotating disc 33, and the telescopic end is rotationally connected to the cleaning tank. The fixed end and the telescopic end of the electric push rod are respectively located on both sides of the cleaning tank.

[0067] In the embodiment, the fixed end and the telescopic end of the electric push rod are respectively rotationally connected to the cleaning tank and the rotating disc 33 through a hinge structure to realize a swing angle of a preset angle (which can be set according to actual conditions). The electric push rod can be provided with a position sensor for real-time detection of the telescopic position.

[0068] In a specific example, the cleaning tank comprises a tank body 341, a working spray head 342 and a flushing spray head 343. Specifically, the side wall of the tank body 341 is rotationally connected to the telescopic end of the electric push rod. The working spray head 342 is mounted on one side of the tank body 341 for cleaning the inner wall of the water tank. The flushing spray head 343 is mounted at the bottom of the tank body 341 for cleaning the bottom of the water tank.

[0069] Preferably, the cleaning tank further comprises a universal joint. Specifically, the universal joint is arranged on the tank body 341. One end of the universal joint (for example, the one end of the universal joint can be provided as a Y-shaped structure joint) is respectively connected to the working spray head 342 and the flushing spray head 343, and the other end is connected with a water inlet pipe (the water inlet pipe is a high-pressure hose with equal diameter to reduce water flow resistance) for preventing the water inlet pipe from winding during rotation. The tank body 341 is provided with a water inlet channel 10 for connecting the working spray head 342 and the flushing spray head 343, and the water inlet channel 10 is in communication with the universal joint. The water inlet channel 10 comprises a working water inlet and a flushing water inlet.

[0070] In addition, the embodiment further comprises an observation device. Specifically, the observation device comprises a working camera 41, a front camera 42 and a rear camera 43. The working camera 41 is mounted on the cleaning tank, and the working camera 41, the front camera 42 and the working spray head 342 are located on the same side of the robot body 1. The front camera 42 and the rear camera 43 are respectively mounted on both sides of the robot body 1. All the cameras in the observation device can be respectively mounted at the corresponding positions through a camera support, wherein the camera support adopts an adjustable structure which can adjust the viewing angle as needed.

[0071] The working camera 41 of the embodiment is installed on the cleaning tank in a manner that allows the camera to adjust the shooting angle in real time with the movement of the cleaning tank, thereby improving the real-time monitoring effect on the cleaning operation area. The working camera 41, the front camera 42 and the working spray head 342 are arranged on the same side of the robot body 1, forming a same directionality of vision and operation, thereby enhancing the visualization degree and operation accuracy during the operation process.

[0072] The front camera 42 and the rear camera 43 are respectively installed on the two sides of the robot body 1, achieving bidirectional visual monitoring in the forward and backward directions of the robot. The configuration of the front and rear cameras improves the safety of the robot when moving in the water tank, and can enhance the real-time control ability of the operator on the position of the robot and the surrounding environment.

[0073] The coordinated arrangement of the multiple cameras of the embodiment forms a multi-angle and omnidirectional visual monitoring system, which can improve the controllability of the cleaning operation and the monitorability of the operation quality, so that the operator can timely discover and handle abnormal situations during the cleaning process.

[0074] Preferably, the embodiment further comprises an illumination device. Specifically, the illumination device comprises a working light source 51, a front illumination light source 52 and a rear illumination light source 53; the working light source 51 is installed on the cleaning tank and located around the working camera 41; the front illumination light source 52 is installed on the robot body 1 and located around the front camera 42; and the rear illumination light source 53 is installed on the robot body 1 and located around the rear camera 43.

[0075] The working light source 51 is installed around the working camera 41 in the embodiment, which provides sufficient and uniform illumination for the cleaning operation area and eliminates the shadow dead angle in the cleaning area. This coaxial illumination method can improve the imaging quality of the working camera 41 in the dim environment in the water tank, thereby improving the accuracy and controllability of the cleaning operation.

[0076] The front illumination light source 52 and the rear illumination light source 53 are respectively installed around the front and rear cameras 43, forming an illumination system consistent with the optical axis of the camera. This arrangement avoids light interference and reflection, provides a clear front and rear view, and effectively enhances the environmental adaptability and operation safety of the robot in the water tank.

[0077] The coordinated arrangement of the illumination device and the camera in the embodiment forms a multi-point and omnidirectional illumination system, effectively solving the problem of insufficient light in the water tank. At the same time, the partitioned illumination arrangement can control the illumination intensity of different areas according to actual needs, which improves the observation effect and realizes the rational use of energy.

[0078] Preferably, the embodiment further comprises a cleaning device. Specifically, the cleaning device comprises a suction pipe 61 and a mop 62; the suction pipe 61 is installed at the bottom of the robot body 1; the mop 62 is installed at the bottom of the robot body 1 and is located between the suction pipe 61 and the robot body 1, for cleaning stains at the bottom of the water tank.

