Swimming pool robot

Abstract

The utility model relates to a swimming pool robot which comprises a robot body, the robot body is provided with an electric control module, the robot body is provided with at least two capacitive sensors which are in signal connection with the electric control module, and the multiple capacitive sensors are not all arranged on the same side in the advancing direction of the robot body. According to the application, the stranding state of the robot main body is detected by using at least two capacitive sensors which are arranged on the robot main body and are not all located on the same side, and the stranding state of the robot main body is detected by the position (in water or air) of the swimming pool robot; the electronic control module identifies dielectric constant signals or pressure signals generated by the capacitive sensors (or other signals causing changes of electric signals of the capacitive sensors), so that difference signals are generated, and when the signals of the two capacitive sensors at different positions are different, the electronic control module can identify the difference signals, so that the difference signals are generated. Whether the swimming pool robot is stranded or not is judged, whether the swimming pool robot is stranded or not can be effectively judged, and meanwhile consumed energy is low.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, in particular to a swimming pool robot. Background Art

[0002] The pool robot is a robot developed for the cleaning needs of swimming pools. During the working process, the pool robot needs to be able to quickly determine when it is stranded.

[0003] Most conventional swimming pool robots rely on detecting motor power to detect the stranded status. The disadvantage of relying on motor power detection is that the motor will rotate for detection when the machine is turned on and has not yet entered the water, which will consume the machine's power and cause energy loss. The motor rotation detection is also performed when the robot is out of water, which can easily spray water onto the user, and it is impossible to tell whether the machine is stranded.

[0004] In summary, reducing energy loss and accurately identifying the stranding status are issues that need to be urgently addressed in anti-stranding technology. Utility Model Content

[0005] In order to achieve the purpose of reducing energy loss and accurately identifying the stranded state, the utility model provides a swimming pool robot.

[0006] The technical solution adopted by the utility model is a swimming pool robot, comprising a robot body, the robot body having an electric control module, the robot body being provided with at least two capacitive sensors and the electric control module signal connection, and the plurality of capacitive sensors are not all arranged on the same side along the moving direction of the robot body.

[0007] In a possible implementation, at least one capacitive sensor is located at an end of a forward end of the robot body.

[0008] Preferably, a plurality of capacitive sensors are respectively arranged along the traveling direction of the robot body.

[0009] Preferably, two capacitive sensors are provided, and the two capacitive sensors are respectively located at the top of the robot body and at two ends of the moving direction of the robot body.

[0010] Preferably, the capacitive sensor comprises a sensing electrode and a reference electrode, the sensing electrode and the reference electrode are signal-connected and a sensing region is formed therebetween.

[0011] Preferably, the sensing electrode includes a pole piece capacitor and a touch chip, and the pole piece capacitor and the touch chip are signal-connected.

[0012] Preferably, the reference electrode is arranged in an electric control module inside the robot body.

[0013] Preferably, the portion of the outer shell of the robot body corresponding to the capacitive sensor is a transparent shell.

[0014] Preferably, the robot body includes a wheel drive module, and the wheel drive module is connected to the capacitive sensor signal.

[0015] Preferably, the robot body includes a water pump drive module, and the water pump drive module is connected to the capacitive sensor signal.

[0016] Compared with the prior art, the utility model has the following beneficial effects:

[0017] The present application discloses a swimming pool robot, including a robot body, the robot body having an electric control module, the robot body being provided with at least two capacitive sensors and signal connections with the electric control module, and the plurality of capacitive sensors being not all arranged on the same side along the direction of travel of the robot body. The present application detects the stranded state of the robot body by using at least two capacitive sensors not all on the same side arranged on the robot body, and identifies the dielectric constant signal or pressure signal generated by the capacitive sensor (or other signals causing the capacitive sensor electrical signal to change) according to the position of the swimming pool robot (in water or in air), thereby generating a difference signal, and when the signals of the two capacitive sensors at different positions differ, the electric control module can identify the difference signal, thereby determining whether the swimming pool robot is stranded, and can effectively determine whether the swimming pool robot is stranded, while consuming less energy. Compared with the prior art, the swimming pool robot disclosed in the present application can achieve the purpose of reducing energy loss and accurately identifying the stranded state. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The present invention is described in detail below with reference to the embodiments and drawings, wherein:

[0019] Figure 1 The figure shows a schematic structural diagram of a swimming pool robot provided according to an embodiment of the utility model.