[0079] The suction pipe 61 is connected with an external suction pump. The distance between the mop 62 and the suction pipe 61 is adjustable, so as to adapt to different situations.

[0080] In this embodiment, the suction pipe 61 is installed at the bottom of the robot body 1, so as to collect wastewater and sediment generated during cleaning in time and prevent the secondary deposition of dirt at the bottom of the water tank. This layout makes full use of the action of gravity and improves the efficiency of dirt collection. The layout of the mop 62 between the suction pipe 61 and the robot body 1 forms a "brush-suction integrated" cleaning structure. The mop 62 can effectively loosen and remove stubborn stains at the bottom of the water tank, and cooperate with the suction pipe 61 in front to form a brush-then-suction operation mode, thereby improving the thoroughness of bottom cleaning.

[0081] In this embodiment, the cleaning device cooperates with the track driving device of the robot to realize the operation mode of cleaning while walking. This arrangement not only improves the efficiency of cleaning operation, but also ensures the cleanliness of the robot's travel path, prevents the pollution of the cleaned area by the dirt driven by the idler 23, and improves the cleaning quality.

[0082] In addition, the embodiment further comprises a control system. Specifically, the robot body 1 is provided with a power signal port 9; the control system connects the track driving device, the rotary cleaning device and the lifting swing arm device 7 through the power signal port 9. The control system adopts an industrial-grade PLC controller, which has 16 digital input and output interfaces and 8 analog interfaces. The power signal port 9 adopts a waterproof connector with self-locking function. All cables are provided with waterproof connectors and an emergency power-off device.

[0083] Preferably, the control system comprises a control circuit and a driving circuit. Specifically, the control circuit is connected with the driving circuit; the control circuit is used for receiving operation instructions and converting the operation instructions into control signals; the driving circuit is used for driving the track driving device, the rotary cleaning device and the lifting swing arm device 7 to work (i.e. driving the motors of the corresponding devices to work) according to the control signals. The control circuit and the driving circuit can be arranged on a control board and a driving board respectively.

[0084] In a specific example, as shown in Figure 5As shown, the control circuit of the embodiment includes a power conversion module 811, a master control module 812, an input module 813, a logic module 814, a communication module 815, and a wiring port module 816.

[0085] Specifically, the power conversion module 811 is connected to the master control module 812, the input module 813, the logic module 814, and the communication module 815; the input module 813 is connected to the master control module 812; the master control module 812 is connected to the logic module 814; the logic module 814 is connected to the communication module 815; and the communication module 815 is connected to the wiring port module 816.

[0086] In the embodiment, the power conversion module 811 is configured to provide stable power supply of multiple voltages; the input module 813 is configured to receive external control information and convert it into a digital signal; the master control module 812 is configured to analyze and process the digital signal and output control information; the logic module 814 is configured to process the control information; and the communication module 815 is configured to transmit the processed control information to an external device through the wiring port module 816. By integrating the functional modules, the embodiment realizes the integration of power management, signal processing, logic control, and communication, thereby improving the reliability and intelligent level of the system, and enabling stable operation and efficient work of the water tank cleaning robot in the field of water tank cleaning.

[0087] In an embodiment, as shown in Figures 6-8 The power conversion module 811 includes a 24V-to-12V circuit, a 24V-to-5V circuit, and a 5V-to-3.3V circuit. By multi-stage voltage conversion, stable power supply is provided for modules with different voltage requirements, ensuring the compatibility and reliability of the entire system.

[0088] In a specific example, as shown in Figure 9 The 24V-to-12V circuit can use a TPS54202DDCR chip, the 24V-to-5V circuit can use a TPS54331DR chip, and the 5V-to-3.3V circuit can use a ME6211C33M5G-N chip.

[0089] In the embodiment, the master control module 812 includes a chip U1, a crystal oscillator X2, capacitors C2, C3, C4, C6, C7, C8, and C9, a resistor R23, and a switch SW2.

[0090] Specifically, the VDD_1, VDD_2, VDD_3, and VDDA pins of chip U1 are all connected to the 3.3V output terminal of the power conversion module 811; the VSS_1, VSS_2, VSS_3, and VSSA pins of chip U1 are all grounded; the crystal oscillator X2 is connected to the PD0-OSC_IN and PD1-OSC_OUT pins of chip U1; capacitors C2 and C3 are respectively connected between the two ends of the crystal oscillator X2 and ground; capacitors C4, C6, C7, and C9 are respectively connected between the power supply pins of chip U1 and ground; one end of capacitor C8 is connected to the NRST pin of chip U1, and the other end is grounded; one end of resistor R23 is connected to the 3.3V power supply of the power conversion module 811, and the other end is connected to the NRST pin and one end of switch SW2; the other end of switch SW2 is grounded and used to control the startup mode of chip U1.

[0091] The configuration of the main control module 812 enables the core control unit of the system to operate stably. It provides a precise clock signal through the cooperation of crystal oscillator and capacitor, while the setting of resistors and switches provides flexibility for system startup and reset.

[0092] In one specific example, the chip U1 uses an STM32 main control chip, such as the STM32F103C8T6 chip.

[0093] In addition, such as Figure 10 As shown, the main control module 812 also includes an indicator light circuit; the indicator light circuit includes LED3 and LED4; LED3 and LED4 are used to indicate the working status of the control circuit. The indicator light circuit allows users to intuitively understand the working status of the system, improving the user experience.

[0094] In one embodiment, such as Figure 11 As shown, the logic module 814 includes a chip U9 and a capacitor C5.

[0095] Specifically, the VDD pin of chip U9 is connected to the 5V power supply of power conversion module 811, and the VSS pin is grounded; the X_CH_0_IN / OUT, X_CH_1_IN / OUT, X_CH_2_IN / OUT, and X_CH_3_IN / OUT pins of chip U9 are connected to chip U1; the Y_CH_0_IN / OUT, Y_CH_1_IN / OUT, Y_CH_2_IN / OUT, and Y_CH_3_IN / OUT pins of chip U9 are connected to communication module 815; one end of capacitor C5 is connected to the VDD pin of chip U9, and the other end is grounded. The logic module 814, through the cooperation of logic chips and capacitors, achieves logical processing and stable transmission of signals, providing support for system decision-making and control.

[0096] In one specific example, the logic module 814 uses the CD4052BM96 chip.

[0097] In one embodiment, such as Figures 12-13 As shown, the input module 813 includes an ADC input circuit and a pin input circuit; the ADC input circuit is used to receive external control information and convert it into a digital signal; the pin input circuit is used to transmit the digital signal to the main control module 812. The input module 813 enables the system to flexibly receive and process external signals, enhancing the system's interactivity and adaptability.

[0098] In this embodiment, the ADC input circuit includes multiple operational amplifier chips and multiple ADC input channels, such as... Figure 12 As shown, multiple operational amplifier chips are connected to multiple ADC input channels to convert received external control information into digital signals and transmit them to the main control module 812. The cooperation between the operational amplifiers and the ADC input channels improves the accuracy and efficiency of signal conversion, thereby enhancing the system's response speed and accuracy to external control information.

[0099] In one specific example, the pin input circuit includes multiple optocouplers, specifically as follows: Figure 13 As shown, the use of optocoupler isolators enhances the anti-interference capability of the input circuit, protects the main control module 812 from external voltage fluctuations, and improves the stability and reliability of the system.

[0100] The system includes multiple ADC input channels, including AI0-AI7. AI0 is the ADC port for controlling the robot's forward and backward movement. AI1 is the ADC port for controlling the robot's left and right movement. AI2 is the ADC port for controlling the lifting and lowering movement of the turret. AI3 is the ADC port for controlling the trajectory of the robot's turret left and right movement and the two servo motors for the flushing nozzle 343. AI4 is the ADC port for controlling the robot's forward, backward, left, and right movement speed. AI6 is the ADC port for controlling the left and right movement speed of the turret. AI7 is the ADC port for controlling the left and right movement speed of the flushing nozzle 343.

[0101] The pin input circuit also includes multiple control buttons, namely X00-X07. X00 is the button for adjusting the angle of the turret; X01 is the button for controlling the automatic movement of the turret; X02 is the origin setting button; X06 is the button for controlling the automatic movement of the turret; X07 is the button for adjusting the angle of the turret. When buttons X00 and X02 are pressed simultaneously, the turret's origin is adjusted; when buttons X07 and X02 are pressed simultaneously, the origin of the flushing nozzle 343 is adjusted.

[0102] In this embodiment, as Figure 14 As shown, the communication module 815 includes chip U30, protection diode D3, protection diode D4, protection diode D5, resistor R94, resistor R95, resistor R96, resistor R97, resistor R98, resistor R101, capacitor C29, and capacitor C30.

[0103] Specifically, the VCC pin of the chip U30 is connected to the 3.3V power supply of the power conversion module 811, and the GND pin is grounded; the RO pin of the chip U30 is connected to one end of the resistor R94 and one end of the resistor R101; the other end of the resistor R94 is connected to the PA3 pin of the chip U1 in the main control module 812; the other end of the resistor R01 is connected to the 3.3V power supply of the power conversion module 811; the DI pin of the chip U30 is connected to the PA2 pin of the chip U1 in the main control module 812 and one end of the resistor R95; the other end of the resistor R95 is connected to the 3.3V power supply of the power conversion module 811; the RE# pin and the DE pin of the chip U30 are both connected to the PA1 pin of the chip U1 in the main control module 812; the A pin and the B pin of the chip U30 are both connected to the logic module 814; the A pin is also connected to one end of the resistor R97 and one end of the resistor R98; the other end of the resistor R97 is connected to the 3.3V power supply of the power conversion module 811; the B pin is connected to the other end of the resistor R98 and one end of the resistor R96; the other end of the resistor R96 is grounded; one end of the protection diode D3 and one end of the protection diode D5 are respectively connected to the two ends of the protection diode D4, and the other ends are both grounded; one end of the protection diode D3 and one end of the protection diode D5 are respectively connected to the A pin and the B pin. The communication module 815 is set by cooperating with the chip and the related resistors, which realizes reliable data transmission and enhances the communication ability and stability of the system.