[0020] Description of labels:

[0021] 10. Robot body; 11. Electronic control module; 12. Wheel drive module; 13. Water pump drive module;

[0022] 20. Capacitive sensor;

[0023] 30. Wire. DETAILED DESCRIPTION

[0024] In order to make the purpose, technical solution and advantages of the utility model clearer, the following will be further described in detail with reference to the accompanying drawings. Examples of embodiments are shown in the accompanying drawings, in which the same reference numerals throughout represent the same or similar components or components with the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the utility model, and cannot be interpreted as limiting the utility model.

[0025] The utility model discloses a swimming pool robot, please refer to Figure 1 , including a robot body 10, the robot body 10 has an electric control module 11, the robot body 10 is provided with at least two capacitive sensors 20 which are respectively connected to the electric control module 11 by signal, and the multiple capacitive sensors 20 are not all arranged on the same side along the moving direction of the robot body 10.

[0026] The present application detects the stranded state of the robot body 10 by using at least two capacitive sensors 20 that are not all on the same side and are arranged on the robot body 10. The dielectric constant signal or pressure signal generated by the capacitive sensor 20 is identified by the position of the swimming pool robot (in water or in air) (it can also be other signals that cause the electrical signal of the capacitive sensor 20 to change), thereby generating a difference signal. When the signals of the two capacitive sensors 20 at different positions differ, the electric control module 11 can identify the difference signal to determine whether the swimming pool robot is stranded. It can effectively determine whether the swimming pool robot is stranded, and at the same time, the energy consumed is low. Compared with the prior art, the swimming pool robot disclosed in the present application can achieve the purpose of reducing energy loss and accurately identifying the stranded state.

[0027] It needs to be explained that the stranded state refers to the state in which the pool robot cannot move normally due to the shallow water level at its location. The stranded state is very easy to occur during the process of entering and exiting the water, especially when the pool robot passes through a slope with a certain slope. Therefore, it is necessary to detect the stranded state in time to allow the pool robot to move normally out of the water or remain underwater.

[0028] Specifically, the working principle of the capacitive sensor 20 is based on the concept of capacitance, and the relationship between the capacitance value and the liquid level is used to achieve measurement. When the level of the liquid changes, it changes the dielectric constant between the electrode sheets. The dielectric constant is a parameter that describes the electrical insulation properties of a material, and the presence of liquid changes this parameter. The dielectric constant of the liquid is usually much larger than the dielectric constant of the air. In the air, the capacitance value between the electrodes is very small. However, when the liquid enters the measurement area of ​​the capacitive sensor 20, the high dielectric constant of the liquid increases the capacitance value. In other words, the presence of the liquid increases the capacitance value. In order to measure this change, the capacitive sensor 20 usually applies a stable electrical frequency signal to the sensing electrode. The characteristic of this electrical frequency signal is that it can generate a constant electric field between the sensing electrode and the reference electrode. When the liquid enters the measurement area, the dielectric constant of the liquid increases, thereby changing the electric field distribution. This change can be detected by measuring the change in the capacitance value.

[0029] It should be noted that at least two capacitive sensors 20 are provided because the swimming pool robot will not be discharged at the same time when it is discharged or stranded, but there is a sequence of discharges. At this time, the capacitive sensors 20 are provided at different positions to determine which position of the swimming pool robot is discharged first, and at the same time, when stranded, it can also determine the direction of the stranding, so as to achieve the purpose of accurate identification.

[0030] The robot body 10 refers to the overall structure for realizing the functions of the swimming pool robot, and the present application does not limit the functional modules of the robot body 10 .