[0104] In a specific example, the communication chip includes an SP3485EN-L / TR chip.

[0105] In this embodiment, as shown in Figure 15 The wiring port module 816 includes a plurality of wiring terminals. Part of the wiring terminals are connected to the communication module 815, and the other part of the wiring terminals are connected to the input module 813. The wiring port module 816 makes the connection of the system more flexible and convenient, and facilitates the user to expand and maintain according to the needs.

[0106] In this embodiment, the power conversion module 811 mainly provides stable power supply for the communication module 815 and the main control module 812. When the external control information is converted into a digital signal by the ADC input circuit, the digital signal is input to the main control module 812 through the pin input circuit, and the control information is analyzed and processed by the internal control program of the main control, and then transmitted to the logic module 814. After the logic module 814 processes the control logic, the processed control information is transmitted to external devices, such as various motor drive boards, through the communication module 815.

[0107] In a specific example, as shown inFigure 16 As shown, the driving circuit of the embodiment includes a driving board power conversion module 821, a driving board master control module 822, a driving board communication module 823, a dial switch module 824, and a motor driving module 825.

[0108] Specifically, the driving board power conversion module 821 is connected with the driving board master control module 822, the driving board communication module 823, and the motor driving module 825; the driving board master control module 822 is connected with the driving board communication module 823, the dial switch module 824, and the motor driving module 825; the driving board communication module 823 is used to be connected with external devices; and the motor driving module 825 is used to be connected with a motor.

[0109] In a specific example, in combination with Figures 17-19 As shown, the driving board power conversion module 821 includes a 24V input circuit, a 24V to 12V circuit, and a 12V to 3.3V circuit.

[0110] In the embodiment, continuing to refer to Figure 17 As shown, the 24V input circuit includes a chip U3, a fuse F2, an inductor L1, a capacitor C3, a capacitor C10, a capacitor C11, a voltage stabilizing diode D16, and a voltage stabilizing diode D17; the first pin and the second pin of the chip U3 are connected with the positive and negative poles of a motor respectively, the third pin is connected with one end of the fuse F2, and the fourth pin is grounded; the other end of the fuse F2 is connected with the capacitor C10, the voltage stabilizing diode D16, and one end of the inductor L1; the other ends of the capacitor C10 and the voltage stabilizing diode D16 are grounded; the other end of the inductor L1 is connected with the capacitor C3, the voltage stabilizing diode D17, and one end of the capacitor C11, and forms a 24V input end; and the other ends of the capacitor C3, the voltage stabilizing diode D17, and the capacitor C11 are grounded.

[0111] In the embodiment, continuing to refer to Figure 18As shown, the 24V to 12V circuit includes chip U32, inductor L4, capacitors C23, C27, C28, C32, C33, and C34, resistors R91, R92, R93, R99, and R100. The VIN pin of chip U32 is connected to the 24V input terminal of the 24V input circuit, one end of capacitor C28, and one end of capacitor C34. The SW pin is connected to one end of inductor L4, the BOOT pin is connected to one end of capacitor C23, the EN pin is connected to one end of resistors R91 and R100, and the VFB pin is connected to... The inductor L4 is connected to one end of resistors R93 and R92 and capacitor C33; the other end of inductor L4 is connected to one end of capacitors C32 and C27, forming a 12V output terminal; the other ends of capacitors C32 and C27 are both grounded; one end of capacitor C28 and the other end of capacitor C34 are both grounded; the other ends of resistors R93 and R100 are both grounded; the other ends of resistors R92 and C33 are both connected to one end of resistor R99; the other end of resistor R99 is connected to the 12V output terminal; the other end of resistor R91 is connected to the 24V input terminal.

[0112] The chip U32 can be a TPS54202DDCR chip. Those skilled in the art will know that the model of chip U32 can be set according to actual needs, and may also include other embodiments besides this one.

[0113] In this embodiment, refer to Figure 19 As shown, the 12V to 3.3V circuit includes chip U7, inductor L3, capacitors C15, C16, C17, C18, C19, C20, C21, C22, resistors R17 and R18. The VIN pin of chip U7 is connected to the 12V output terminal of the 12V to 3.3V circuit, one end of capacitor C16, and one end of capacitor C15. The SW pin is connected to one end of inductor L3. The BOOT pin is connected to one end of capacitor C20. The EN pin is connected to one end of resistors R7 and R21. The VFB pin is connected to the resistors R17 and R18. R17, R18, and one end of capacitor C17; the other end of inductor L3 is connected to one end of capacitors C18 and C19, forming a 3.3V output terminal; the other ends of capacitors C18 and C19 are both grounded; one end of capacitor C16 and the other end of capacitor C15 are both grounded; the other ends of resistors R17 and R7 are both grounded; the other ends of resistors R18 and C17 are both connected to one end of resistor R8; the other end of resistor R8 is connected to the 3.3V output terminal; the other end of resistor R21 is connected to the 12V output terminal.

[0114] The chip U7 can be a chip of model TPS54202DDCR. Those skilled in the art can know that the model of the chip U7 can be set according to actual needs, and can also include other embodiments other than the embodiment.

[0115] In the embodiment, the driving board power conversion module 821 provides stable power supply for the entire driving circuit, which includes a 24V input circuit, a 24V to 12V circuit and a 12V to 3.3V circuit. The 24V input circuit connects the external 24V power supply stably through elements such as chip U3, and provides basic power supply for the subsequent circuit, thereby improving the stability and reliability of the power supply input. The 24V to 12V circuit uses elements such as chip U32 to efficiently convert 24V voltage to 12V, thereby providing stable voltage for the module requiring 12V power supply, and enhancing the power conversion efficiency and stability. The 12V to 3.3V circuit further converts 12V voltage to 3.3V by means of elements such as chip U7, thereby meeting the power supply demand of the low-voltage module, ensuring the stable operation of the entire circuit system, and improving the precision and reliability of the power conversion.

[0116] In an embodiment, as shown in FIG. 8, the driving board main control module 822 includes a chip U2, a capacitor C1, a capacitor C2, a capacitor C4, a resistor R1 and a switch SW3. Figure 20

[0117] Specifically, the VDD / VDDA pin of the chip U2 is connected with the 3.3V output end of the driving board power conversion module 821; the VSS / VSSA pin of the chip U2 is grounded; one end of the capacitor C2 is connected with the VDD / VDDA pin, and the other end is grounded; one end of the capacitor C1 and the capacitor C4 is connected with the NRST pin of the chip U2, and the other end is grounded; one end of the resistor R1 is connected with the 3.3V output end, and the other end is connected with the NRST pin of the chip U2; one end of the switch SW3 is connected with the NRST pin of the chip U2, and the other end is grounded.

[0118] The chip U2 can be a chip of model STM32G030F6P6. Those skilled in the art can know that the model of the chip U2 can be set according to actual needs, and can also include other embodiments other than the embodiment.

[0119] ​In the embodiment, the driving board master control module 822 further comprises a first indicator lamp LED1, a second indicator lamp LED2 and a resistor R6. Specifically, one end of the resistor R6 is connected with the positive pole M+ of the motor; the anode of the first indicator lamp LED1 is connected with the other end of the resistor R6, and the cathode is connected with the negative pole M- of the motor; the cathode of the second indicator lamp LED2 is connected with the other end of the resistor R6, and the anode is connected with the negative pole M- of the motor; the first indicator lamp LED1 and the second indicator lamp LED2 are used for indicating the working state of the motor.

[0120] In the embodiment, the driving board master control module 822 as the control core of the driving circuit comprises a chip U2 and other elements. The VDD / VDDA pin of the chip U2 is connected with the 3.3V output end of the driving board power conversion module 821, so as to keep the stable power supply of the master control chip; the VSS / VSSA pin is grounded, so that the circuit runs stably. The capacitor C2 and other elements are connected with the NRST pin of the chip U2, so as to form a reset circuit, enhance the anti-interference ability of the driving board master control module 822 and improve the stability of the system. The driving board master control module 822 further comprises a first indicator lamp LED1 and other elements, which are used for indicating the working state of the motor, facilitating the user to know the running state of the motor in real time and improving the convenience and reliability of use.

[0121] In an embodiment, as shown in Figure 21 and Figure 22 , the driving board communication module 823 comprises a first communication circuit and a second communication circuit.

[0122] In the embodiment, continuing to refer to Figure 21 , the first communication circuit comprises a chip U1, a resistor R9, a resistor R11, a resistor R12, a resistor R13, a resistor R14, a resistor R22, a capacitor C5, a capacitor C6, a protection diode D1, a protection diode D18 and a protection diode D19.

[0123] Specifically, the VCC pin of the chip U1 is connected with the 3.3V output end of the driving board power conversion module 821, and the GND pin is grounded; the RO pin of the chip U1 is connected with the pin of the chip U2 through the resistor R14, and the connection signal is USART1_R; the DI pin of the chip U1 is connected with the pin of the chip U2, and the connection signal is USART1_T; the RE# pin and the DE pin of the chip U1 are both connected with the pin of the chip U2, and the connection signal is 485A0_EN; the A pin and the B pin of the chip U1 are respectively connected with the external device signals 485A0_A and 485A0_B; one end of the resistor R9 is connected with the A pin of the chip U1, and the other end is connected with the B pin of the chip U1; one end of the resistor R11 and the resistor R12 is respectively connected with the A pin and the B pin of the chip U1, and the other end is respectively connected with the 3.3V output end and the ground; one end of the resistor R13 is connected with the 3.3V output end, and the other end is connected with the DI pin of the chip U1; one end of the capacitor C5 is connected with the VCC pin of the chip U1, and the other end is grounded; one end of the capacitor C6 is connected with the 3.3V output end, and the other end is grounded; the protection diode D18 is connected between the A pin and the B pin of the chip U1; the cathode of the protection diode D1 is connected with the B pin of the chip U1, and the anode is grounded; the cathode of the protection diode D19 is connected with the A pin of the chip U1, and the anode is grounded.