[0031] In other embodiments, when the test is performed using a pressure signal, the working principle is mainly based on the effect of pressure on the internal capacitance of the capacitive sensor 20. Specifically, when pressure acts on the stressed diaphragm on the capacitive sensor 20, the displacement of the stressed diaphragm causes the distance between the sensing electrode and the reference electrode to change, thereby causing a change in the capacitance of the capacitive sensor 20. During the use of the swimming pool robot, when the capacitive sensor 20 enters the water, the pressure on the stressed diaphragm is the atmospheric pressure and the water pressure, and when the capacitive sensor 20 exits the water, the pressure on the stressed diaphragm is the atmospheric pressure.

[0032] In addition, the temperature factor can also be used for stranding detection. Under the condition of the same dielectric, the temperature in the air and underwater is different, and the temperature change will cause the dielectric constant of the dielectric to change. The humidity factor can also be used to filter water molecules through a polymer film. The humidity change can also cause the dielectric constant of the dielectric to change, thereby realizing stranding detection.

[0033] In some embodiments, please refer to Figure 1, at least one capacitive sensor is located at the end of the forward end of the robot body 10.

[0034] Specifically, by setting at least one capacitive sensor 20 at the end of the forward end of the robot body 10, the swimming pool robot can promptly detect whether the robot body 10 is exposed to the water surface. Compared with setting the capacitive sensor 20 at other positions on the robot body 10, setting it at the end of the forward end can allow the swimming pool robot to obtain more sensitive water exit and water entry detection.

[0035] In some embodiments, please refer to Figure 1 , multiple capacitive sensors 20 are respectively arranged along the moving direction of the robot body 10.

[0036] Specifically, a plurality of capacitive sensors 20 are arranged along the moving direction of the robot body 10. Since the swimming pool robot moves in the moving direction whether ascending or descending, arranging the capacitive sensors 20 in the moving direction can make water outflow detection and grounding detection more sensitive and respond faster.

[0037] In some specific embodiments, please refer to Figure 1 There are two capacitive sensors 20 , and the two capacitive sensors 20 are respectively located at the top of the robot body 10 and at the two ends of the moving direction of the robot body 10 .

[0038] It should be noted that the two capacitive sensors 20 are respectively arranged at the two ends of the top of the robot body 10. The top and the two ends are the positions where the robot body 10 first emerges from the water, so it is most sensitive to arrange the capacitive sensors 20 there.

[0039] In some embodiments, the capacitive sensor 20 includes a sensing electrode and a reference electrode, which are signal-connected to form a sensing area therebetween. The sensing electrode of the capacitive sensor 20 is disposed on the top of the robot body 10 and at both ends of the robot body 10 in the direction of travel, and the reference electrode of the capacitive sensor 20 can be disposed in the electric control module 11 in the robot body 10.

[0040] Specifically, the principle of the capacitive sensor 20 selected in this embodiment is to change the relationship between the capacitance value and the liquid level to achieve measurement. Compared with other methods, this method has higher stability. After entering the water, the water body will quickly flow into the sensing area, and after leaving the water, the water body will also quickly flow out of the sensing area, thereby achieving a faster response speed.

[0041] In some specific embodiments, the sensing electrode includes a pole piece capacitor and a touch chip, and the pole piece capacitor and the touch chip are signal-connected.

[0042] It should be noted that the touch chip can convert the capacitance signal of the electrode capacitor into an output signal and transmit it to the electronic control module 11. Setting it together with the electrode capacitor is beneficial to the signal transmission of the electrode capacitor on the one hand, and is also beneficial to its maintenance and replacement on the other hand.

[0043] Specifically, measuring the change in capacitance requires a circuit to process the output signal of the capacitance sensor 20. This circuit can convert the change in capacitance into a voltage signal or a digital signal through the touch chip for further processing and display. So when the liquid reaches the area of ​​the capacitance sensor 20, the capacitance sensor 20 will generate a low level and enter the mainboard through the wire. At this time, the mainboard will also detect the low level signal generated by the capacitance sensor 20. At this time, the swimming pool robot will determine that it has entered the water. When the swimming pool robot runs to a steep slope or swimming pool steps, one of the two capacitance sensors 20 at different positions will be out of the water first. At this time, the swimming pool robot will first detect a trigger level. When the trigger level lasts for a preset time and does not receive the trigger level of the other capacitance sensor, it will be determined to be stranded. At this time, the swimming pool robot will be adjusted to retreat or other logics through software to be stranded.

[0044] When a trigger level is received and another trigger level is received within a preset time period, it is judged as water discharge. At this time, the water pump drive module in the pool robot is adjusted by software to stop working, or the wheel drive module is used to control the pool robot to run to a specified location, or a signal is sent to the user end to inform the running status of the pool robot and other logical operations. Preferably, a shell is provided on the outside of the capacitive sensor 20, and the electrode capacitor is arranged in contact with the shell, and the shell is arranged in contact with the robot body 10, so as to achieve a better fixing effect and prevent it from falling off.

[0045] In some embodiments, the capacitive sensor 20 and the electronic control module 11 are electrically connected via a wire 30 .

[0046] Specifically, connecting via the wire 30 can make signal transmission more stable, without packet loss or interference from radio waves.

[0047] The signal connection in the present application may be a wireless connection or a wired connection.

[0048] In some embodiments, a shell is provided on the outside of the capacitive sensor 20, and the outer shell of the robot body 10 and the shell of the capacitive sensor 20 are snap-fitted / integrally formed.

[0049] In order to make the assembly process of the swimming pool robot simpler, the outer shell and the housing of the robot body 10 can be installed by snap-fitting or integrally forming.

[0050] In some embodiments, the portion of the shell of the robot body 10 corresponding to the capacitive sensor 20 is set as a transparent shell. Compared with shells made of other materials, the sensing effect of the transparent shell is better. It should be noted that the transparent shell can be made of materials such as glass and plastic.

[0051] During the use of the swimming pool robot, some debris may enter the capacitive sensor 20, thereby affecting the use of the capacitive sensor 20. Therefore, by providing a transparent shell, the operator can observe the condition of the capacitive sensor 20.

[0052] In some specific embodiments, the reference electrode is disposed in the electric control module 11 inside the robot body 10 .

[0053] It should be noted that the reference electrode is set on the electronic control module 11, and the reference electrode can be tested when the electronic control module 11 leaves the factory, so that the test module can operate normally. When assembling the swimming pool robot, there is no need to install the reference electrode additionally, which simplifies the installation steps. At the same time, it can also avoid the influence of human factors on the reference electrode, and there is no need to add a separate installation position for the reference electrode, thereby optimizing the overall circuit.

[0054] In some embodiments, please refer to Figure 1 The robot body 10 includes a wheel driving module 12, and the wheel driving module 12 is signal-connected to the electric control module 11.

[0055] In some embodiments, please refer to Figure 1 The robot body 10 includes a wheel driving module 12, and the wheel driving module 12 is signal-connected to the capacitive sensor 20.

[0056] In some embodiments, please refer to Figure 1 The robot body 10 includes a wheel driving module 12, and the wheel driving module 12 is signal-connected to the electric control module 11.

[0057] The electronic control module 11 can be connected to the wheel drive module 12 to control the drive, such as stopping rotation after emerging from the water, and turning and moving backward after being stranded.

[0058] In some embodiments, please refer to Figure 1 The robot body 10 includes a water pump driving module 13, and the water pump driving module 13 is signal-connected to the capacitive sensor 20.

[0059] In some embodiments, please refer to Figure 1 The robot body 10 includes a water pump driving module 13 , and the water pump driving module 13 is signal-connected to the electric control module 11 .

[0060] The capacitive sensor 20 can be connected to the water pump driving module 13 to control the water pump motor, such as continuing to rotate to drain the water after the water is discharged.