[0124] Wherein, the chip U1 can adopt the chip with model number SP3485EN-L / TR. Those skilled in the art can know that the model number of the chip U1 can be set according to actual needs, and other embodiments besides the embodiment can also be included.

[0125] In the embodiment, continue to refer to Figure 22 As shown in the figure, the second communication circuit includes chip U30, resistor R98, resistor R97, resistor R96, resistor R95, resistor R94, resistor R10 and capacitor C30, capacitor C29, protection diode D20, protection diode D21 and protection diode D22.

[0126] Specifically, the VCC pin of chip U30 is connected to the 3.3V output terminal of the power conversion module 821 on the driver board, and the GND pin is grounded; the RO pin of chip U30 is connected to the pin of chip U2 through resistor R94, with the connection signal being USART2_R; the DI pin of chip U30 is connected to the pin of chip U2, with the connection signal being USART2_T; the RE# and DE pins of chip U30 are both connected to the pins of chip U2, with the connection signal being 485A1_EN; the A and B pins of chip U30 are respectively connected to the external device signals 485A1_A and 485A1_B; one end of resistor R98 is connected to the A pin of chip U30, and the other end is connected to the GND pin of chip U30. Pin B is connected; one end of resistors R97 and R96 is connected to pins A and B of chip U30 respectively, and the other end is connected to the 3.3V output terminal and ground respectively; one end of resistor R95 is connected to the 3.3V output terminal, and the other end is connected to pin DI of chip U30; one end of capacitor C30 is connected to the VCC pin of chip U30, and the other end is grounded; one end of capacitor C29 is connected to the 3.3V output terminal, and the other end is grounded; protection diode D21 is connected between pins A and B of chip U30; the cathode of protection diode D20 is connected to pin B of chip U30, and the anode is grounded; the cathode of protection diode D22 is connected to pin A of chip U30, and the anode is grounded.

[0127] The chip U30 can be a chip with the model number SP3485EN-L / TR. Those skilled in the art will know that the model of chip U30 can be set according to actual needs, and may also include other embodiments besides this one.

[0128] In this embodiment, the driver board communication module 823 is a key component for data interaction between the driver circuit and external devices, and includes a first communication circuit and a second communication circuit. The first communication circuit, through components such as chip U1, achieves stable communication with external devices, improving communication efficiency and reliability. The second communication circuit, with the help of components such as chip U30, further enhances communication capabilities, improves communication stability and anti-interference capabilities, and enhances the overall communication performance of the driver circuit.

[0129] In one embodiment, such as Figure 23 As shown, the DIP switch module 824 includes a DIP switch SW1, resistors R2, R3, R4, and R5.

[0130] Specifically, the dial switch SW1 includes four switch contacts, one end of each of the switch contacts is connected with the 3.3V output end of the driving board power conversion module 821 through the resistors R2, R3, R4 and R5 respectively, and the other end is grounded; the dial switch SW1 is used for selecting the working mode of the water tank cleaning robot. Through different combinations of the dial switch SW1, the working mode of the driving circuit can be flexibly selected, the versatility and flexibility of the driving circuit are improved, and the control ability of the user on the equipment is enhanced.

[0131] In an embodiment, as shown in FIG. 8, the motor driving module 825 includes a first motor driving circuit and a second motor driving circuit. Figure 24

[0132] In the embodiment, the first motor driving circuit includes a chip U5, a transistor Q10, a transistor Q9, a diode D6, a diode D7, a resistor R15, a resistor R16, a capacitor C7, a capacitor C9, a capacitor C21 and a diode D24.

[0133] Specifically, the VCC pin of the chip U5 is connected with the 24V input end of the driving board power conversion module 821, one end of the capacitor C7 and one end of the diode D24; the GND pin of the chip U5 is grounded with the other end of the capacitor C7; the IN pin of the chip U5 is connected with the pin of the chip U2 in the driving board main control module 822, and the connection signal is EG1_IN; the #SD pin of the chip U5 is connected with the pin of the chip U2 in the driving board main control module 822, and the connection signal is EG_SD; the LO pin of the chip U5 is connected with one end of the resistor R16 and one end of the diode D7; the HO pin of the chip U5 is connected with one end of the resistor R15 and one end of the diode D6; the VS pin of the chip U5 is connected with the source electrode of the transistor Q10 and the drain electrode of the transistor Q9; the VB pin of the chip U5 is connected with the other end of the diode D24; one end of the capacitor C9 and one end of the capacitor C21 are connected with the VB pin, and the other ends are connected with the VS pin; the drain electrode of the transistor Q10 is connected with the 24V input end, the gate electrode is connected with the other end of the resistor R15 and the other end of the diode D6; the source electrode of the transistor Q9 is grounded, the drain electrode is connected with the positive electrode M+ of the motor, and the gate electrode is connected with the other end of the resistor R16 and the other end of the diode D7.