[0061] In other embodiments, the capacitive sensor 20 can be used together with other sensors, such as a gyroscope, to change the behavior of the swimming pool robot. For example, when the swimming pool robot is detected on the wall and only a trigger level is detected (the capacitive sensor 20 is out of water), the output control signal is fed to control the robot to change its posture and perform water surface cleaning.

[0062] It can be understood that the capacitive sensor 20 can cooperate with other components through the electronic control module 11, or can be directly connected to other components.

[0063] Specifically, capacitive level sensors have the following advantages:

[0064] 1. Capacitive level sensors have high accuracy, fast response speed and strong reliability;

[0065] 2. Capacitive level sensors are low-cost and only require a touch chip. The capacitor is connected through an antenna-like pole piece (PCB or steel wire is also acceptable) to form a pole piece capacitor, and then the pole piece capacitor is connected to the touch chip;

[0066] 3. Capacitive level sensors are easy to install and can effectively avoid the industry difficulty of electrolytic corrosion.

[0067] In the description of this specification, if the terms "embodiment one", "this embodiment", "in an embodiment" and the like appear, it means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the utility model or the utility model. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example; moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in an appropriate manner.

[0068] In the description of this specification, the terms "connect", "install", "fix", "set", "have", etc. are all understood in a broad sense. For example, "connection" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0069] In the description of this specification, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "comprises", "comprising" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the statement "comprising a ..." does not exclude the presence of other identical elements in the process, method, article or device including the element.

[0070] The above description of the embodiments is to facilitate ordinary technicians in the technical field to understand and apply the technology of this case. People familiar with the technology in this field can obviously make various modifications to these examples easily and apply the general principles described here to other embodiments without creative work. Therefore, this case is not limited to the above embodiments. Modifications to the following situations should all be within the scope of protection of this case: ① A new technical solution based on the technical solution of the utility model and combined with existing common knowledge, the technical effect produced by the new technical solution does not exceed the technical effect of the utility model; ② The equivalent replacement of some features of the technical solution of the utility model by using known technology, the technical effect produced is the same as the technical effect of the utility model; ③ The technical solution of the utility model can be expanded based on the technical solution of the utility model, and the substantive content of the expanded technical solution does not exceed the technical solution of the utility model; ④ The equivalent transformation made by using the contents of the specification and drawings of the utility model is directly or indirectly applied to other related technical fields.

Claims

1. A swimming pool robot, characterized in that: The robot body comprises a robot main body, wherein the robot main body has an electric control module, the robot main body is provided with at least two capacitive sensors which are signal-connected with the electric control module, and the plurality of capacitive sensors are not all arranged on the same side along the moving direction of the robot main body.

2. A swimming pool robot according to claim 1, characterized in that: At least one of the capacitive sensors is located at the end of the forward end of the robot body.

3. A swimming pool robot according to claim 1, characterized in that: The plurality of capacitive sensors are respectively arranged along the moving direction of the robot body.

4. A swimming pool robot according to claim 2, characterized in that: There are two capacitive sensors, which are respectively located at the top of the robot body and at two ends of the robot body in the moving direction.

5. A swimming pool robot according to claim 1, characterized in that: The capacitive sensor includes a sensing electrode and a reference electrode, wherein the sensing electrode and the reference electrode are signal-connected and a sensing region is formed therebetween.

6. A swimming pool robot according to claim 5, characterized in that: The sensing electrode includes a pole piece capacitor and a touch chip, and the pole piece capacitor is signal-connected to the touch chip.

7. A swimming pool robot according to claim 5, characterized in that: The reference electrode is arranged in an electric control module in the robot body.

8. The swimming pool robot according to claim 1, characterized in that: The portion of the outer shell of the robot body corresponding to the capacitive sensor is a transparent shell.

9. A swimming pool robot according to claim 1, characterized in that: The robot body includes a wheel drive module, and the wheel drive module is connected to the capacitive sensor signal.

10. The swimming pool robot according to claim 1, characterized in that: The robot body includes a water pump driving module, and the water pump driving module is connected to the capacitive sensor signal.

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