[0134] In the embodiment, the second motor driving circuit includes a chip U6, a transistor Q5, a transistor Q6, a diode D4, a diode D5, a resistor R19, a resistor R20, a capacitor C8, a capacitor C12, a capacitor C22 and a diode D23.

[0135] ​Specifically, the VCC pin of the chip U6 is connected with the 24V input end of the driving board power conversion module 821, one end of the capacitor C8, and one end of the diode D23; the GND pin of the chip U6 is grounded with the other end of the capacitor C8; the IN pin of the chip U6 is connected with the pin of the chip U2 in the driving board main control module 822, and the connection signal is EG2_IN; the #SD pin of the chip U6 is connected with the pin of the chip U2 in the driving board main control module 822, and the connection signal is EG_SD; the LO pin of the chip U6 is connected with one end of the resistor R19 and one end of the diode D4; the HO pin of the chip U6 is connected with one end of the resistor R20 and one end of the diode D5; the VS pin of the chip U6 is connected with the source electrode of the triode Q6 and the drain electrode of the triode Q5; the VB pin of the chip U6 is connected with the other end of the diode D23; one end of the capacitor C22 and one end of the capacitor C12 are connected with the VB pin, and the other ends are connected with the VS pin; the drain electrode of the triode Q6 is connected with the 24V input end, the gate electrode is connected with the other end of the resistor R20 and the other end of the diode D5; the source electrode of the triode Q5 is grounded, the drain electrode is connected with the positive electrode M+ of the motor, and the gate electrode is connected with the other end of the resistor R19 and the other end of the diode D4.

[0136] In the embodiment, the chip U6 and the chip U5 can adopt the chip with the model number EG2104S. It is known to those skilled in the art that the model number of the chip U6 and the chip U5 can be set according to actual needs, and other embodiments besides the embodiment can also be included.

[0137] In the embodiment, the motor driving module 825 is the core execution part of the driving circuit, including a first motor driving circuit and a second motor driving circuit. The first motor driving circuit realizes accurate driving control of the motor through the chip U5 and other elements, improves the driving capability and control precision of the motor, and enhances the performance of the entire driving circuit. The second motor driving circuit further enhances the motor driving capability with the help of the chip U6 and other elements, ensures the stable operation of the motor, and improves the reliability and efficiency of the driving circuit.

[0138] In an embodiment, the motor driving module 825 further includes a capacitor C13 and a capacitor C14. Specifically, one end of the capacitor C13 and one end of the capacitor C14 are connected with the drain electrodes of the triode Q10 and the triode Q6, and the other ends are grounded; the capacitor C13 and the capacitor C14 are used to filter electromagnetic interference generated during the operation of the motor, improve the anti-interference ability and reliability of the entire circuit system, and ensure the stable operation of the driving circuit in a complex working environment.

[0139] In the embodiment, the motor driving module 825 is configured to receive the operation information processed by the driving board master module 822 and drive the motor to rotate according to the operation information. The motor driving module 825 mainly drives the following motors: four motors in total for the front and rear tracks 22 of the robot, for walking control of the robot; one lifting motor, for adjusting the height of the robot; one turret motor, for controlling the rotation of the turret; and one cleaning motor, for cleaning operation. These motors are all driven by the motor driving module 825 after receiving the information processed by the driving board master module 822.

[0140] The motor driving module 825 is controlled by the DIP switch, and the specific control mode is as follows: binary 0x01 is used to control the left walking motor, 0x02 is used to control the right walking motor, and 0x03 is used to control the turret lifting motor. In this way, the motor driving module 825 can flexibly drive the corresponding motor according to different control requirements, to realize various motion functions of the robot. When the driving board master module 822 receives the external control signal and processes it, the processed operation information is sent to the motor driving module 825. The motor driving module 825 selects the corresponding motor for driving according to the received operation information, to realize the functions of walking, lifting, turret rotation, and cleaning operation of the robot. Through this setting, the motor driving module 825 can efficiently and accurately control the operation of each motor, to meet the motion control requirements of the water tank cleaning robot in complex working environments.

[0141] In the embodiment, when the external control signal (for example, the control signal from the control circuit) is input to the driving board master module 822 through the driving board communication module 823, the driving board master module 822 processes the signal according to the preset control program and outputs the processed control signal to the motor through the motor driving module 825, to drive the motor to operate in a set manner. At the same time, the DIP switch module 824 can select different working modes as needed, and the driving board power conversion module 821 provides stable power supply for the entire circuit. Through this cooperative working mode, efficient and stable control of the water tank cleaning robot can be realized, to meet the high-precision motion control requirements of the water tank cleaning robot in complex working environments.

[0142] In the embodiment, the robot body 1 is provided with a drain hole at the bottom, to prevent accumulated water from affecting the internal components.

[0143] In the embodiment, first, the water tank cleaning robot enters the water tank through the track driving device; then, the rotating motor 31 of the rotating cleaning device drives the cleaning tank to rotate, and the lifting swing arm device 7 adjusts the cleaning angle; then, the working spray head 342 and the flushing spray head 343 clean the inner wall of the water tank; finally, the dirt cleaning device removes the stains at the bottom. During the whole process, the observation device and the lighting device cooperate to realize real-time monitoring.

[0144] In summary, the water tank cleaning robot has the following advantages:

[0145] By setting the combination of the track driving device, the rotating cleaning device and the lifting swing arm device, the stable movement and omnidirectional cleaning of the robot in the water tank are realized. The track driving device can improve the movement stability of the robot in a humid environment, and the cooperation of the rotating cleaning device and the lifting swing arm device can flexibly adjust the angle of the cleaning device, effectively solving the problem of cleaning dead angles.

[0146] In addition, by setting the observation device, the lighting device and the dirt cleaning device, the quality and efficiency of the cleaning operation are further improved. The cooperation of the observation device and the lighting device realizes real-time monitoring of the cleaning process, and the dirt cleaning device can timely remove the stains at the bottom of the water tank, so that the whole cleaning process is more reliable and efficient.

[0147] Obviously, those skilled in the art can make various modifications and variations to the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the present application belong to the scope of the claims of the present application and their equivalent technologies, the present application also intends to include these modifications and variations.

Claims

1. A water tank cleaning robot, characterized by, The robot body, the track driving device, the rotary cleaning device and the lifting swing arm device are included. The track driving device is arranged on both sides of the robot body and is used to drive the robot body to move.

2. The water tank cleaning robot of claim 1, wherein, The track driving device includes a driving motor, a track and a plurality of pulleys. The driving motor is installed on the robot body.

3. The water tank cleaning robot according to claim 1, wherein The output shaft of the driving motor is connected with one of the pulleys through a shaft coupling. The pulleys are rotatably connected to the side of the robot body.

4. The water tank cleaning robot according to claim 3, wherein The track is in a closed loop shape and is engaged with the outer teeth of the pulleys.

5. The water tank cleaning robot according to claim 4, wherein The driving motor drives one of the pulleys to rotate.

6. The water tank cleaning robot according to claim 5, wherein The rotary cleaning device includes a rotary motor, a speed reducer, a rotary disc and a cleaning tank.

7. The water tank cleaning robot according to claim 5, wherein The rotary motor and the speed reducer are installed in the robot body. The rotary motor is connected with the rotary disc through the speed reducer. The rotary disc is installed on the upper part of the robot body. The cleaning tank is installed on the upper part of the rotary disc. The lifting swing arm device includes an electric push rod. The fixed end of the electric push rod is rotatably connected to the rotary disc. The cleaning tank includes a tank body, a working nozzle and a flushing nozzle. The side wall of the tank body is rotatably connected with the telescopic end of the electric push rod. The working nozzle is installed on one side of the tank body and is used to clean the inner wall of the water tank. The flushing nozzle is installed on the bottom of the tank body and is used to clean the bottom of the water tank. The cleaning tank further includes a universal joint. The universal joint is arranged on the tank body. One end of the universal joint is connected with the working nozzle and the flushing nozzle. The other end of the universal joint is connected with a water inlet pipe. The tank body is provided with a water inlet channel for connecting the working nozzle and the flushing nozzle. The observation device includes a working camera, a front camera and a rear camera. The working camera is installed on the cleaning tank. The working camera, the front camera and the working nozzle are located on the same side of the robot body. The front camera and the rear camera are installed on both sides of the robot body.

8. The water tank cleaning robot according to claim 7, wherein The illumination device comprises a working light source, a front illumination light source and a rear illumination light source; the working light source is installed on the cleaning tank and located around the working camera; the front illumination light source is installed on the robot body and located around the front camera; the rear illumination light source is installed on the robot body and located around the rear camera.

9. The water tank cleaning robot according to claim 1, wherein The decontamination device comprises a suction pipe and a mop; the suction pipe is installed at the bottom of the robot body; the mop is installed at the bottom of the robot body and located between the suction pipe and the robot body, for removing stains at the bottom of the water tank.

10. The water tank cleaning robot according to claim 1, wherein The control system is connected with the track driving device, the rotating cleaning device and the lifting swing arm device through the power signal port on the robot body; The control system comprises a control circuit and a driving circuit; the control circuit is connected with the driving circuit; the control circuit is used for receiving operation instructions and converting the operation instructions into control signals; the driving circuit is used for driving the track driving device, the rotating cleaning device and the lifting swing arm device to work according to the control signals.

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